JP5966513B2 - Rear side photographing device for vehicle - Google Patents

Description

  The present invention belongs to a technical field related to a rear side photographing device of a vehicle provided with photographing means for photographing a rear side of the vehicle.

  Conventionally, for example, as shown in Patent Document 1, an electronic camera is arranged on a vehicle body in a rearward and / or rearward direction, and a captured image thereof is displayed on a monitor display in front of a driver's seat. It is known that a monitor display allows a driver to view the rear and / or rear side of the vehicle. In Patent Document 1, an emphasis process is performed on an object requiring safety confirmation in the captured image. Further, in Patent Document 2, the scenery of the monitoring area including the back and sides of the driver is imaged, and the captured image is deformed in correspondence with the surface shape of the presentation surface having a three-dimensional shape. The image is displayed on the display means. Then, based on the driving scene of the driver, an area where direction recognition and distance recognition are important in the monitoring area is set, and in the area where direction recognition is important, the surface of the presentation surface is reduced so that the direction recognition error is reduced. The shape of the presentation surface is set so as to be relatively enlarged and displayed in an area where the shape is optimized and distance recognition is important.

JP-A-9-48282 JP 2009-248630 A

  By the way, in recent years, instead of the door mirror, as disclosed in Patent Document 1, an imaging unit for imaging the rear side of the vehicle (the same range as the mirror surface of the door mirror) is provided on the side of the vehicle. Attempts have been made to eliminate the door mirror by displaying a photographed image photographed by the means on a display provided on an instrument panel or the like.

  Here, in the door mirror of the conventional vehicle, there exists a problem that the approach of the other vehicle behind it with respect to the said vehicle is difficult to understand. In other words, the size of the other vehicle reflected on the mirror surface of the door mirror of the vehicle increases as the distance between the vehicle and the other vehicle in the front-rear direction decreases, and the driver of the vehicle changes the size of the other vehicle. Recognize that the vehicle is approaching. However, when the inter-vehicle distance is greater than the predetermined distance, even if the inter-vehicle distance changes by a certain amount, the amount of change in the size of the other vehicle reflected on the mirror surface of the door mirror becomes small. Therefore, even if the other vehicle approaches at a considerable speed, the size of the other vehicle hardly changes on the mirror surface of the door mirror, so that the driver is more likely not to notice the approach.

  Similarly to the above-described conventional door mirror, when the captured image captured by the imaging unit that captures the rear side of the vehicle is displayed on the display, the driver viewing the display has a position where the inter-vehicle distance is greater than the predetermined distance. The approach of other vehicles is difficult to understand, and there is a high possibility of not being aware of the approach.

  Therefore, it is conceivable to perform image processing as described in Patent Documents 1 and 2 on the captured image. However, in such image processing, there is a possibility that the driver can easily recognize the other vehicle itself, but there is room for improvement in order to make the approach of the other vehicle easier to understand.

  The present invention has been made in view of such a point, and an object of the present invention is to provide a vehicle driver with a photographed image obtained by the photographing means for photographing the rear side of the vehicle. It is to be able to convey the approach of other vehicles behind the vehicle to the vehicle in an easy-to-understand manner.

In order to achieve the above object, in the present invention, in a photographed image photographed by the photographing means for a vehicle rear side photographing device provided with photographing means for photographing the rear side of the vehicle, A specific point calculation means for calculating the position of a specific point in the center of an adjacent lane adjacent to the lane in which the vehicle is traveling and a point behind the vehicle and having a predetermined distance between the vehicle and the longitudinal direction And image processing means for performing image enlargement or reduction processing in at least a far side area which is a far side of the vehicle from the specific point in the adjacent lane of the captured image, and the image processing means and display means for displaying the photographed image by the image enlargement or reduction processing has been performed by said image processing means, in the far-side region of the captured image, with performs image reduction processing Constitutes an image magnification of the far-side region of the captured image, of the captured image, as the point is farther with respect to the vehicle than the specified point in the next lane, and is configured to set smaller, as It was.

With the above configuration, the image magnification of the far side region in the photographed image (greater than 1 when the image is enlarged and smaller than 1 when the image is reduced) is the specific point in the adjacent lane of the photographed image. Since the point farther from the vehicle (also referred to as the host vehicle) is set smaller, when another vehicle traveling in the adjacent lane approaches the host vehicle in the far region. , if a given amount of change in the longitudinal direction of the vehicle distance between the vehicle and the other vehicle, the amount of change in the size of the other vehicle to be displayed on said display means, not subjected to image Zochijimi small processing Larger than In other words, even without applying the image Zochijimi small process, when the other vehicle is approaching the vehicle, although the size of the other vehicle is displayed on the display unit gradually increases, in the far-side region Even if the amount of change in the size of the other vehicle is small with respect to a certain amount of change in the inter-vehicle distance, and the driver of the own vehicle sees the displayed other vehicle, the approach of the other vehicle to the own vehicle Is hard to understand. In contrast, the image Zochijimi small treatment as described above, the size of the other vehicle to be displayed on the display means, as the distance to the front-rear direction between the vehicle and the other vehicle is large, are smaller, Consequently, a given amount of a change in the inter-vehicle distance between the other vehicle approaching the own vehicle, the amount of change in the size of the other vehicle to be displayed on the display means, the image Zochijimi small processing It becomes larger than the case where it is not applied, and the driver of the own vehicle looking at the display means can easily understand the approach of the other vehicle to the own vehicle. Further, by performing image reduction processing in the far side region of the photographed image, the approach of the other vehicle to the own vehicle in the far side region can be transmitted to the driver of the own vehicle without any sense of incompatibility. Therefore, safety can be improved. In addition, in the near side region, which is a region closer to the vehicle (host vehicle) from the specific point in the adjacent lane of the photographed image, the vehicle and the vehicle are not subjected to image enlargement or reduction processing. Since the rate of change of the size of the other vehicle displayed on the display unit becomes sufficiently large with respect to the change in the inter-vehicle distance between the other vehicle and the front-rear direction, the image enlargement or reduction process is not necessarily required .

In the rear side photographing apparatus of the vehicle, the image processing means is configured to focus on a predetermined point on a movement locus of another vehicle traveling in the adjacent lane of the photographed image in the far side region of the photographed image. Te image is configured to shrink and it is preferable.

In this, it is possible to reduce the distortion of the other vehicle by the image Zochijimi small processing, it can be prevented from causing discomfort to the driver of the subject vehicle.

In another rear side photographing apparatus of the present invention, the vehicle is a rear side photographing apparatus provided with photographing means for photographing the rear side of the vehicle, and in the photographed image photographed by the photographing means, the vehicle Specific point calculation means for calculating the position of a specific point in the center of the adjacent lane adjacent to the lane where the vehicle is traveling and a point behind the vehicle and having a predetermined distance between the vehicle and the longitudinal direction An image processing means for performing image enlargement or reduction processing in at least a far side area which is a far side of the vehicle from the specific point in the adjacent lane of the photographed image, and the image processing means. Display means for displaying the photographed image that has been subjected to image enlargement or reduction processing, and the image processing means determines the image magnification of the far-side region of the photographed image in the adjacent lane of the photographed image. Serial higher point on the far side with respect to the vehicle than the specified point is configured to set smaller, further comprising a vehicle speed detecting means for detecting a vehicle speed of said vehicle, said image processing means, detected by the vehicle speed detecting means When the vehicle speed is higher than a predetermined vehicle speed, image reduction processing is performed in the far region of the captured image, and the captured image is on the side farther from the vehicle than the specific point in the adjacent lane. more points, and, as the vehicle speed is high, that is configured to set smaller the image magnification.

  By doing so, the faster the vehicle speed of the host vehicle, the larger the amount of change in the size of the other vehicle with respect to a certain amount of change in the inter-vehicle distance, so when driving the host vehicle at high speed, The approach of other vehicles can be transmitted in a more easily understandable manner, and safety can be further improved.

  On the other hand, when the vehicle speed is equal to or lower than the predetermined vehicle speed, the image processing means, in the near side region that is a region closer to the vehicle from the specific point in the adjacent lane of the captured image, It is preferably configured to perform image enlargement processing.

  That is, in the above-mentioned near side area, image enlargement or reduction processing is not particularly required. However, when the host vehicle is traveling at a low speed, the host vehicle is usually traveling on a general road, and the host vehicle turns left or right at an intersection. Since the relative speed between the host vehicle and the other vehicle is low, the driver of the host vehicle needs to pay more attention to the vicinity of the host vehicle. Therefore, when the vehicle speed is equal to or lower than the predetermined vehicle speed, by performing image enlargement processing in the near-side region, it is possible to emphasize and display other vehicles close to the host vehicle, thereby further improving safety. be able to.

Still another rear side photographing apparatus of the present invention is a vehicle rear side photographing apparatus provided with photographing means for photographing the rear side of the vehicle, and in the photographed image photographed by the photographing means, A specific point calculation means for calculating the position of a specific point in the center of an adjacent lane adjacent to the lane in which the vehicle is traveling and a point behind the vehicle and having a predetermined distance between the vehicle and the longitudinal direction And image processing means for performing image enlargement or reduction processing in at least a far side area which is a far side of the vehicle from the specific point in the adjacent lane of the captured image, and the image processing means Display means for displaying the captured image that has been subjected to image enlargement or reduction processing by the image processing means, wherein the image processing means sets the image magnification of the far-side region of the captured image to the adjacent lane of the captured image. Oh That as the point on the far side with respect to the vehicle than the specified point, is configured to set small, and the driving environment detection means for detecting at least one of night driving and wet driving of the vehicle, from the captured image, In the case where at least one of night traveling and rain traveling of the vehicle is detected by the traveling environment detecting unit and another vehicle detecting unit that detects the other vehicle traveling in the adjacent lane, the other vehicle detecting unit detects the other vehicle. Mark display control means for causing the display means to superimpose and display a mark on the position of the other vehicle in the captured image that has been subjected to image enlargement or reduction processing by the image processing means or in the vicinity thereof. door further that features a.

  As a result, other than in a captured image that has been subjected to image enlargement / reduction processing on the display means under circumstances where the visibility of other vehicles on the display means deteriorates, such as when the host vehicle travels at night or on rainy weather. Since the mark is superimposed and displayed at the position where the vehicle is displayed or in the vicinity thereof, the driver of the own vehicle can easily recognize that there is another vehicle in the adjacent lane, and pay close attention to the vicinity of the mark. It becomes like this. Therefore, even when the visibility of the other vehicle on the display means is deteriorated, the approach of the other vehicle to the host vehicle can be easily understood.

As described above, according to the rear side photographing apparatus of the vehicle of the present invention , the image reduction processing is performed in the far side region of the photographed image by the photographing unit, and the image magnification of the far side region in the photographed image by the photographing unit is set. , A specific point in an adjacent lane adjacent to the lane in which the vehicle travels in the captured image (a distance in the front-rear direction between the vehicle and a point in the center of the adjacent lane and behind the vehicle is a predetermined distance) By setting the point farther away from the vehicle than the above point), it is possible to convey to the driver of the vehicle the approach of the other vehicle behind it to the vehicle without any sense of incompatibility. Therefore, safety can be improved.

According to another vehicle rear side photographing apparatus of the present invention, at least a specific point in an adjacent lane (a point in the center of the adjacent lane and behind the above-mentioned vehicle in the image captured by the image capturing unit) In the far side area, which is the far side of the vehicle from the point where the distance in the front-rear direction is a predetermined distance), image enlargement or reduction processing is performed, and the far side area in the photographed image by the photographing means The image magnification is set to be smaller at a point farther from the specific point in the adjacent lane adjacent to the lane in which the vehicle travels in the captured image, and the vehicle speed of the vehicle is higher than a predetermined vehicle speed. When the speed is high, image reduction processing is performed in the far side region of the captured image, and a point farther from the vehicle than the specific point in the adjacent lane of the captured image is displayed. And, as the vehicle speed is faster, the image magnification is set to be smaller, so that the driver of the vehicle can easily understand the approach of the other vehicle behind it to the vehicle, and when the host vehicle is traveling at high speed, It becomes possible to convey the approach of another vehicle to the driver of the host vehicle in a more easily understandable manner, and the safety can be further improved.

According to still another vehicle rear side photographing device of the present invention, at least a specific point in the adjacent lane (a point in the center of the adjacent lane and behind the above vehicle) The far side region in the image taken by the photographing means is subjected to image enlargement or reduction processing in the far side region, which is a region farther from the vehicle than the vehicle where the distance in the front-rear direction is a predetermined distance) The image magnification of the captured image is set to be smaller at a point farther from the specific point in the adjacent lane adjacent to the lane in which the vehicle travels, and the vehicle travels at night and in the rain. When at least one of the above is detected and another vehicle traveling in the adjacent lane is detected, the display means performs the image enlargement or reduction processing on the captured image. Since the mark is superimposed and displayed at the position of the other vehicle or in the vicinity thereof, the approach of the other vehicle behind it to the vehicle can be easily communicated to the driver of the vehicle. Even under circumstances where the visibility of other vehicles deteriorates, it becomes easy to understand the approach of other vehicles to the host vehicle.

It is a top view which shows the vehicle carrying the rear side imaging device which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the said rear side imaging device. (A) is a figure which shows an example of the picked-up image image | photographed with the left rear side camera, (b) is a graph which shows the relationship between the image horizontal position of the picked-up image, and image magnification. FIG. 4 is a diagram corresponding to FIG. 3A when another vehicle approaches a vehicle in the far side region rather than the position in FIG. 3A in a captured image that has not been subjected to image reduction processing. When a conventional door mirror is provided on the vehicle, and the curvature radius of the mirror surface of the door mirror is constant (three types: 1250 mm, 800 mm, and 600 mm), the vehicle travels in a lane adjacent to the lane on which the vehicle travels. It is a graph which shows the relationship between the inter-vehicle distance of the front-back direction with another vehicle, and the magnitude | size (viewing angle) of this other vehicle on the said mirror surface. It is the graph which expanded the part whose said inter-vehicle distance in the graph of FIG. 5 is 50 m or more. It is a graph which shows an example of the image magnification in the far field of the above-mentioned photographed image to the above-mentioned inter-vehicle distance. It is a figure which shows the said picked-up image after performing the image reduction process in the 2nd and 3rd area | region. It is a figure which shows the said picked-up image after performing the said image reduction process and further masking. It is a flowchart which shows the processing operation of a control apparatus. FIG. 3 is a view corresponding to FIG. 2 showing Embodiment 2 of the present invention. In Embodiment 2, it is a graph which shows the relationship between the image horizontal position of a picked-up image, and image magnification in case the vehicle speed of a vehicle is faster than predetermined vehicle speed. In Embodiment 2, it is a graph which shows the relationship between the image horizontal position of a picked-up image, and image magnification in case the vehicle speed of a vehicle is below the said predetermined vehicle speed. 12 is a flowchart illustrating image magnification setting processing by the control device according to the second embodiment. It is FIG. 2 equivalent view which shows Embodiment 3 of this invention. In Embodiment 3, it is a figure which shows an example at the time of displaying a mark superimposed on the picked-up image in which the image process was performed by the image process part in the display. 10 is a flowchart illustrating a processing operation related to display of a mark by a control device according to a third embodiment.

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

(Embodiment 1)
FIG. 1 shows a vehicle 1 (in this embodiment, an automobile) equipped with a rear side photographing apparatus according to Embodiment 1 of the present invention. Left and right rear side photographing cameras 2 and 3 as photographing means for photographing the left and right rear sides of the vehicle 1 are respectively provided at the rear portions of the left and right front fenders of the vehicle 1. These rear side photographing cameras 2 and 3 photograph the same range as the range reflected on the mirror surfaces of the conventional left and right door mirrors, and in this embodiment, the left and right door mirrors are not provided. Each of the rear side photographing cameras 2 and 3 is provided at a height position which is about half of the maximum height of the vehicle 1 and is directed horizontally in the rear side of the vehicle 1.

  A front photographing camera 4 for photographing the front of the vehicle 1 is provided at the center in the vehicle width direction at the upper end of the windshield of the vehicle 1. Data of captured images captured by the rear side imaging cameras 2 and 3 and the front imaging camera 4 are input to the control device 11 as shown in FIG.

  The control device 11 is a control device based on a well-known microcomputer, and includes a central calculation processing device (CPU) that executes a program, a memory configured by, for example, RAM and ROM, and stores a program and data, And an input / output (I / O) bus for inputting and outputting various signals.

  In addition to the captured image data, map information and current position information of the vehicle 1 from the navigation device 5 (shown only in FIG. 2) are input to the control device 11. Then, the control device 11 converts the captured image data input from the rear side imaging cameras 2 and 3 based on the captured image data from the front imaging camera 4 and the map information and the current position information from the navigation device 5. On the other hand, image processing (image enlargement or reduction processing) is performed as will be described later, and the photographed image subjected to the image processing is displayed as display means provided in the center of the instrument panel 1a of the vehicle 1 in the vehicle width direction. (The image taken by the left rear side camera 2 is displayed on the left side of the display 10 and the image taken by the right rear side camera 3 is displayed on the right side of the display 10) . The driver of the vehicle 1 can confirm the left and right rear sides by looking at the captured image of the display 10. Two displays 10 may be provided to display images taken by the left and right rear side photographing cameras 2 and 3, respectively.

  In the control device 11, a specific point calculation unit 11a (specific point calculation unit), an image processing unit 11b (image processing unit), and an image display control unit 11c are provided.

  First, the specific point calculation unit 11a detects (extracts) white lines on both sides of the lane in which the vehicle 1 travels from the photographed image of the front photographing camera 4 by image processing for white line detection. The lateral position of the vehicle 1 in the lane in which the vehicle 1 travels is calculated from the position of the upper white line, and the yaw angle of the vehicle 1 relative to the white line (the vehicle width of the vehicle 1 in plan view) is calculated from the inclination of the white line. The angle formed by the direction center line and the white line is calculated. Instead of or in addition to the front camera 4, white lines on the left and right sides of the lane in which the vehicle 1 travels are detected (extracted) from images captured by the rear side cameras 2 and 3. May be. However, when the vehicle 1 travels at night, it is difficult to detect a white line in the images taken by the rear side cameras 2 and 3, but the white line illuminated by the headlight of the vehicle 1 appears in the image taken by the front camera 4. Therefore, it becomes easy to detect the white line.

  Further, the specific point calculation unit 11a acquires the road shape behind the vehicle 1 from the map information from the navigation device 5 and the current position information. And the specific point calculation part 11a is the left side with respect to the lane which the vehicle 1 drive | works in the picked-up image by the rear side imaging | photography camera 2 based on the horizontal position and yaw angle of the said vehicle 1, and the road shape behind the vehicle 1. FIG. The position of a specific point in the center of the left adjacent lane adjacent to the vehicle 1 and behind the vehicle 1 where the distance in the front-rear direction to the vehicle 1 is a predetermined distance. 3, the distance in the front-rear direction between the center of the right adjacent lane adjacent to the right side of the lane in which the vehicle 1 travels and the rear of the vehicle 1 and the vehicle 1 is the predetermined distance. Calculate the position of the specific point that will be the distance. In addition, a specific point storage device that stores in advance the relationship between the lateral position and yaw angle of the vehicle 1 and the road shape behind the vehicle 1 and the position of the specific point in the captured image is provided. The position of the specific point may be calculated from the lateral position and yaw angle of the vehicle 1 and the road shape behind the vehicle 1.

  The image processing unit 11b enlarges or reduces an image in a far side region that is a region farther from the vehicle 1 than the specific point in the left adjacent lane of the image taken by the rear side camera 2. In addition to performing the processing, image enlargement or reduction processing is performed in at least a far side region that is a region farther from the specific point in the right adjacent lane of the image taken by the rear side camera 3. Apply.

  Note that the image enlargement or reduction processing is basically the same for the images taken by the rear side cameras 2 and 3 (the definition of “far region”, “near region”, and “specific point” is the same). Therefore, hereinafter, an image enlargement or reduction process for an image taken by the left rear side camera 2 will be described.

  FIG. 3A shows an example of a photographed image photographed by the rear side photographing camera 2. In this photographed image, point P1 is the specific point, and an area on the side farther from the vehicle 1 (left side of the photographed image) than the specific point (point P1) in the left adjacent lane (the right lane in the photographed image). It is a far side region, and a region (including a specific point) closer to the vehicle 1 from the specific point (point P1) in the left adjacent lane (including the specific point) is the near side region. In the example of FIG. 3A, the other vehicle 21 traveling in the left adjacent lane is shown in the far region. Further, the left side of the vehicle 1 is shown on the left side of the captured image.

  In the photographed image, the vehicle 1 shown on the left side of the vertical line L1 and on the left side of the vertical line L1 is the first area from the vertical line L1 passing through the point P1 (including the vertical line L1). An area on the right side (including the vertical line L2) from the vertical line L2 passing through the outermost edge of the vertical line L2 is a second area, and an area on the left side of the vertical line L2 is a third area. The first region is a region including the near side region, and the second region is a region including the far side region.

  In the present embodiment, the image processing unit 11b performs image reduction processing in the second and third regions in the photographed image, and sets the image magnification (a value smaller than 1) in the second and third regions. Settings are made as shown in FIG. In the first region (near side region), neither image enlargement processing nor image reduction processing is performed. That is, as shown in FIG. 3B, the image magnification is set to 1 in the first area, set to a value smaller than 1 in the second area, and smaller toward the third area side (left side). . In the third area, the image magnification is constant at the same value as the minimum value in the second area. In the present embodiment, the image reduction process is performed in the area other than the far side area of the second area as well as the far side area, and the image reduction process is also performed in the third area where the vehicle 1 is mainly reflected. become. Note that it is possible to perform image reduction processing only in the far side region.

  Here, when a conventional door mirror is provided in the vehicle 1 and the radius of curvature of the mirror surface of the door mirror is constant (three types of 1250 mm, 800 mm, and 600 mm), the vehicle 1 and the other vehicle 21 in the front-rear direction FIG. 5 shows the result of examining the relationship between the distance and the size (viewing angle) of the other vehicle 21 on the mirror surface. FIG. 6 is an enlarged view of a portion where the inter-vehicle distance is 50 m or more in the graph of FIG. As a result, the size of the other vehicle 21 on the mirror surface of the door mirror increases as the inter-vehicle distance decreases, but when the inter-vehicle distance is greater than about 60 m, the inter-vehicle distance changes by a certain amount. Even so, it can be seen that the amount of change in the size of the other vehicle 21 is quite small. The change in the size of the other vehicle 21 in the captured image is the same as when the radius of curvature of the mirror surface of the door mirror is 1250 m (when the mirror surface is close to a flat surface).

  If the size of the other vehicle 21 on the mirror surface of the door mirror can be changed as shown in the ideal characteristics of FIG. 6 (see the white circles and the one-dot chain line connecting them), the other vehicle 21 approaches the vehicle 1. When it comes, the amount of change in the size of the other vehicle 21 increases with respect to a certain amount of change in the inter-vehicle distance, and the approach of the other vehicle 21 to the vehicle 1 becomes easy to understand.

  Therefore, in the captured image, image reduction processing is performed in the far side region so that the same appearance as the ideal characteristic is obtained, and the image magnification (a value smaller than 1) in the far side region is A point closer to the vehicle 1 than the specific point (point P1) in the left adjacent lane of the captured image is set to be smaller. Specifically, the image magnification in the far side region is changed with respect to the inter-vehicle distance as shown in FIG. 7, for example. In FIG. 7, the image magnification is 1 when the inter-vehicle distance is 60 m, and the image magnification decreases as the inter-vehicle distance increases from there. Further, the rate of change of the image magnification with respect to the change in the inter-vehicle distance is larger on the side where the inter-vehicle distance is larger (greater than 80 m) than on the smaller side (greater than 60 m and less than 80 m).

  The inter-vehicle distance corresponds to the image horizontal position (position in the left-right direction of the captured image) of the far side region in the captured image, and the inter-vehicle distance decreases toward the right side in the far side region of the captured image. The inter-vehicle distance at the specific point is set to 60 m as shown in FIG. 7 (the predetermined distance for calculating the specific point is set to 60 m), and the second region as shown in FIG. If the image magnification is reduced toward the third region side (left side), the image magnification in the far side region can be changed as shown in FIG. 7 with respect to the inter-vehicle distance. In the present embodiment, as shown in FIG. 3B, in the entire second area, the image magnification is changed with respect to the horizontal image position. Therefore, in the area excluding the far side area of the second area, Similarly, an image reduction process is performed.

  The predetermined distance for calculating the specific point is such that, when the inter-vehicle distance is greater than the predetermined distance, the amount of change in the size of the other vehicle 21 in the captured image is small even if the inter-vehicle distance changes by a certain amount. Any distance that is difficult for the driver of the vehicle 1 to recognize the approach of the other vehicle 21 may be used, and the distance is not limited to 60 m. The preferred distance is 60 m to 70 m.

  When the inter-vehicle distance is very large (greater than about 100 m), the original size of the other vehicle 21 in the captured image is very small, and the approach of the other vehicle 21 at such a large inter-vehicle distance is approached. There is no big problem even if it is difficult to understand. Therefore, the vertical line L2 passes through a point where the inter-vehicle distance becomes a preset distance (about 100 m) that is set to a distance larger than the predetermined distance, and the second distance between the two vertical lines L1, L2 is reached. It is preferable to change the image magnification in two areas as shown in FIG.

  In the second and third regions of the photographed image, the image processing unit 11b takes an image centered on a first predetermined point on the movement locus of the other vehicle 21 traveling in the left adjacent lane of the photographed image. Is preferably reduced. By doing so, the distortion of the other vehicle 21 due to the image reduction process can be reduced. The movement trajectory of the other vehicle 21 is a horizontal line L3 as shown in FIG. In the captured image, the position of the other vehicle 21 moves to the right on the horizontal line L3 as the other vehicle 21 approaches the vehicle 1. In the present embodiment, as described above, each of the rear side photographing cameras 2 and 3 is provided at a height position that is approximately half of the maximum height of the vehicle 1, and horizontally in the rear side of the vehicle 1. Therefore, the other vehicle 21 appears in the approximate center of the captured image in the vertical direction, and the horizontal line L3 is positioned approximately in the vertical center of the captured image. In the present embodiment, the image magnification is decreased toward the third region side (left side) in the second region and is set to the minimum value of the second region in the third region. Therefore, the first predetermined point is a vertical line. Let it be an intersection P2 between L1 and the horizontal line L3.

  In the present embodiment, the image enlargement process is not performed. However, when the image enlargement process is performed as in the second embodiment described later, a second predetermined point on the movement locus of the other vehicle 21 (the first place described above). It is preferable to enlarge the image centering on the same point as the fixed point or a different point). In the second embodiment to be described later, the second predetermined point is an intersection P3 between the vertical line L2 and the horizontal line L3.

  Each point on the image in the second and third regions is reduced toward the point P2 as shown in FIG. In FIG. 8, the size of the other vehicle 21 is smaller than that in FIG. As a result of this image reduction processing, a black portion where nothing is reflected is generated around the second and third regions. In the present embodiment, since the image reduction process is performed on the entire second area and the entire third area including the far side area, there is a possibility that the portion of the second area excluding the far side area and the third area appear to be distorted. However, since the driver of the vehicle 1 basically sees the other vehicle 21 located in the adjacent lane, there is no particular concern.

  Since the black-painted portion has a distorted shape, the image processing unit 11b performs a masking process on the entire periphery of the captured image on which the image reduction processing has been performed, as shown in FIG.

  The image display control unit 11c displays an image of a portion of the captured image that has been subjected to image processing (in this embodiment, image reduction processing and masking processing) by the image processing unit 11b as described above and has not been subjected to masking processing. , Output and display on the display 10.

  The processing operation of the control device 11 will be described with reference to the flowchart of FIG.

  In the first step S <b> 1, captured images are acquired from the rear side camera 2, 3 and the front camera 4. In the next step S2, the specific point calculation unit 11a detects (extracts) white lines on both sides of the lane in which the vehicle 1 travels from the image captured by the front photographing camera 4, and in the next step S3, the specific point calculation unit 11a calculates the lateral position of the vehicle 1 in the lane in which the vehicle 1 travels from the position of the white line, and calculates the yaw angle of the vehicle 1 with respect to the white line from the slope of the white line.

  In the next step S4, the specific point calculation unit 11a acquires the road shape behind the vehicle 1 from the map information and the current position information from the navigation device 5, and in the next step S5, the specific point calculation unit performs the above calculation. Based on the lateral position and yaw angle of the vehicle 1 and the acquired road shape behind the vehicle 1, the position of the specific point is calculated in each of the images captured by the rear side photographing cameras 2 and 3.

  In the next step S6, the image processing unit 11b sets the first to third regions based on the calculated specific point, and in the next step S7, the image processing unit 11b selects the first to third regions. The image magnification is set as shown in FIG.

  Subsequently, in the next step S8, the image processing unit 11b reduces the image around the point P2 in the second and third regions, and the entire circumference of the peripheral portion of the photographed image subjected to the image reduction process. Masking is performed.

  Next, in the next step S9, the image display control unit 11c performs the above-described photographed image (the image of the portion not subjected to the masking process) on which the image processing (image reduction process and masking process) has been performed by the image processing unit 11b. The data is output and displayed on the display 10, and then the process returns.

  In the photographed image displayed on the display 10 in this way, in the far region, the other vehicle 21 traveling in the adjacent lane adjacent to the lane in which the vehicle 1 travels approaches the vehicle 1 (the vehicle 1 and the other vehicle 21). And the amount of change in the size of the other vehicle 21 displayed on the display 10 is not subjected to image reduction processing for a certain amount of change in the inter-vehicle distance. It becomes larger than the case. That is, even if the image reduction process is not performed, when the other vehicle 21 approaches the vehicle 1, the size of the other vehicle 21 displayed on the display 10 gradually increases (in FIG. 4, the image reduction process). The other vehicle 21 is closer to the vehicle 1 than the position in FIG. 3A in the far side region and is larger than that in FIG. 3A). In the far region, the amount of change in the size of the other vehicle 21 is small with respect to a certain amount of change in the inter-vehicle distance, and even if the driver of the vehicle 1 sees the displayed other vehicle 21, The approach of the other vehicle 21 to the vehicle 1 is difficult to understand. On the other hand, in the far side region, the size of the other vehicle 21 displayed on the display 10 is made smaller as the inter-vehicle distance is larger by reducing the image magnification as the point is farther from the vehicle 1. As a result, the amount of change in the size of the other vehicle 21 displayed on the display 10 increases with respect to a certain amount of change in the inter-vehicle distance from the other vehicle 21 approaching the vehicle 1. That is, in the display 10, the change rate of the size of the other vehicle 21 with respect to the change in the inter-vehicle distance when the image reduction process is performed is larger than the change rate when the image reduction process is not performed. Thereby, the driver of the vehicle 1 looking at the display 10 can easily understand the approach of the other vehicle 21 to the vehicle 1. Therefore, the approach of the other vehicle 21 behind the vehicle 1 can be easily communicated to the driver of the vehicle 1, thereby improving safety.

  In the present embodiment, the control device 11 detects the position of the shift lever when it is determined that the vehicle 1 is located in the parking lot based on the map information and the current position information from the navigation device 5. When it is detected by an inhibit switch (not shown) that the shift lever has been moved to the retracted position, the images taken by the rear side photographing cameras 2 and 3 are not subjected to image processing by the image processing unit 11b. It is displayed on the display 10 (the same applies to later-described embodiments 2 and 3).

  Further, the control device 11 also determines that the vehicle 1 is traveling on a one-lane road based on the map information and the current position information from the navigation device 5. 3 is displayed on the display 10 without performing image processing by the image processing unit 11b (the same applies to later-described Embodiments 2 and 3).

(Embodiment 2)
FIG. 11 shows a second embodiment of the present invention (the same parts as those in FIG. 2 are denoted by the same reference numerals and the detailed description thereof is omitted). In addition to the data of the image captured by the front camera 4 and the map information and the current position information from the navigation device 5, from the wheel speed sensor 12 provided on each wheel of the vehicle 1 and detecting the wheel speed of each wheel. Information is input.

  The control device 11 detects the vehicle speed of the vehicle 1 from the wheel speed of each wheel input from the wheel speed sensor 12. Thus, the wheel speed sensor 12 constitutes a vehicle speed detection unit that detects the vehicle speed of the vehicle 1.

  In this embodiment, when the vehicle speed of the vehicle 1 detected by the wheel speed sensor 12 is higher than a predetermined vehicle speed (for example, 40 to 50 km / h), the image processing unit 11b Image reduction processing is performed in the second and third areas of the images taken by the direction cameras 2 and 3. In the first area, neither image enlargement processing nor image reduction processing is performed (the image magnification is set to 1). In addition, as shown in FIG. 12, the image processing unit 11b sets the image magnification in the second area of the captured image to a third area side (left side) with a value smaller than 1, and the vehicle speed. The faster the is, the smaller the setting. That is, the image magnification is set to be smaller as the point farther from the specific point in the adjacent lane adjacent to the lane in which the vehicle 1 travels in the captured image and the vehicle speed is higher. Furthermore, in the third region, the image magnification is set to the same value as the minimum value in the second region (the smaller the vehicle speed, the smaller the image magnification).

  On the other hand, when the vehicle speed of the vehicle 1 is equal to or lower than the predetermined vehicle speed, the image processing unit 11b performs image enlargement processing in the first and second regions of the captured image. In the third region, neither image enlargement processing nor image reduction processing is performed (the image magnification is set to 1). Further, as shown in FIG. 13, the image processing unit 11 b increases the image magnification in the second region of the photographed image to a value larger than 1 toward the first region (right side) and the vehicle speed. The slower the is, the larger the setting. Further, in the first area, the image magnification is set to the same value as the maximum value in the second area (the lower the vehicle speed, the larger the image magnification). In the present embodiment, the image enlargement process is performed in the area other than the far side area of the second area in the same manner as the far side area, and the image enlargement process is performed in the area other than the near side area of the first area. Will be given.

  The image processing unit 11b preferably enlarges the image around the second predetermined point on the movement locus of the other vehicle 21 traveling in the adjacent lane adjacent to the lane in which the vehicle 1 travels in the captured image. . In the present embodiment, the image magnification is increased toward the first region side (right side) in the second region, and is set to the maximum value of the second region in the first region. Therefore, the second predetermined point is a vertical line. Let it be an intersection P3 (see FIG. 3A) between L2 and the horizontal line L3.

  The processing operation of the control device 11 is similar to the flowchart of FIG. 10 described in the first embodiment, but the image magnification setting process is different from the image magnification setting process in step S7 of the flowchart of FIG. .

  Image magnification setting processing by the control device 11 will be described with reference to the flowchart of FIG.

  That is, in step S21, the vehicle speed of the vehicle 1 is detected from the wheel speed of each wheel input from the wheel speed sensor 12, and in the next step S22, it is determined whether or not the vehicle speed V is higher than the predetermined vehicle speed Vth. .

  If the determination in step S22 is YES, the process proceeds to step S23, and the image magnifications of the first to third regions are set as shown in FIG. 12, while if the determination in step S22 is NO. Proceeding to step S24, the image magnifications of the first to third regions are set as shown in FIG.

  In the present embodiment, when the vehicle speed of the vehicle 1 is faster than the predetermined vehicle speed, the image magnification is set to a value smaller than 1 in the second region of the captured images taken by the rear side photographing cameras 2 and 3 with the third value. Since it is set to be smaller as it goes to the region side (left side) and the vehicle speed is faster, the same effect as that of the first embodiment can be obtained. The approach of the vehicle 21 can be transmitted in a more easily understandable manner, and the safety can be further improved.

  Further, when the vehicle speed of the vehicle 1 is equal to or lower than the predetermined vehicle speed, the image magnification is set to a value larger than 1 in the second region of the photographed image and the larger the image magnification is, the closer to the first region side (right side). Therefore, as in the case where the image reduction process is performed in the second region, when the other vehicle 21 located in the far region approaches the vehicle 1, the front-rear direction between the vehicle 1 and the other vehicle 21 is increased. The amount of change in the size of the other vehicle 21 displayed on the display 10 increases with a certain amount of inter-vehicle distance change, and the approach of the other vehicle 21 to the vehicle 1 is easily understood. Furthermore, by performing the image enlargement process in the first area, it is possible to highlight and display the other vehicle 21 in the near side area while maintaining the continuity of the size of the other vehicle 21 from the first area. That is, when the vehicle 1 travels at a low speed, the vehicle 1 is usually traveling on a general road, and on the general road, there is a high possibility that the vehicle 1 makes a left turn or a right turn at an intersection, and the relative relationship between the vehicle 1 and the other vehicle 21 is high. Due to the low speed, the driver of the vehicle 1 needs to pay more attention to the vicinity of the vehicle 1. Therefore, when the vehicle speed of the vehicle 1 is equal to or lower than the predetermined vehicle speed, the other vehicle 21 close to the vehicle 1 can be highlighted by performing image enlargement processing in the first region. The vehicle 21 can be surely recognized by the driver of the vehicle 1. In addition, in the second region of the captured image, the image magnification is set to be larger as it goes to the first region side (right side) and the vehicle speed is slower, and the image in the first region (near side region) is set. Since the magnification is set to be larger as the vehicle speed is slower, the closer the vehicle 1 is to the vehicle 1, the closer the vehicle 1 is to the driver. This can be further improved.

(Embodiment 3)
FIG. 15 shows Embodiment 3 of the present invention (the same parts as those in FIG. 2 are denoted by the same reference numerals and detailed description thereof is omitted), and the control device 11 includes rear side photographing cameras 2 and 3 and In addition to the data of the image captured by the front camera 4, the map information from the navigation device 5, and the current position information, the illuminance sensor 15 that detects the illuminance around the vehicle 1 and the raindrops attached to the windshield of the vehicle 1 Information from the raindrop sensor 16 for detecting the amount is input.

  The illuminance sensor 15 is for detecting the night traveling of the vehicle 1, and the raindrop sensor 16 is for detecting the rain traveling of the vehicle 1. The illuminance sensor 15 and the raindrop sensor 16 constitute a traveling environment detection means for detecting the vehicle 1 traveling at night and traveling in the rain. Note that only one of the illuminance sensor 15 and the raindrop sensor 16 may be provided.

  Further, in the control device 11, in addition to the specific point calculation unit 11a, the image processing unit 11b, and the image display control unit 11c, image processing for vehicle detection is performed from images captured by the rear side imaging cameras 2 and 3. Thus, in the other vehicle detection unit 11d (other vehicle detection means) for detecting the other vehicle 21 traveling in the adjacent lane adjacent to the lane in which the vehicle 1 travels, and in the display 10, the image processing unit 11b performs image processing. In addition, a mark display control unit 11e (mark mark display control means) that superimposes and displays a mark 25 (see FIG. 16) is provided at the position of the other vehicle 21 in the photographed image or in the vicinity thereof.

  In the present embodiment, the other vehicle detection unit 11d is positioned in the adjacent lane from the photographed image when at least one of night traveling and rain traveling of the vehicle 1 is detected by the illuminance sensor 15 and the raindrop sensor 16. The other vehicle 21 to be detected is detected. When the entire front surface of the other vehicle 21 is reflected in the captured image, the other vehicle 21 is detected based on the shape of the front surface. Further, when the vehicle 1 travels at night, the other vehicle 21 is detected based on the position, size, brightness, and the like of the headlight of the other vehicle 21.

  When the illuminance sensor 15 and the raindrop sensor 16 detect at least one of night travel and rain travel of the vehicle 1, the mark display control unit 11e is another vehicle located in the adjacent lane by the other vehicle detection unit 11d. When 21 is detected, for example, as shown in FIG. 16, in the display 10, the mark 25 is superimposed on the photographed image that is subjected to image processing by the image processing unit 11 b and displayed on the display 10. In the example of FIG. 16, the mark 25 has a rectangular frame shape and is superimposed on the position of the other vehicle 21 in the captured image. The mark 25 is displayed on the display 10 so that the driver of the vehicle 1 can easily recognize the presence of the other vehicle 21 located in the adjacent lane. In addition, it is preferable to superimpose and display in a conspicuous color such as yellow or red. In the case where the mark 25 is superimposed and displayed at the position of the other vehicle 21 in the captured image, a frame-like one is preferable (not rectangular) as in the example of FIG. 16 so that the other vehicle 21 can be seen. In the case of superimposing and displaying in the vicinity of the other vehicle 21, for example, a triangular shape that points to the other vehicle 21 (a frame shape may be used, and the interior may be filled) May be present).

  When the images taken by the rear side photographing cameras 2 and 3 are displayed on the display 10 without image processing by the image processing unit 11b, the mark 25 is not displayed.

  Processing operations related to the display of the mark 25 by the control device 11 will be described with reference to the flowchart of FIG. Note that the processing operation of performing image processing on the images captured by the rear side photographing cameras 2 and 3 and displaying the images on the display 10 is the same as the flowchart of FIG. The processing operation related to the display of the mark 25 is performed in parallel with the processing operation for performing image processing on the photographed image and displaying it on the display 10. The

  In the first step S31, a signal is acquired from the raindrop sensor 16, and in the next step S32, it is determined whether or not the vehicle 1 is traveling in the rain. If the determination in step S32 is NO, the process proceeds to step S33. If the determination in step S32 is YES, the process proceeds to step S35.

  In step S33, a signal is acquired from the illuminance sensor 15, and in the next step S34, it is determined whether or not the vehicle 1 is traveling at night. If the determination in step S34 is NO, the process returns as it is, whereas if the determination in step S34 is YES, the process proceeds to step S35.

  In step S35 which proceeds when the determination in step S32 is YES and the determination in step S34 is YES, the images captured by the rear side cameras 2 and 3 (the captured images acquired in step S1 in the flowchart of FIG. 10). The process which detects the other vehicle 21 from is performed.

  In the next step S36, it is determined whether or not the other vehicle 21 is detected from the captured image. If the determination in step S36 is NO, the process returns as it is. If the determination in step S36 is YES, the process proceeds to step S37, and image processing is performed by the image processing unit 11b on the display 10. In addition, the mark 25 is superimposed on the detected position of the other vehicle 21 in the captured image displayed on the display 10 or in the vicinity thereof, and then the process returns.

  In the present embodiment, image processing is performed on the display 10 by the image processing unit 11b in a situation where the visibility of the other vehicle 21 on the display 10 is poor, such as when the vehicle 1 travels at night or in the rain. Since a mark is superimposed and displayed at a position where the other vehicle 21 is displayed in the captured image or a position near the position, the driver of the vehicle 1 can easily recognize that another vehicle exists in the adjacent lane. I started to pay close attention to the area. As a result, even when the visibility of the other vehicle 21 on the display 10 is deteriorated, the approach of the other vehicle 21 behind the vehicle 1 to the driver of the vehicle 1 can be easily communicated.

  The present invention is not limited to the embodiment described above, and can be substituted without departing from the spirit of the claims.

  The above-described embodiments are merely examples, and the scope of the present invention should not be interpreted in a limited manner. The scope of the present invention is defined by the scope of the claims, and all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  INDUSTRIAL APPLICABILITY The present invention is useful for a vehicle rear side photographing apparatus including a photographing unit that photographs the rear side of a vehicle.

1 Vehicle equipped with rear side photographing device 2,3 Rear side photographing camera (photographing means)
DESCRIPTION OF SYMBOLS 10 Display 11 Control apparatus 11a Specific point calculation part (specific point calculation means)
11b Image processing unit (image processing means)
11c Image display control part 11d Other vehicle detection part (Other vehicle detection means)
11e Mark display control unit (mark display control means)
12 Wheel speed sensor (vehicle speed detection means)
15 Illuminance sensor (traveling environment detection means)
16 Raindrop sensor (traveling environment detection means)

Claims (6)

A vehicle rear side photographing device including photographing means for photographing the rear side of the vehicle,
In the photographed image photographed by the photographing means, the distance in the front-rear direction between the center of the adjacent lane adjacent to the lane where the vehicle travels and the rear of the vehicle and the vehicle is a predetermined distance. Specific point calculation means for calculating the position of the specific point,
Image processing means for performing image enlargement or reduction processing in at least a far-side region that is a region farther from the specific point in the adjacent lane of the photographed image than the specific point;
Display means for displaying the captured image subjected to image enlargement or reduction processing by the image processing means,
The image processing means performs image reduction processing in the far-side area of the photographed image, and sets the image magnification of the far-side area of the photographed image from the specific point in the adjacent lane of the photographed image. A rear side photographing apparatus for a vehicle, characterized in that a point farther from the vehicle is set to be smaller. At the side imaging device after claim 1 Symbol placement of the vehicle,
The image processing means, in the far-side region of the captured image, of the captured image, about a predetermined point on the locus of movement of the other vehicle traveling the adjacent lane, constituting image to shrink The rear side imaging device of the vehicle characterized by the above-mentioned. A vehicle rear side photographing device including photographing means for photographing the rear side of the vehicle,
In the photographed image photographed by the photographing means, the distance in the front-rear direction between the center of the adjacent lane adjacent to the lane where the vehicle travels and the rear of the vehicle and the vehicle is a predetermined distance. Specific point calculation means for calculating the position of the specific point,
Image processing means for performing image enlargement or reduction processing in at least a far-side region that is a region farther from the specific point in the adjacent lane of the photographed image than the specific point;
Display means for displaying the captured image subjected to image enlargement or reduction processing by the image processing means,
The image processing means is configured to set the image magnification of the far side region of the captured image to be smaller at a point farther from the vehicle than the specific point in the adjacent lane of the captured image. And
Vehicle speed detecting means for detecting the vehicle speed of the vehicle,
Further , when the vehicle speed detected by the vehicle speed detection means is faster than a predetermined vehicle speed, the image processing means performs image reduction processing in the far side region of the photographed image and the adjacent lane of the photographed image. A rear side photographing apparatus for a vehicle, wherein the image magnification is set to be smaller as a point farther from the vehicle than the specific point in the vehicle and as the vehicle speed increases. . The vehicle rear side photographing device according to claim 3 ,
When the vehicle speed is equal to or lower than the predetermined vehicle speed, the image processing means enlarges an image in a near side region that is a region closer to the vehicle from the specific point in the adjacent lane of the captured image. A rear side photographing apparatus for a vehicle, characterized in that the apparatus is configured to perform processing. In the rear side photographing device of the vehicle according to claim 3 or 4,
The image processing means enlarges or reduces the image around the predetermined point on the movement locus of the other vehicle traveling in the adjacent lane of the photographed image in the far side region of the photographed image. A rear side photographing apparatus for a vehicle characterized in that it is configured. A vehicle rear side photographing device including photographing means for photographing the rear side of the vehicle,
In the photographed image photographed by the photographing means, the distance in the front-rear direction between the center of the adjacent lane adjacent to the lane where the vehicle travels and the rear of the vehicle and the vehicle is a predetermined distance. Specific point calculation means for calculating the position of the specific point,
Image processing means for performing image enlargement or reduction processing in at least a far-side region that is a region farther from the specific point in the adjacent lane of the photographed image than the specific point;
Display means for displaying the captured image subjected to image enlargement or reduction processing by the image processing means,
The image processing means is configured to set the image magnification of the far side region of the captured image to be smaller at a point farther from the vehicle than the specific point in the adjacent lane of the captured image. And
Traveling environment detection means for detecting at least one of night traveling and rain traveling of the vehicle;
Other vehicle detection means for detecting another vehicle traveling in the adjacent lane from the captured image;
When at least one of night driving and rainy driving of the vehicle is detected by the traveling environment detecting means, and when the other vehicle is detected by the other vehicle detecting means, the image processing means in the display means Rear side photographing of a vehicle, further comprising mark display control means for superimposing and displaying a mark at a position of the other vehicle in the photographed image subjected to image enlargement or reduction processing or at a position in the vicinity thereof apparatus.

Images