JP6247450B2 - Driving assistance device - Google Patents

Description

  The present invention relates to an apparatus for assisting driving of a vehicle by imaging a visual field outside the vehicle with an imaging means and displaying it on a video display device in the vehicle, which prevents the driver from being confused by changing the display mode. It is.

  There existed what was described in following patent document 1 as a driving assistance device. This is to install an imaging device for imaging the lateral and rear side regions of the vehicle on the left and right sides of the vehicle, respectively, and display the video captured by the imaging device on a video display device arranged in front of the driver's seat. is there. This driving support device displays wide-angle images (side and side) according to the driving situation of the vehicle (degree of turning, vehicle speed, presence of other vehicles, operation of direction indicators, etc.). By changing the display to the rear side) and narrow-angle display (rear side display), the video display device displays the appropriate images required by the driver according to various driving conditions. Is.

Japanese Patent No. 4855158

According to the driving support device described in Patent Document 1, the change between the wide-angle display and the narrow-angle display is as follows.
(i) Change the angle of view captured by the imaging device to wide angle and narrow angle,
(ii) display the captured image on the entire display screen;
This process is realized. Thereby, the narrow-angle display is enlarged and displayed as compared with the wide-angle display (FIG. 3 of Patent Document 1).

According to the method for changing the display mode of the wide-angle display and the narrow-angle display described in Patent Document 1, the following problem has occurred.
(a) Since the display magnification changes between wide-angle display and narrow-angle display, the size of the object changes suddenly, or the display position of the object moves discontinuously (flys) before and after the display mode is changed. Also, before and after changing the display mode, what disappeared from the display area (when changed from wide-angle display to narrow-angle display), and what added to the display area (when changed from narrow-angle display to wide-angle display) Confusing. As a result, the sense of distance felt by the driver may be confused, or the driver may be confused when grasping the situation around the vehicle.
(b) The display area of the video displayed on the video display device does not change regardless of the change of the display mode, and the driver must always check the video by moving the viewpoint to the entire display area of the video display device. Therefore, it always takes time for the driver to check the image, and as a result, the driver concentrates on the front vision and hinders driving.

  The present invention solves the problems in the prior art and provides a driving support device that prevents the driver from being confused when the display mode is changed.

  The driving support device according to the present invention is mounted on a vehicle and is a continuous region of a first region on the rear side of the vehicle and a second region on the side of the vehicle relative to the first region. An image pickup device for picking up images of the vehicle, a video display device arranged in front of or obliquely in front of the driver's seat of the vehicle, and images of the first region and the second region picked up by the image pickup device. The first display mode for displaying on the video display device with the same image quality, the video of the first region and the second region captured by the imaging device, the video of the second region as the first region Display mode in a second display mode that displays the image at a display magnification substantially the same as that of the first display mode and at a display position that is substantially the same as the first display mode. And the video displayed by the imaging device is displayed as the video. In which and a control unit for displaying the location. According to the present invention, since the display magnification does not change before and after the change of the display mode, the size of the object suddenly changes due to the change of the display mode, or the display position of the object moves discontinuously before and after the change. ) There is nothing. Therefore, the driver can see where it has become inconspicuous before and after the change (when the display mode is changed from the first display mode to the second display mode) or where it has become prominent (from the second display mode to the first display mode). Can be easily determined. As a result, the sense of distance felt by the driver is prevented from being confused, and the driver is prevented from being confused to grasp the situation around the vehicle. In the second display mode, an area that is normally displayed (that is, conspicuously) is narrower than that in the first display mode, and therefore, a range in which the driver needs to check the image by moving the viewpoint is narrowed. Therefore, in the second display mode, the time required for the driver to check the video is shortened, so that the driver can concentrate on the front view and drive safely.

  In the present invention, the process of making the video of the second area less noticeable than the video of the first area can be, for example, a process of masking (not displaying) the video of the second area. According to this, since the video of the second area is not displayed in the second display mode, where the driver disappeared from the display area (when the first display mode is changed to the second display mode) ) Or where the display area is added (when the display mode is changed from the second display mode to the first display mode). If the image of the second area is masked, it is not necessary to show the image of the second area to the driver.

  Further, the process of making the video of the second area less noticeable than the video of the first area may be a process of lowering the image quality of the video of the second area than the video of the first area. According to this, in the second display mode, the image of the second area is displayed with a lower image quality than the image of the first area. It is easy to determine when the display mode is changed to the second display mode) or what image quality has been restored to the normal image quality (when the second display mode is changed to the first display mode). can do. Decreasing the image quality of the video in the second area shows that the driver does not need to see the video in the second area, and the same effect as masking can be obtained. As modes for reducing the image quality, for example, various modes such as a decrease in display brightness, a decrease in contrast, blurring, fading, and monochrome conversion are conceivable.

  In the present invention, the display device can automatically change the display mode in accordance with the driving situation of the vehicle. According to this, by automatically determining the area that should be displayed normally (that is, conspicuously) according to the driving situation and changing the display area, the necessary images useful for driving assistance are accurately displayed to the driver. It is possible to provide unnecessary images that do not obstruct driving. In this case, the driving situation of the vehicle can be, for example, the operation of the vehicle, the operation of the vehicle, the situation around the vehicle, the estimated intention of the driver, and the like. According to this, the display mode can be automatically changed according to the operation of the vehicle, the operation of the vehicle, the situation around the vehicle, the estimated intention of the driver, and the like.

  The present invention includes left and right imaging devices mounted on the left and right sides of the vehicle, respectively, and the left imaging device includes a first area on the left rear side of the vehicle and the first area. Relative to the first region on the right rear side of the vehicle and the first region. The second display area on the right side of the vehicle is relatively imaged, the video display device displays the images captured by the left and right imaging devices side by side, and the control device The display mode may be changed for one or both of the images captured by the imaging device. According to this, it is possible to change and display the first display mode and the second display mode for one or both of the left and right images of the vehicle. In this case, the video display device is disposed at a position biased toward the passenger seat side with respect to the front of the driver seat, and the control device is configured to select a first one of the left and right videos displayed on the side closer to the driver seat. The display mode and the second display mode are changed and displayed on the video display device, and the video displayed on the side far from the driver's seat is not changed and the video display device is changed to the video display device in the first display mode. It can be displayed. According to this, the video displayed on the side close to the driver's seat makes the driver feel bothersome if the motion (flow) of the video is fast, so the change between the first display mode and the second display mode. Is effective. On the other hand, the image displayed on the side far from the driver's seat is displayed in the first display mode rather than making the driver feel more bothered than the image displayed on the side closer to the driver's seat even if the movement of the image is fast. In some cases, it is convenient for the driver to check a wide range if necessary. Therefore, usability can be improved by making the left and right control different. It should be noted that the operation mode for changing the first display mode and the second display mode only for the image displayed on the side closer to the driver's seat, and the change between the first display mode and the second display mode for both left and right. The operation mode to be performed can be switched by a driver's arbitrary selection operation. In this way, the driver can switch between the two operation modes according to his / her preference.

  The present invention further includes an imaging device in which the imaging device is mounted at the center in the width direction of the vehicle and images a rear center region of the vehicle, and the video display device is an image captured by the central imaging device. Can be arranged and displayed between the left and right images captured by the left and right imaging devices. According to this, it is possible to display an image of the rear center region of the vehicle that becomes a blind spot in the vehicle body between the left and right images from the left and right imaging devices. In addition, when the left, center, and right images are arranged side by side, the entire display width is wider than when only the left and right images are arranged, and it takes more time for the driver to check the entire display. Therefore, it can be said that the effect of making the image of the end portion inconspicuous when the image of the end region is unnecessary is greater than the case where only the left and right images are arranged side by side. Here, the left and right images captured by the left and right imaging devices are displayed at a lower height than the image captured by the central imaging device by masking the upper part, and the masked display area Other information can also be displayed. Since the left and right images are less important than the rear center image, even if the upper left and right images are displayed in a masked state, there is no problem in driving. Rather, it is convenient because other information can be displayed in the masked area.

It is a block diagram which shows the system configuration | structure of embodiment of the driving assistance device of this invention. It is a top view which shows the arrangement | positioning and visual field of the camera on the vehicle in this Embodiment. It is a figure which shows the example of arrangement | positioning of the display in the vehicle interior in this embodiment. It is a flowchart which shows the display mode change control by the control apparatus in this embodiment. In this embodiment, it is a figure which shows an example of the image | video displayed on a display, (a) is a state when masking and displaying the image | video of both right and left rear side outside area | regions L2 and R2, (b) is the left This is a state when the image of the rear side outside region L2 is masked and the image of the right rear side outside region R2 is unmasked and displayed. It is a figure which shows the example which displays other information on the display area of the right and left upper side of a display, (a) shows the example which displayed the image of the vehicle front left and right, (b) shows the object on the right rear side of the vehicle. The example which displayed the warning when presence is detected is shown.

Embodiments of the present invention will be described below. FIG. 2 shows the arrangement of cameras (imaging devices) in the vehicle. Cameras 12, 14, and 16 are fixedly mounted on the left side (for example, the left door mirror), the right side (for example, the right door mirror), and the rear (for example, near the rear number plate) of the vehicle 10 outside the vehicle. The cameras 12, 14, and 16 are constituted by electronic cameras such as a CCD camera and a CMOS camera. Each of the cameras 12, 14, and 16 performs imaging with a single image sensor. The angle of view, that is, the field of view of the cameras 12, 14, 16 is fixed. In FIG. 2, a region extending in a fan shape from the cameras 12, 14, and 16 indicates a horizontal field angle. The horizontal angles of view of the cameras 12, 14, 16 are set as follows.

Angle of view of left camera 12: Left rear side area of vehicle 10 {Left rear side inner area L1 (first area)
And a continuous region of the left rear lateral outer region L2 (second region)}.
Angle of view of right camera 14: right rear side region of vehicle 10 {right rear side inner region R1 (first region)
And a region including the right rear lateral outer region R2 (second region)}.
-Angle of view of rear camera 16: Rear center region C of vehicle 10.

The vertical angles of view of the cameras 12, 14, and 16 are set to appropriate angles from a downward angle to an upward angle with respect to the horizontal direction.

FIG. 3 shows the arrangement of the display (video display device) 18 in the vehicle 10. The display 18 is composed of a liquid crystal television monitor or the like. The display 18 is installed near the center position on the dashboard 20 in the interior of the vehicle 10 or near the upper center of the front window 22 instead of the inner mirror. Although FIG. 3 shows a case where the display 18 is constituted by a single horizontally long display, it can be constituted by arranging three displays side by side in place of this. Images captured by the cameras 12, 14, and 16 are respectively displayed in areas obtained by dividing the entire display area of the display 18 into three in the horizontal direction. That is,
A video image captured by the left camera 12 is displayed in the left display area 18L, a video image captured by the rear camera 16 is displayed in the central display area 18C, and a video image captured by the right camera 14 is displayed in the right display area 18R. .

  The system configuration of the driving support device is shown in FIG. In the driving support device 24, video signals from each single image sensor of the cameras 12, 14, and 16 in FIG. The sensor 28 is used to detect the situation around the vehicle, and is composed of, for example, radars installed on the left rear side and the right rear side of the vehicle 10. The presence of an object on the right rear side (for example, another vehicle or an obstacle) is detected. The sensor 30 is used for estimating the driver's intention, and is composed of, for example, an electronic camera such as a CCD camera or a CMOS camera installed in the passenger compartment facing the driver's face. Various vehicle state signals indicating the vehicle state are output from the vehicle state signal output unit 32. Vehicle status signals include, for example, vehicle operation signals (vehicle speed sensors, steering angle sensor signals, etc.) indicating vehicle operations such as vehicle speed and turning, whether or not a turn indicator is turned on, and a gear shift lever closing position. Vehicle operation signals (such as direction indicator operation signals, shift lever position signals, etc.) are included.

  In the control device 26, video signals captured by the cameras 12, 14, and 16 are input to the display image correction unit 34. In addition to the three cameras 12, 14, and 16, the display image correction unit 34 can also input a signal from a camera arranged at the front of the vehicle. The display image correction unit 34 cuts out a specific area of the video, corrects the distortion of the video, and converts the viewpoint of the video (converts the video into a video viewed from a viewpoint different from the actually captured viewpoint) as necessary. Etc. are corrected and output. However, these corrections are not necessarily required to realize the function according to the present invention. The display image arrangement unit 36 includes a field memory, and the video images of the cameras 12, 14, 16,... Output from the display image correction unit 34 are arranged in a predetermined state on the display 18 to form a set of video images. As a result, the entire image (corresponding to the entire display area of the display 18) obtained by combining the images for one field by these video signals is updated and stored in the field memory for each field period.

  The rear side object recognition unit 38 is based on the video signals of the left camera 12 and the right camera 14, or based on the detection signal of the sensor 28, and the object on the left rear side or the right rear side of the vehicle 10 (for example, another vehicle or The presence of an obstacle is detected, and a detection signal (peripheral situation signal) is output. When the sensor 30 is composed of a camera installed facing the driver's face, the driver's intention estimation unit 40 recognizes the driver's line-of-sight direction from the image and makes an intention to turn right or left or change lanes. Estimate signal (intention to make a right turn or right lane when the line of sight turns to the right for a predetermined amount or more, intention to change to the left or left lane if the line of sight turns to the left for a predetermined amount or more) Is output.

The display determination unit 42 is based on the surrounding situation signal from the rear side object recognition unit 38, the intention estimation signal from the driver intention estimation unit 40, and the vehicle state signal from the vehicle state signal output unit 32. Whether to perform masking or cancel masking for the outer regions L2 and R2 is determined as follows.

<< Determination regarding the left rear side outside area L2 >>
When corresponding to at least one of the following (a), (b), and (c), the left rear lateral outer region L2 is displayed with masking removed. When none of (a), (b), and (c) is applicable, the left rear side outer region L2 is masked and not displayed.
(a) The presence of an object on the left rear side is detected by the surrounding situation signal.
(b) The intention to turn left or change to the left lane is estimated by the intention estimation signal.
(c) An operation to the left of the direction indicator is detected by the vehicle state signal.

<< Determination regarding right rear side outside area R2 >>
When corresponding to at least one of the following (d), (e), and (f), the right rear side outer region R2 is displayed with masking removed. When none of (d), (e), and (f) is applicable, the right rear side outer region R2 is masked to be hidden.
(d) The presence of an object on the right rear side is detected by the surrounding situation signal.
(e) The intention to change to the right or right lane is estimated by the intention estimation signal.
(f) The right direction operation of the direction indicator is detected by the vehicle state signal.

By the above determination, the following display state is generated on the display 18.
Display state in which masking is canceled only in the left rear side outer region L2 (regions L2, L1, C, and R1 are displayed): At least one of the above (a), (b), and (c) It occurs when it falls under any of the above (d), (e), or (f). At this time, an image of the left rear side outer region L2 is displayed, so that the driver can recognize the presence of an object on the left rear side, or can safely turn to the left or change to the left lane. it can. At this time, since the video of the right rear side outside region R2 that does not need to be confirmed is not displayed, it is not necessary to move a useless line of sight to the right end region of the display 18.

Display state in which masking is canceled only in the right rear side outer region R2 (regions L1, C, R1, and R2 are displayed): Not applicable to any of the above (a), (b), and (c), and Occurs when at least one of (d), (e), and (f) is met. At this time, the image of the right rear side outside region R2 is displayed, so that the driver can recognize the presence of the object on the right rear side, or can safely make a right turn or change to the right lane. it can. At this time, since the video of the left rear side outside region L2 which does not need to be confirmed is not displayed, it is not necessary to move a useless line of sight to the left end region of the display 18.

Display state in which masking is canceled in both the left and right rear outer regions L2 and R2 (all regions L2, L1, C, R1, and R2 are displayed): For example, the above (a) and (d) are applicable In other words, when the presence of the object on the left rear side and the existence of the object on the right rear side are detected at the same time, all the regions L1, L2, C, R1, and R2 in FIG. 2 are displayed. As a result, the images of the left rear side outside region L2 and the right rear side outside region R2 are displayed, so that the driver can recognize the presence of the left rear side portion and the right rear side object.

Display state in which both the left and right rear outer regions L2 and R2 are masked (regions L1, C, and R1 are displayed): When none of the above (a) to (f) applies, FIG. The left rear side outer region L2 and the right rear side outer region R2 are masked and displayed. As a result, the images of the left rear side outer region L2 and the right rear side outer region R2 that are not required to be confirmed at that time are not displayed, and therefore it is not necessary to move useless lines of sight to the left end region and the right end region of the display 18. .

  The display control unit 44 masks the entire image signal stored in the field memory of the display image arrangement unit 36 for each field based on the determination of the display determination unit 42 (region L2 and / or A masking process such as applying a monochrome signal such as black to the region R2) is performed (the regions L1, C, and R1 are always displayed) and displayed on the display 18.

  The determination and display control by the display determination unit 42 and the display control unit 44 are shown in FIG. In the state where the left and right rear side areas L1, L2, R1, R2 and the rear center area C of the vehicle 10 are imaged over a wide range with the cameras 12, 14, and 16 (S1), the intention to change to the right lane or the right lane ( S2) When the direction indication operation to the right direction (S3) and the presence of objects in the right rear side regions R1 and R2 (S4) are not detected, the right rear side outer region R2 is masked. (S5). On the other hand, at least one of the intention to change to the right lane or the right lane (S2), the direction instruction operation to the right (S3), and the presence of objects in the right rear side areas R1 and R2 (S4) If it is detected, the masking of the right rear side outer region R2 is released (S6). Further, when the intention to change to the left lane or the left lane (S7), the direction instruction operation to the left (S8), and the presence of objects in the left rear side areas L1 and L2 (S9) are not detected. The left rear lateral outer region L2 is masked (S10). On the other hand, at least one of the intention to change to the left lane or the left lane (S7), the direction instruction operation to the left (S8), and the presence of objects in the left rear side areas L1 and L2 (S9) When it is detected, the masking of the left rear side outer region L2 is canceled (S11).

  FIG. 5 shows a display example of the display 18 by the control of FIG. The display position of the image in each area on the display 18 is fixed and exclusively determined. That is, the video of one area is not displayed with the display position changed, and the video of a plurality of areas is not switched to the same display position. As a result, the driver can recognize in a fixed manner which region of the image is displayed at which display position, and no confusion occurs. The image captured by the left camera 12 is displayed in the left display area 18L of the display 18, the image captured by the rear camera 16 is displayed in the center display area 18C, and the right camera 14 is displayed in the right display area 18R. The captured image is displayed. In this display example, the left and right display areas 18L and 18R are displayed with the upper half always masked. The left and right rear side regions L1, L2, R1, and R2 and the left and right side regions are less important than the rear center region C, so the left and right rear side regions L1, L2, R1, Even if the upper half of the image of R2 or the left and right side area is always masked and displayed, there is no problem in driving. Rather, it is convenient to display other information in the masked upper half area. In the masked upper half area, for example, the left and right images of the front part of the vehicle by the camera arranged at the front part of the vehicle can be displayed when the vehicle exits on the front road where the left and right line of sight is poor. . In addition, information such as warnings in an area closest to the driver in the upper area (the upper right area of the right display area 18R in the case of a right-hand drive vehicle and the upper left area of the left display area 18L in the case of a left-hand drive vehicle). Can also be displayed.

  FIG. 5A shows a display state (states S5 and S10 in FIG. 4) in which the right rear side outer region R2 and the left rear side outer region L2 are both masked. The areas L1, C, and R1 are displayed with the same image quality. At this time, the driver moves the viewpoint on the display 18 and the range in which the image should be confirmed is minimized, and the movement (flow) of the image is fast and the driver feels annoyed. Since the image of the lateral outer region L2 is not displayed, the driver can drive while concentrating on the front view.

  FIG. 5B shows a display state in which the right direction instruction operation (S3) is detected, the masking of the right rear side outer region R2 is released, and the left rear side outer region L2 is masked (FIG. 5). 4 shows S6 and S10). The areas L1, C, R1, and R2 are displayed with the same image quality, and the areas L1, C, and R1 are displayed with the same image quality as in FIG. At this time, the driver can confirm the right rear side outer region R2 (region that becomes a blind spot in the display of FIG. 5A) on the display 18 and perform a right turn operation. Also, when the driver intentionally turns his gaze to the right, the intention to change to the right lane or the right lane (S2) is estimated, and the display state of FIG. Once the intention of turning right or left or changing lanes (S2, S7) is once estimated, the masking cancellation state should be continued for a predetermined time after the intention estimation is canceled (intention is no longer estimated). For example, even if the line of sight is moved to the display 18, the image with the masking canceled can be viewed.

  When the display mode in FIG. 5A is switched to the display mode in FIG. 5B, the driver can easily determine that the image of the right rear side outer region R2 has been added. Further, when the display mode in FIG. 5B is switched to the display mode in FIG. 5A, the driver can easily determine that the image of the right rear side outer region R2 has disappeared. Further, since the display magnification and the display position do not change between the display in FIG. 5A and the display in FIG. 5B, the size of the displayed object changes suddenly, or the display position of the object before and after the change. Does not move discontinuously (fly). Therefore, it is possible to prevent the driver from being confused in the sense of distance and the driver from being confused when grasping the situation around the vehicle.

  FIG. 6 shows an example in which other information is displayed in the upper area of the left and right display areas 18L and 18R. Among these, FIG. 6A is an example in which the left and right images of the front part of the vehicle are displayed by a camera disposed at the front part of the vehicle when the vehicle is on a road with poor visibility on the left and right. An image of the left side of the front of the vehicle is displayed in the upper inner area 18La of the left display area 18L, and an image of the left side of the front of the vehicle is displayed in the upper inner area 18Ra of the right display area 18R. This display can be turned on and off by a switch operation by the driver. The driver can safely exit the road ahead by looking at this indication. FIG. 6B shows an upper outer region 18Rb (in the case of a right-hand drive vehicle; in the case of a left-hand drive vehicle, the left side in the case of the presence of an object in the right rear side regions R1 and R2). The warning indicating the presence of the object is automatically displayed on the upper outer area of the display area 18L (in FIG. 6B, the image in the lower area of the display area 18R is not implemented). No object such as a vehicle is displayed, but here a warning display example is shown when the presence of an object is detected). The vehicle icon 46 indicates that the presence of an object has been detected, and the arrow icon 48 on the lower right side of the vehicle icon 46 indicates that the presence of an object has been detected in the right rear side regions R1 and R2 of the vehicle. When the presence of an object is detected in the left rear side areas L1 and L2 of the vehicle, an arrow icon is displayed on the lower left side of the vehicle icon 46.

  In the above embodiment, the left and right images are switched between the masked display state and the non-masked (unmasked) display state. However, of the left and right images, the image displayed on the side closer to the driver's seat is masked. It is also possible to switch between the display state not to be masked and the display state to be masked, and to display the image displayed on the side far from the driver's seat in a state where the masking is not performed without performing the switching. The image displayed on the side far from the driver's seat is less annoying to the driver than the image displayed on the side closer to the driver's seat even if the image moves faster. However, there is no problem in driving, and it may be more convenient to check a wide range. In the embodiment, the masking process is used to make the video in the second area less noticeable than the video in the first area. However, the process may be a process for reducing the image quality. As modes for reducing the image quality, for example, various modes such as a decrease in display brightness, a decrease in contrast, blurring, fading, and monochrome conversion are conceivable. Moreover, in the said embodiment, although the area | region imaged with an imaging device was set to the rear side area | region of a vehicle, the 1st area | region was set to the rear side inner side area | region, and the 2nd area | region was set to the rear side outer side area | region. Instead of this, the area to be imaged by the imaging device is set to a continuous area from the rear side area to the side area of the vehicle, the first area is the rear side area, and the second area is the side area. Can also be set. In the embodiment, the video imaged by the imaging device is divided into two regions and changed to two display modes. However, the video imaged by the imaging device is divided into three or more regions and 3 It is also possible to change to more than one display mode (including the case of changing steplessly). In the above embodiment, the display mode is automatically changed. However, the display mode can be changed by an operation by a driver or the like (manual switch operation, voice change operation, or the like).

  DESCRIPTION OF SYMBOLS 10 ... Vehicle, 12, 14, 16 ... Electronic camera (imaging device), 18 ... Display (video display device), 26 ... Control device, 24 ... Driving support device, L1 ... Left rear side inner area (1st Area), L2 ... left rear lateral outer area (second area), R1 ... right rear lateral inner area (first area), R2 ... right rear lateral outer area (second area), C ... Rear center area.

Claims (8)

An imaging device mounted on a vehicle for imaging a continuous region of a first region on the rear side of the vehicle and a second region on the side of the vehicle relative to the first region;
An image display device disposed in front of or obliquely in front of the driver's seat of the vehicle;
The first display mode in which the images of the first region and the second region imaged by the imaging device are displayed on the image display device with substantially the same image quality, and the images are captured by the imaging device. The first region and the second region are processed at a display magnification that is substantially the same as the first display mode by processing the second region to make the second region less prominent than the first region. A control device that changes the display mode to a second display mode that displays at substantially the same display position as the first display mode, and displays the video imaged by the imaging device on the video display device. A driving assistance device for
The imaging device includes left and right imaging devices mounted on the left and right sides of the vehicle, respectively, and the left imaging device is relative to a first area on the left rear side of the vehicle and the first area. Thus, a continuous region of the second region on the left side of the vehicle is imaged, and the right imaging device is relatively relative to the first region on the right rear side of the vehicle and the first region. Image a continuous region of the second region on the right side of the vehicle;
The video display device displays the video captured by the left and right imaging devices side by side,
The control device is a driving support device that changes the display mode for one or both of the images captured by the left and right imaging devices . The video display device is disposed at a position biased toward the passenger seat side with respect to the front of the driver seat,
The control device changes the first display mode and the second display mode for the image displayed on the side closer to the driver's seat among the left and right images and displays the image on the image display device. The driving support device according to claim 1 , wherein an image displayed on a side far from the vehicle is displayed on the image display device in the first display mode without performing the change. The image pickup apparatus is further mounted on the center of the vehicle in the width direction and further has an image pickup apparatus for picking up an image of a rear center area of the vehicle,
Driving support apparatus according to claim 1 or 2, wherein the image display device displays disposed between the left and right image captured image captured by the imaging device of the central in the left and right image pickup devices. The left and right images captured by the left and right imaging devices are displayed at a lower height than the images captured by the central imaging device by masking the upper part, and other information is displayed in the masked display area. The driving support device according to claim 3 , wherein The driving support device according to any one of claims 1 to 4, wherein the process of making the image of the second area less noticeable than the image of the first area is a process of masking the image of the second area. . 5. The process according to claim 1, wherein the process of making the image of the second area less noticeable than the image of the first area is a process of lowering the image quality of the image of the second area than the image of the first area . The driving assistance apparatus as described in any one . The driving support device according to any one of claims 1 to 6 , wherein the control device automatically changes the display mode in accordance with a driving situation of the vehicle. The control device determines a driving situation of the vehicle according to at least one of an operation of the vehicle, an operation of the vehicle, a situation around the vehicle, and an estimated intention of the driver. The driving support device according to 7 .

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