JP2002051330A - Imaging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging device Urnd1 which generates display images with which a driver can judge instaneously which direction is displayed for a vehicle by a driving support. SOLUTION: In an imaging device Urnd1, a processor 1 periodically obtains a front left-side image Sf1 and front right-side image Sfr, and cuts out a partial front left-side image and partial front right-side image. After that, the processor 1 composites the partial front left-side image and partial front right-side image with a mask image. The processor 1 further composites a vehicle model image having a different size with the mask image at a predetermined timing. Here, the vehicle model image is composited so that it advances and a driver can recognize it visually. From the advancing vehicle model image, the driver can instantaneously judges that a driving support displays the conditions in front of the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drawing apparatus,
More specifically, the present invention relates to a drawing device that processes a peripheral image of a vehicle captured by an imaging device and creates an image displayed on a display device.

[0002]

2. Description of the Related Art Japanese Patent Application Laid-Open No.
There is a vehicle surrounding monitoring device disclosed in Japanese Patent Application Publication No. 1-338074. FIG. 35 is a block diagram showing the overall configuration of the vehicle surroundings monitoring device. In FIG. 35, a vehicle surrounding monitoring device includes a first CCD camera 1001 and a second CCD camera 1001.
CCD camera 1002 and control unit 10
03 and a display device 1004.

[0003] The first CCD camera 1001 is installed at the front left corner of the vehicle body and captures an image of the front left of the vehicle (hereinafter referred to as a left image) Scls. The second CCD camera 1002 is installed at the front right corner of the vehicle body, and captures a right front image (hereinafter referred to as a right image) Scrs of the vehicle. The control unit 1003 generally includes an image creating device 1005 and an image synthesizing device 1006.
The image creating device 1005 creates a trimmed image Sctr and a vehicle image Scve. Here, the trimmed image S
As shown in FIG. 36, ctr forms a mask area Acmsk on the display screen of the display device 1004, whereby a left display area Acldp and a right display area Acrdp are formed on the display screen. The vehicle image Scve is an image of the back of the vehicle, and is superimposed on the center of the trimmed image Sctr, as shown in FIG.

The image synthesizing device 1006 adds the first image to the synthesized image of the trimmed image Sctr and the vehicle image Scve.
Image S captured by the CCD camera 1001
cls and the right image Scrs captured by the second CCD camera 1002 are synthesized. Here, the left image Scl
s and the right image Scrs are combined in the left display area Acldp and the right display area Acrdp. By the above combining process, the image combining device 1006 obtains the display image Scpd. The display device 1004 displays the display image Scpd obtained by the image composition device 1006. In the above display image Scpd,
The vehicle image S is located between the left image Scls and the right image Scrs.
Since the cve is arranged, the driver knows that the left image Scls shows the state of the left side of the vehicle and the right image Scrs shows the state of the right side of the vehicle.

[0005]

In the above-described vehicle monitor, two CCD cameras 1001 and 1002 are installed only on the front side of the vehicle. However, in recent years, imaging devices such as CCD cameras have tended to be installed on the front, rear, left, and right sides of the vehicle so as to capture images in all directions around the vehicle. As described above, in a situation where a large number of imaging devices are installed, the vehicle image S
Simply combining the left image Scls and the right image Scrs on the left and right sides of cve has a problem in that the driver cannot instantaneously determine which direction the image is currently being viewed. More specifically, it is assumed that two imaging devices are installed at the left and right ends of the front side of the vehicle, and two imaging devices are installed at the left and right ends of the rear side of the vehicle. Under the above assumption, the driver can obtain a state in front of the vehicle and a state behind the vehicle. However, the vehicle image S
By simply synthesizing the left image Scls and the right image Scrs on the left and right sides of cve, the driver can determine whether the state ahead of the vehicle is currently being displayed on the vehicle monitor or the state behind the vehicle is being displayed. Can not judge.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a drawing apparatus for generating a display image that allows a driver to instantaneously determine which direction the driving support device is displaying on a vehicle. .

[0007]

Means for Solving the Problems and Effects of the Invention A first invention is a drawing device for creating a display image for driving assistance of a vehicle, and is provided from an imaging device installed in the vehicle. A first image that creates a display image by combining an acquisition unit that obtains a peripheral image and an indicator that indicates the direction of the peripheral image with respect to the vehicle with the peripheral image obtained by the acquisition unit; A combining unit.

According to the first invention, the first image synthesizing section creates a display image in which an indicator indicating the direction of the peripheral image with respect to the vehicle is synthesized. When the above display image is provided to the driver, the driver can instantly determine which direction the vehicle is being displayed.

A second invention is dependent on the first invention,
The drawing apparatus further includes a cutout unit that cuts out a predetermined area in the peripheral image obtained by the acquisition unit as a partial peripheral image, and a partial peripheral image cutout by the cutout unit, and synthesizes the image with a previously prepared mask image. And a second image synthesizing unit for generating an intermediate image. here,
The first image combining unit combines the indicator with the intermediate image created by the second image combining unit. According to the second aspect, the partial peripheral image is combined with the mask image, so that the driver is provided with a display image that is easier to see.

A third invention is dependent on the first invention,
The indicator is an image representing the vehicle model. The first image synthesis unit synthesizes the vehicle model such that the vehicle model appears to move in the direction of the surrounding image obtained by the acquisition unit with respect to the vehicle. A fourth invention is according to the third invention, and the indicator is a vehicle model when the vehicle is viewed from behind.

According to the third and fourth aspects, the direction of the surrounding image with respect to the vehicle is indicated by the movement of the vehicle model. Therefore, the driver can instantly determine which direction is being displayed with respect to the vehicle. You can judge.

A fifth invention is dependent on the first invention,
The indicator is an image representing a graphic. The first image synthesizing unit synthesizes the graphics so that the graphics move in the direction of the surrounding image obtained by the acquisition unit with respect to the vehicle.

According to the fifth invention, the movement of the figure
Since the direction of the surrounding image with respect to the vehicle is indicated, the driver can instantaneously determine which direction is being displayed with respect to the vehicle.

A sixth invention is according to the first invention,
At least one imaging device is installed on the front side and the rear side of the vehicle. Here, the imaging device installed on the front side of the vehicle captures a front image of the vehicle as a peripheral image of the vehicle. The imaging device installed on the rear side of the vehicle captures a rear image of the vehicle as a peripheral image of the vehicle. In addition, the drawing device further includes a first function to which a start function of a front monitor mode of the vehicle is assigned.
, And a second operation button to which a start function of the rear monitor mode of the vehicle is assigned. Here, when the first operation button is operated, the acquisition unit acquires a front image as a peripheral image of the vehicle from an imaging device installed on the front side of the vehicle. The first image synthesis unit creates a display front image in which an indicator indicating the direction of the front image with respect to the vehicle is synthesized with the front image obtained by the acquisition unit. In addition, when the second operation button is operated, the obtaining unit obtains a rear image as a peripheral image of the vehicle from the imaging device installed on the rear side of the vehicle. The first image synthesis unit creates a display rear image in which an indicator indicating the direction of the rear image with respect to the vehicle is synthesized with the rear image obtained by the acquisition unit.

According to the sixth aspect, even when the acquisition unit can acquire both the front image and the rear image of the vehicle, the first image synthesis unit determines the directions of the front image and the rear image with respect to the vehicle. A display front image and a display rear image in which the indicated indicators are combined are created. by this,
When the above display front image is provided to the driver, the driver can prevent the display front image from being confused with the display rear image. Conversely, the display rear image can be prevented from being confused with the display front image.

A seventh invention is dependent on the sixth invention,
The indicator is a vehicle model when the vehicle is viewed from behind. Here, the first image synthesizing unit synthesizes the vehicle model such that when the first operation button is operated, the vehicle model appears to move upward from below the peripheral image obtained by the acquisition unit. I do. Further, when the second operation button is operated, the first image synthesizing unit synthesizes the vehicle model such that the vehicle model appears to move downward from above the peripheral image obtained by the acquisition unit. .

According to the seventh aspect, the movement of the vehicle causes
Since the directions of the displayed front image and the displayed rear image with respect to the vehicle are indicated, the driver can use the displayed front image or the displayed rear image without confusing the two, and in which direction the vehicle is currently facing. It can be determined instantly whether or not it is displayed.

An eighth invention is dependent on the first invention,
At least one imaging device is installed on the front side and the rear side of the vehicle. Here, the imaging device installed on the front side of the vehicle captures a front image of the vehicle as a peripheral image of the vehicle. The imaging device installed on the rear side of the vehicle captures a rear image of the vehicle as a peripheral image of the vehicle. Further, the drawing apparatus further includes an operation button to which a start function of a monitor mode of the vehicle is assigned, and a shift position sensor for detecting a current shift position of the vehicle. When the operation button is operated and the shift position indicating that the vehicle is moving forward is detected by the shift position sensor, the acquisition unit outputs an image as a peripheral image of the vehicle from an imaging device installed on the front side of the vehicle. Get forward image. The first image synthesis unit creates a display front image in which an indicator indicating the direction of the front image with respect to the vehicle is synthesized with the front image obtained by the acquisition unit.
Further, when the operation button is operated and a shift position indicating that the vehicle is moving backward is detected by the shift position sensor, an image capturing device installed on the rear side of the vehicle is used to obtain a peripheral image of the vehicle. To get the rear image as
The first image synthesis unit creates a display rear image in which an indicator indicating the direction of the rear image with respect to the vehicle is synthesized with the rear image obtained by the acquisition unit.

According to the eighth aspect, similarly to the sixth aspect, it is possible to prevent the display front image from being confused with the display rear image, and prevent the display rear image from being confused with the display front image. Further, according to the eighth aspect, by providing the shift position sensor externally, the driver can obtain the currently desired one of the display front image and the display rear image only by operating one operation button. . Thereby, the operation burden on the driver is reduced as compared with the sixth aspect.

A ninth invention is according to the eighth invention,
The indicator is a vehicle model when the vehicle is viewed from behind. Here, when the operation button is operated and a shift position indicating that the vehicle is moving forward is detected by the shift position sensor, the first image synthesizing unit is configured to perform an operation from below to above the peripheral image obtained by the acquisition unit. The vehicle model is synthesized so that the vehicle model appears to move. When the operation button is operated and the shift position sensor detects a shift position that indicates that the vehicle is moving forward, the first image synthesis unit is configured to detect the shift position from above to below the peripheral image obtained by the acquisition unit. The vehicle model is synthesized so that the vehicle model appears to move.

According to the ninth aspect, similarly to the seventh aspect, when the display front image or the display rear image is provided, the driver can determine which direction the vehicle is currently in without confusing them. It can be determined instantaneously whether the state of is displayed.

A tenth invention is according to the first invention, wherein the indicator is an image representing a figure. Here, the first image synthesizing unit includes, in the peripheral image obtained by the obtaining unit, an image representing a vehicle model prepared in advance, and the direction of the peripheral image with respect to the vehicle model. Are combined with an indicator which is an image indicating.

An eleventh invention is according to the tenth invention, and the vehicle model represents a vehicle viewed from directly above. A twelfth invention is according to the tenth invention, and the vehicle model represents the vicinity of the driver's seat of the vehicle when viewed from behind.

According to the tenth to twelfth aspects, in the display image, the direction of the peripheral image as viewed from the vehicle model is indicated by the indicator. On the other hand, it is possible to instantly determine which direction is being displayed.

A thirteenth invention is a drawing method for creating a display image for driving assistance of a vehicle, comprising: an obtaining step of obtaining a peripheral image of the vehicle from an imaging device installed in the vehicle; A first image synthesizing step of generating a display image by synthesizing an indicator indicating the direction of the peripheral image with respect to the vehicle with the peripheral image obtained in step (1).

A fourteenth invention is a recording medium on which a drawing program for creating a display image for assisting driving of a vehicle is recorded, wherein the program is transmitted from an image pickup device installed in the vehicle to the vehicle. A first image for creating a display image by combining an obtaining step of obtaining a peripheral image and an indicator indicating the direction of the peripheral image with respect to the vehicle with the peripheral image obtained in the obtaining step; Combining step.

A fifteenth invention is a drawing program for creating a display image for driving assistance of a vehicle, comprising: an obtaining step of obtaining a peripheral image of the vehicle from an imaging device installed in the vehicle; A first image synthesizing step of generating a display image by synthesizing an indicator indicating the direction of the peripheral image with respect to the vehicle with the peripheral image obtained in step (1).

According to the thirteenth to fifteenth aspects, in the first image synthesizing step, a display image in which an indicator indicating the direction of the peripheral image with respect to the vehicle is synthesized. When the above display image is provided to the driver, the driver,
It is possible to instantaneously determine in which direction the vehicle is displayed.

[0029]

FIG. 1 is a block diagram showing a hardware configuration of a drawing apparatus Urnd1 according to a first embodiment of the present invention. In FIG. 1, a drawing device Urnd1 is a device that creates a display image for driving assistance (a display front image Sfv and a display rear image Srv described below) displayed on the screen of the display device 11, and includes a processor 1, a program It comprises a memory 2 and a working area 3.

The program memory 2 typically has RO
M (Read Only Memory), which stores a rendering program (hereinafter referred to as a rendering program) Prnd1, as shown in FIG. Program memory 2
Further, mask data Dmsk and vehicle model data Dmd required when executing the rendering program Prnd1
b, vehicle model data Dmdm and vehicle model data D
mds is stored.

The mask data Dmsk represents an image (hereinafter, referred to as a mask image) Smsk for forming a mask area Amsk (entire hatched area) as shown in FIG. 3 on the screen of the display device 11. More specifically, the mask area A
msk is an upper mask area Aumsk and a lower mask area Abm
sk, the central mask area Acmsk, and the left mask area Almsk
And a right mask area Armsk. The upper mask area Aumsk, the lower mask area Abmsk, and the central mask area Acmsk are an upper area on the screen of the display device 11,
Mask the lower and center regions. The left mask area Almsk and the right mask area Armsk mask areas along the left side and the right side on the screen of the display device 11.
Due to the above mask area Amsk, a left display area Aldp and a right display area Ardp are formed at portions separated from each other on the screen of the display device 11.

The vehicle model data Dmdb represents an image (hereinafter referred to as a vehicle model image) Mvhcb representing a model of a relatively large rear view of the vehicle as shown in FIG. The vehicle model data Dmdm is smaller than the vehicle model image Mvhcb as shown in FIG.
The vehicle model image Mvhcm having a rear view of the vehicle larger than vhcs (see FIG. 4C) is shown. Vehicle model data D
mds is a vehicle model image Mvh, as shown in FIG.
Vehicle model image M having a rear view of the vehicle smaller than cm
Represents vhcs.

The above-described vehicle model images Mvhcb, Mvhcm and Mvhcs are combined with a mask area Amsk. More specifically, the vehicle model image Mvhcs is combined with the upper combining point Pumd shown in FIG. The upper combining point Pumd is selected at a position closer to the upper mask area Aumsk in the central mask area Acmsk. Further, the vehicle model image Mvhcm is an intermediate composite point Pmm shown in FIG.
is synthesized into d. The intermediate composite point Pmmd is selected at a position below the upper composite point Pumd. Further, the vehicle model image Mvhcb is combined with the lower combining point Pbmd shown in FIG. Lower composite point Pbmd
Represents the lower mask region Ab in the central mask region Acmsk.
It is selected at a position closer to msk and below the intermediate composite point Pmmd. The above vehicle model images Mvhcb, Mvh
cm and Mvhcs are examples of indicators in the claims.

Referring back to FIG. The working area 3 is typically a RAM (Random Access Memory), and is used when the processor 1 executes the rendering program Prnd1. Drawing apparatus U configured as described above
rnd1 is typically incorporated in the driving support device Uast1. In the driving support device Uast1, in addition to the drawing device Urnd1, an imaging device (for the front left side) 4, an imaging device (for the front right side) 5, an imaging device (for the rear left side) 6, and an imaging device (for the rear right side). 7), the input device 8, and the display device 11 are communicably connected to the processor 1 of the drawing device Urnd1. The driving support device Uast1 having the above configuration is mounted on the vehicle Vusr shown in FIG.

The image pickup device (for the front left side) 4 and the image pickup device (for the front right side) 5 are installed on the front side of the vehicle Vusr as shown in FIG. More specifically, the vehicle Vusr
When the vehicle encounters an intersection with poor visibility while moving forward, it is difficult for the driver to visually recognize the state of the road intersecting with the forward direction of the vehicle Vusr due to obstacles such as walls. That is, a blind spot area of the driver is formed on the left front side and the right front side of the vehicle Vusr moving forward due to the obstacle. In the present embodiment, what can be formed on the front left side of the forward vehicle Vusr is a blind spot area Afl.
Called b. Also, what can be formed on the front right side is blind spot area A
Called frb. The imaging device 4 has a lens that is a vehicle Vusr.
The image which is installed so as to face the blind spot area Aflb and captures the situation of the blind spot area Aflb is taken in as the front left image Sfl. The imaging device 5 has a lens portion whose blind spot area Afr
The image which is installed so as to face b and shows the situation of the blind spot area Afrb is taken in as the front right image Sfr.

Also, when the vehicle Vusr retreats and exits the road from the parking lot, the obstacle makes it difficult for the driver to visually recognize the state of the road intersecting the retreat direction of the vehicle Vusr.
In the present embodiment, blind spots formed on the rear left and rear right of the driver in the driver's seat due to an obstacle are referred to as blind spots Arlb and blind spots Arrb. The imaging device (for the rear left side) 6 and the imaging device (for the rear right side) 7
Images are displayed on the rear side of the vehicle Vusr so that images representing the conditions of the blind spot area Arlb and the blind spot area Arrb can be captured as the rear left image Srl and the rear right image Srr. The above-described front left image Sfl, front right image Sfr, rear left image Srl, and rear right image Srr are examples of the peripheral image in the claims. Based on these images, the display front image Sfv and the display rear image Srv are Created. Note that the driving support device Uast1 is provided with the above imaging device 4
7 may be provided with an imaging device capable of capturing images of the right side and the left side of the vehicle Vusr.

In FIG. 1, the input device 8 includes at least an operation button (for front) 9 and an operation button (for rear) 10. The start button of the front monitor mode (see step S2 in FIG. 6) is assigned to the operation button 9. The driver typically encounters the intersection when the vehicle Vusr (see FIG. 5) moves forward,
Alternatively, the user operates the operation button 9 to move the vehicle Vusr forward and out of the parking lot on the road. In response to this operation, the input device 8 generates an instruction signal Ifm for instructing the processor 1 to start the front monitor mode, and transmits the instruction signal Ifm to the processor 1. Operation button 1
0, rear monitor mode (see step S4 in FIG. 6)
Start function is assigned. The driver is the vehicle Vusr
The operation button 10 is operated just before retreating (see FIG. 5). In response to this operation, the input device 8 generates an instruction signal Irm for instructing the processor 1 to start the rear monitor mode, and transmits it to the processor 1. Also,
In FIG. 1, a display device 11 is typically a liquid crystal display, and displays a display front image Sfv and a display rear image Srv created by the processor 1 on its own screen.

Next, the operation of the driving support apparatus Uast1 will be described with reference to the flowcharts of FIGS. The processor 1 starts executing the rendering program Prnd1 in response to turning on the power of the driving support device Uast1, and reads the mask data Dmsk and the vehicle model data Dmdb, Dmdm and Dmds into the working area 3.

The processor 1 starts the processing shown in the main flowchart of FIG. 6 in response to any received signal. First, the processor 1 determines whether or not the current reception signal is the instruction signal Ifm (step S1). If it is determined that the current reception signal is the instruction signal Ifm, the processor 1 executes the front monitor mode (step S
2). On the other hand, when it is determined that the current reception signal is not the instruction signal Ifm, the processor 1 executes step S3.

Now, as shown in FIG. 13 (a), it is assumed that the vehicle Vusr moving forward encounters an intersection. Under this assumption, the driver operates the operation button 9. In response to this operation, the input device 8 outputs the instruction signal Ifm to the processor 1.
Send to In this case, the processor 1 determines in step S1
, It is determined that the instruction signal Ifm has been received, so that the front monitor mode described below is executed. The front monitor mode is a mode in which a display front image Sfv is created for driving assistance of a driver.
This is shown in FIGS.

First, in FIG. 7, the processor 1 sets a value N of a counter (not shown) to an initial value of 1 (step S11). Here, the counter value N increases by one each time one display front image Sfv is created on the display device 11. The upper limit of the counter value N is Np
(Np is, for example, 30). That is, the value of the counter N
Indicates that the display front image Sfv created this time is 1 to the upper limit N
Indicates the order of p. Step S11
Next, the processor 1 stores the mask data Dmsk in a frame memory (not shown) prepared in advance in the working area 3 (step S12). Step S
12, the mask image Smsk is stored in the frame memory.
(See FIG. 3) only.

Next, the processor 1 comprises an imaging device 4 and an imaging device 5 installed on the front side of the vehicle Vusr.
Is instructed to capture the front left image Sfl and the front right image Sfr of the vehicle Vusr. In response to this instruction,
The imaging device 4 captures the front left image Sfl as shown in FIG. 13B and stores the front left image Sfl in the working area 3. Further, the imaging device 5 is configured as shown in FIG.
The right front image Sfr as shown in FIG. As described above, the processor 1
Obtains a front left image Sfl and a front right image Sfr of the vehicle Vusr (step S13).

Next, the processor 1 performs a clipping process (step S14). More specifically, processor 1
1 is obtained from the front left image Sfl obtained in step S13 in FIG.
The partial front left image Spfl shown in FIG. Here, the partial front left image Spfl is a portion to be combined with the left display area Aldp (see FIG. 3) in the front left image Sfl. Further, the processor 1 cuts out a partial front right image Spfr as shown in FIG. 14B from the front right image Sfr obtained in step S13. Here, the partial front right image Spfr is a portion to be combined with the right display area Ardp (see FIG. 3) in the front right image Sfr.

Next, the processor 1 combines or pastes the partial front left image Spfl obtained in step S14 into the left display area Aldp on the frame memory (step S15). Further, the processor 1 combines or pastes the partial front right image Spfr obtained in step S14 into the right display area Ardp on the frame memory (step S16). By the above steps S15 and S16,
In the frame memory, as shown in FIG. 15A, an intermediate image Sint is created by combining the partial front left image Spfl and the partial front right image Spfr with the left display region Aldp and the right display region Ardp of the mask region Amsk. You.

Next, the processor 1 determines whether or not it is time to combine the vehicle model images (step S1 in FIG. 8).
7). Before a detailed description of step S17, a unit cycle will be described. The unit cycle is the time required for the counter value N to change from the initial value of 1 to the upper limit value of Np. Further, the synthesizing timing of the vehicle model image is predetermined using the value N of the counter.
For example, as shown in FIG. 16, when 1 ≦ N ≦ Ni, what is synthesized is the vehicle model image Mvhcb. Where N
i is a natural number of 2 or more, for example, 5. Also, Ni
If <N ≦ Nj, no vehicle model image is synthesized. Here, Nj is a natural number exceeding (Ni + 1),
For example, it is 10. When Nj <N ≦ Nk, the combined vehicle model image Mvhcm. Where Nk is
A natural number exceeding (Nj + 1), for example, 15. Also, when Nk <N ≦ Nm, the vehicle model is not synthesized. Here, Nm is a natural number exceeding (Nk + 1),
For example, 20. When Nm <N ≦ Nn, what is synthesized is the vehicle model image Mvhcs. Here, Nn is (N
m + 1) and is a natural number less than the upper limit Np,
For example, 25. Further, even when Nn <N ≦ Np, the vehicle model image is not synthesized.

In step S17, the processor 1
Means that the counter value N is 1 ≦ N ≦ Ni, Nj <N ≦ Nk
Then, it is determined whether or not any one of Nm <N ≦ Nn is satisfied. The processor 1 has 1 ≦ N ≦ Ni, Nj <N ≦ Nk
If it is determined that none of Nm and Nm <N ≦ Nn is satisfied, it is determined that the timing is not the synthesis timing of the vehicle model, and the process proceeds directly to step S110. On the other hand, the processor 1 has 1 ≦
If it is determined that one of N ≦ Ni, Nj <N ≦ Nk and Nm <N ≦ Nn is satisfied, it is determined that it is the vehicle model image synthesis timing, and step S18 is executed.

Now, since N = 1 and 1 ≦ N ≦ Ni are satisfied, the processor 1 proceeds to step S18, and determines whether or not what is to be synthesized this time is the vehicle model image Mvhcb (step S18). . More specifically, the processor 1 determines whether or not the value N of the counter satisfies 1 ≦ N ≦ Ni. The processor 1 determines that the counter value N is 1 ≦
If N ≦ Ni is not satisfied, step S113 (see FIG. 9) is executed. Conversely, when the value N of the counter satisfies 1 ≦ N ≦ Ni, the processor 1 determines that it is the synthesis timing of the vehicle model image Mvhcb and executes step S19.

Now, since N = 1, the processor 1
Proceeding to step S19, the vehicle model data Dmdb on the working area 3 is selected. In addition, processor 1
Is the selected vehicle model data D in the frame memory.
The vehicle model image Mvhcb represented by mdb is converted to a mask area Amsk
It is synthesized, that is, pasted on the upper lower synthesized point Pbmd (see FIG. 4D) (step S19). By the above step S19, the frame memory shown in FIG.
As shown in (b), a display front image Sfv in which the vehicle model image Mvhcb is combined with the intermediate image Sint (see FIG. 15A) is created. As a result of executing step S19,
One frame of the display front image Sfv is completed in the frame memory, and the processor 1 transfers the display front image Sfv to the display device 11 (step S110). The display device 11 displays the received display front image Sfv (see FIG. 15B) on its own screen.

Next, the processor 1 determines whether or not the unit cycle has been completed (step S111). Specifically, when the value N of the counter satisfies N = Np, the processor 1 determines that the unit cycle has ended and executes step S116. Conversely, if the value N = Np is not satisfied, it is determined that the unit cycle has not ended, and step S112 is executed. Now, since N = 1, the processor 1 proceeds to step S112, increments the counter value N by 1 (step S112), and thereafter returns to step S12 in FIG. After that, processor 1
Until the value N of the counter becomes Ni.
To S112 are repeated. As a result, as shown in FIG. 16, during the period when the value of the counter N indicates 1 to Ni, the display front image Sfv as shown in FIG. Is displayed. Note that FIG. 16 shows that during the period of 1 ≦ N ≦ Ni,
Only the display front image Sfv for one frame is drawn.

The Ni-th display front image Sfv is obtained in step S
After being transferred at 110 and furthermore, at step S112, the value N of the counter is updated to (Ni + 1), the processor 1 executes steps S12 to S16 in FIG. As a result, on the frame memory, based on the new front left image Sfl and the new front right image Sfr,
An intermediate image Sint similar to that shown in FIG. Thereafter, since N = (Ni + 1) at present, the processor 1 determines in step S17 that 1 ≦ N ≦ Ni, N
It is determined that neither j <N ≦ Nk nor Nm <N ≦ Nn is satisfied. According to this determination, the processor 1 determines that the vehicle model combination timing has not come, and proceeds directly to step S110, where the intermediate image S
int (refer to FIG. 15A) as it is Front image Sfv
Is transferred to the display device 11. The display device 11 displays the received display front image Sfv on its own screen.

Next, since N = Np is not satisfied, the processor 1 increments the counter value N by 1 in step S112, and then returns to step S12 in FIG. Thereafter, the processor 1 repeats the processing of steps S12 to S17 and steps S110 to S112 until the value N of the counter is set to Nj. As a result, as shown in FIG. 16, until the counter value N indicates Nj.
On the screen of the display device 11, a display front image Sfv as shown in FIG. 15A is displayed continuously for (Nj-Ni) frames.

The Nj-th display front image Sfv corresponds to step S
After being transferred in step 110 and further updating the counter value N to (Nj + 1) in step S112, steps S12 to S16 in FIG. 7 are executed. As a result, the intermediate image Sint (FIG. 15) is stored in the frame memory. (See (a)) is created. After that, the processor 1 sets N = (Nj +
1), Nj <N ≦ Nk in step S17.
Is satisfied, but in the next step S18, 1 ≦ N ≦
It is determined that Ni is not satisfied.

When it is determined as described above, the processor 1
Advances to step S113 in FIG. 9, and determines whether or not the current composition is the vehicle model image Mvhcm (step S113). More specifically, the processor 1 determines whether or not the counter value N satisfies Nj <N ≦ Nk. If the value N of the counter does not satisfy Nj <N ≦ Nk, the processor 1 executes step S115. On the other hand, when determining that the value N of the counter satisfies Nj <N ≦ Nk, the processor 1 determines that the synthesis timing of the vehicle model image Mvhcm has come, and executes step S114.

Now, since the value N is (Nj + 1), the processor 1 proceeds to step S114 after step S113.
Execute Then, the processor 1 selects the vehicle model data Dmdm on the working area 3. afterwards,
The processor 1 converts the vehicle model image Mvhcm represented by the selected vehicle model data Dmdm on the frame memory into an intermediate composite point Pmmd on the mask area Amsk (FIG. 4D).
(See step S11)
4). By the above step S114, the intermediate image Sint is stored in the frame memory as shown in FIG.
A display front image Sfv in which the vehicle model image Mvhcm is combined is created (see FIG. 15A). When step S114 is completed, the processor 1 executes step S110 in FIG. 8, and as a result, the display device 11 displays a display front image Sfv as shown in FIG.

Next, since N = Np is not satisfied, the processor 1 sets the counter value N to 1 in step S112.
Then, the process returns to step S12 in FIG. Thereafter, the processor 1 proceeds to steps S12 to S18, steps S113 and S114, and step S110 until the counter value N is set to Nk.
To S112 are repeated. As a result, as shown in FIG. 16, until the value N of the counter indicates Nk, the display device 1
On the screen of FIG. 1, a display front image S as shown in FIG.
fv is displayed continuously for (Nk-Nj) frames.

The Nk-th display front image Sfv corresponds to step S
After the data is transferred at 110 and the counter value N is updated to (Nk + 1) at step S112, the processor 1
Returns to step S12 in FIG. After that, processor 1
Until the counter value N is set to Nm.
Perform the same processing as during the period from (Ni + 1) to Nj. As a result, as shown in FIG. 16, until the counter value N indicates Nm, the screen of the display device 11
The display front image Sfv as shown in (a) is displayed continuously for (Nm-Nk) frames.

The Nm-th display front image Sfv corresponds to step S
After being transferred in step 110 and further updating the counter value N to (Nm + 1) in step S112, steps S12 to S16 in FIG. 7 are executed, and as a result, the intermediate image Sint is stored in the frame memory (FIG. ) Is created. After that, the processor 1 now calculates N = (Nm + 1)
Therefore, in step S17, the value of the counter N is N
Although it is determined that m <N ≦ Nn is satisfied, 1 ≦ N ≦ Ni in step S18 and Nj <N ≦ Nk in step S113.
Is determined not to satisfy both.

From the above determination, the processor 1 knows that the current time is the synthesis timing of the vehicle model image Mvhcs, and proceeds to step S115 to select the vehicle model data Dmds on the working area 3 first. Further, the processor 1 stores, in the frame memory,
As shown in (b), the vehicle model data D selected this time
The vehicle model image Mvhcs represented by mds is converted to a mask area Amsk
The image is synthesized, that is, attached to the upper upper synthesis point Pumd (see FIG. 4D) (step S115). As a result of the above step S115, FIG.
As shown in (b), a display front image Sfv in which the vehicle model image Mvhcs is combined with the intermediate image Sint (see FIG. 15A) is created. When the above step S115 ends, the processor 1 executes step S110 in FIG. 8, and as a result, the display device 11 displays a display front image Sfv as shown in FIG. 17B.

Next, since N = Np is not satisfied, the processor 1 sets the counter value N to 1 in step S112.
Then, the process returns to step S12 in FIG. Thereafter, the processor 1 repeats steps S12 to S18, steps S113 and S115, and step S110 until the value N of the counter is set to Nn.
To S112 are repeated. As a result, as shown in FIG. 16, until the counter value N indicates Nn, the display device 1
On the screen of FIG. 1, a display front image S as shown in FIG.
fv is displayed continuously for (Nn-Nm) frames.

The Nn-th display front image Sfv corresponds to step S
After the data is transferred at 110 and the counter value N is updated to (Nn + 1) at step S112, the processor 1
Returns to step S12 in FIG. After that, processor 1
Until the value N of the counter is set to Np.
Perform the same processing as during the period from (Ni + 1) to Nj. As a result, as shown in FIG. 16, a display front image Sfv as shown in FIG.
(Np-Nn) frames are displayed continuously.

The Np-th display front image Sfv corresponds to step S
After being transferred at 110, the processor 1 proceeds to step S1
Step 11 is executed. In step S111, the processor 1 determines that the unit cycle has ended since the value N of the counter is Np at present, and executes step S116. Then, the processor 1 determines whether the current time is the end timing of the front monitor mode, that is, the vehicle Vus.
It is determined whether or not r has passed the intersection (step S1)
16).

As a method for determining whether or not the vehicle Vusr has passed the intersection in step S116,
The following two are typical. In the first method, the processor 1 determines whether the current speed of the vehicle Vusr has exceeded a predetermined reference speed. Here, the vehicle Vusr generally travels at a relatively low speed in the intersection, but after passing through the intersection, the speed of the vehicle Vusr increases. The reference speed is set in advance to a speed at which the vehicle Vusr can be regarded as having passed through the intersection. The processor 1 determines that the current speed of the vehicle Vusr is equal to or less than (or less than) the reference speed.
It is determined that the vehicle Vusr is still traveling in the intersection, that is, it is not the end timing of the front monitor mode. Conversely, if the current speed of the vehicle Vusr exceeds the reference speed (or if the current vehicle speed is equal to or higher than the reference speed), the processor 1 determines that the vehicle Vusr has still passed the intersection, that is, the front monitor mode. Is determined to be the end timing.

In the second method, an operation button (not shown) other than the operation buttons 9 and 10 in the input device 8 is assigned a front monitor mode end function. The driver operates the operation button to which the end function is assigned when the vehicle Vusr passes through the intersection. The processor 1 executes at the time of executing the step S116,
When it is detected that the operation button has been operated, it is determined that the present time is the end timing of the front monitor mode. Conversely, when it is not possible to detect that the operation button has been operated at the time of execution of step S116, the processor 1 determines that it is not the end timing of the front monitor mode.

According to the above-described determination method in step S116, if it is not the end timing of the front monitor mode, the processor 1 returns to step S11, resets the value N of the counter to 1, and performs the subsequent processing. As a result, a new unit cycle starts, and a display front image Sfv as shown in FIG. 16 is displayed on the display device 11. On the other hand, if it is the end timing of the front monitor mode, the processor 1 ends the processing of FIGS.

According to the processing shown in FIGS. 7 to 9, the driving support apparatus Uast1 controls the driver's blind spot areas Aflb and Afrb (see FIG. 5) from the time when the vehicle Vusr is traveling immediately before the intersection to the time when the vehicle passes through the intersection. ) Is continuously provided to the driver, and the driving of the driver is supported. Here, the display front image Sfv includes a partial front left image Spfl and a partial front right image Spfr.
No. 74).

However, the display front image Sfv is shown in FIG.
As shown in FIG. 6, a vehicle model image Mvhcb representing a rear view of vehicles having different sizes according to the value N of the counter,
It differs from the vehicle monitor device in that it includes Mvhcm and Mvhcs. Here, when the value N of the counter is relatively small (in the present embodiment, when 1 ≦ N ≦ Ni), a large vehicle model image Mvhcb is displayed on the lower portion of the screen of the display device 11 (that is,
(A position corresponding to the lower combined point Pbmd). When the value N of the counter is in the middle (in the present embodiment, when Nj <N ≦ Nk), the vehicle model image Mvhcm of the intermediate size is displayed at the center of the screen of the display device 11 (that is,
(A position corresponding to the intermediate composite point Pmmd). Further, when the counter value N is large (in this embodiment, when Nm <N ≦ Nn), the small vehicle model image Mvh
cs is displayed at the top of the screen of the display device 11 (that is, at the position corresponding to the upper composite point Pumd).

By the display of the vehicle model images Mvhcb, Mvhcm and Mvhcs, the driver looks on the screen of the display device 11 as if the vehicle represented by the vehicle model as viewed from behind is moving forward. That is, the vehicle model indicates the direction of the current display image with respect to the vehicle Vusr. Thereby, even if the driving support apparatus Uast1 can provide both the display front image Sfv and the display rear image Srv described later to the driver, the driver displays the currently provided one by the movement of the vehicle model. It can be instantaneously determined that the image is the forward image Sfv.

In the display front image Sfv described above, the partial front left image Spfl and the partial front right image Sfk are sandwiched by the center mask area Acmsk of the mask image Smsk.
The pfr is synthesized with the left display area Aldp and the right display area Ardp while being separated from each other. Further, a vehicle model image Mvhcb and the like are synthesized on the central mask area Acmsk. Thus, the driver can instantaneously determine, on the front display image Sfv, that the partial front left image Spfl and the partial front right image Spfr show the front left and front right of the vehicle Vusr.

In the above description, as an example of the execution timing of the front monitor mode, the case where the vehicle Vusr encounters an intersection has been described. In addition to this, for example, when trying to get out of the parking lot while the vehicle Vusr is moving forward, the driver operates the operation button 9 to obtain the display front image Sfv from the driving support device Uast1.

If it is determined in step S1 of FIG. 6 that the received signal is not the instruction signal Ifm, the processor 1 proceeds to step S3. Then, the processor 1 determines whether or not the current reception signal is the instruction signal Irm (Step S).
3). If it is determined that the received signal this time is not the instruction signal Irm, the processor 1 ends the processing in FIG. vice versa,
If the instruction signal is Irm, the processor 1 executes the rear monitor mode (step S4).

Now, as shown in FIG. 18, it is assumed that the driver is going out of the parking lot to the road while retreating the vehicle Vusr. Under this assumption, the driver operates the operation button 10. In response to this operation, the input device 8
Transmits an instruction signal Irm to the processor 1. in this case,
The processor 1 determines that the instruction signal Irm has been received in step S3, and executes the rear monitor mode described below. The rear monitor mode is a mode for creating a display rear image Srv for driving assistance of a driver, and the detailed processing procedure is shown in FIGS. Figure 1
The flowcharts of FIGS. 0 to 12 have nine steps, that is, steps S13 to S, as compared with those of FIGS.
16, steps S18 to S110 and step S1
15 and S116 are different in that steps S21 to S29 are replaced. Since there is no difference between the two flow charts, FIGS.
Steps corresponding to the above steps are denoted by the same step numbers, and description thereof is omitted.

First, in FIG. 10, the processor 1
After executing steps S11 and S12, the vehicle Vus
Instruct the rear imaging device 6 and imaging device 7 to capture the rear left image Srl and the rear right image Srr. In response to this instruction, the imaging device 6 captures the rear left image Srl of the vehicle Vusr, and acquires the rear left image Srl.
Is stored in the working area 3. In addition, the imaging device 7
Captures the rear right image Srr of the vehicle Vusr and stores the rear right image Srr in the working area 3. As described above, the processor 1 obtains the rear left image Srl and the rear right image Srr (step S21). Here, for convenience, the rear left image Srl and the rear right image Srr
Are similar to those shown in FIGS. 13C and 13B.

Next, the processor 1 performs a clipping process (step S22). More specifically, processor 1
Extracts a partial rear left image Sprl from the rear left image Srl obtained in step S21. Partial rear left image Sprl
Is a part to be combined with the left display area Aldp (see FIG. 3) in the rear left image Srl, as shown in FIG. 14B. Further, the processor 1 cuts out the partial rear right image Sprr from the rear right image Srr obtained in step S21. As shown in FIG. 14A, the partial rear right image Sprr is the right display area Ard in the rear right image Srr.
p (see FIG. 3).

Next, the processor 1 combines, that is, pastes the partial rear left image Sprl into the left display area Aldp on the frame memory (step S23). Further, the processor 1 combines or pastes the partial rear right image Sprr into the right display area Ardp on the frame memory (step S24). Steps S23 and S2 above
According to 4, the intermediate image Sint in which the partial rear left image Sprl and the partial rear right image Sprr are combined with the left display area Aldp and the right display area Ardp of the mask area Amsk on the frame memory (see FIG. 15A). Is created.

Next, the processor 1 determines whether or not it is time to combine the vehicle model images based on the value N of the counter as described above (step S17). Processor 1
If it is determined that it is not the timing of synthesizing the vehicle model image, the process proceeds directly to step S27. On the other hand, processor 1
Executes step S25 when it is determined that it is the timing to combine the vehicle model images.

Now, since N = 1, the processor 1
The process proceeds from step S17 to step S25, and it is determined whether or not the current composition is the vehicle model image Mvhcs (step S25). In step S25, if the counter value N does not satisfy 1 ≦ N ≦ Ni, the processor 1 determines that the vehicle model image Mvhcs is not to be synthesized this time, and executes step S113 (see FIG. 12). Conversely, when the value N of the counter satisfies 1 ≦ N ≦ Ni, the processor 1 executes step S26 on the assumption that the vehicle model image Mvhcs is synthesized.

Now, since N = 1, the processor 1
Proceeding from step S25 to S26, working area 3
The upper vehicle model data Dmds (see FIG. 2) is selected.
Further, the processor 1 stores, in the frame memory,
As shown in (b), the vehicle model image Mvhcs represented by the vehicle model data Dmds is pasted on the upper composite point Pumd (see FIG. 4 (d)) on the mask area Amsk (step S26), whereby the display behind Create an image Srv. Next, the processor 1 transfers the display rear image Srv on the frame memory to the display device 11 (step S2).
7). The display device 11 displays the received display rear image Srv (see FIG. 17B) on its own screen.

Next, the processor 1 determines whether or not the unit cycle has ended based on the value N of the counter in the same manner as described above (step S111). If the processor 1 determines that the unit cycle has ended, the processor 1 proceeds to step S116.
Execute On the other hand, if not, the processor 1
Executes step S112. Now, since N = 1, the processor 1 proceeds to step S112, and increments the counter value N by 1 (step S11).
2) Then, the process returns to step S12 in FIG. Thereafter, the processor 1 repeats the processes of steps S12, S21 to S24, step S17, steps S25 to S27, and steps S111 and S112 until the counter value N is set to Ni. as a result,
As shown in FIG. 19, the display rear image Srv as shown in FIG. 17B is continuously displayed on the screen of the display device 11 until the counter value N changes from 1 to Ni. As in the case of FIG. 16, FIG. 19 also representatively shows a display rear image Srv for one frame in the period of 1 ≦ N ≦ Ni. Similarly, the display rear image Srv for one frame is drawn in other periods.

The N-th display rear image Srv is the same as that in step S
27, and after the counter value N is updated to (Ni + 1) in step S112, the processor 1
Performs the processing of steps S12 to S24 in FIG. 10 to create a new intermediate image Sint (see FIG. 15A) in the frame memory. Then, processor 1
Is currently N = (Ni + 1), so in step S17, the processor 1 determines that the current time is not the synthesis timing of the vehicle model. In this case, the processor 1 transfers the intermediate image Sint (see FIG. 15A) in the frame memory as it is to the display device 11 as the display rear image Srv in step S27. Display device 11
Is the received display rear image Srv (see FIG. 15A).
On its own screen.

Next, since N = Np is not satisfied, the processor 1 executes step S112 after step S111, and increments the counter value N by one. Thereafter, the processor 1 repeats steps S12 to S24, step S17, step S27, and step S11 in FIG. 10 until the counter value N is set to Nj.
Steps 1 and S112 are repeated. As a result, FIG.
As shown in FIG. 15, a display rear image Srv as shown in FIG.

The Nj-th display rear image Srv is displayed in step S
After the data is transferred in step 110 and the value N of the counter is updated to (Nj + 1) in step S112, the processing in steps S12 to S24 in FIG.
A new intermediate image Sint is created. Thereafter, since N = (Nj + 1) at present, the processor 1 determines in step S17 that it is the time to synthesize the vehicle model image, but in step S25, determines that the current synthesis is not the vehicle model Mvhcs. I do.

If the above determination is made, the processor 1
Goes to step S113 in FIG.
Based on the vehicle model image Mvhcm
Is determined (step S113). If it is determined that the vehicle model image Mvhcm is not to be synthesized this time, the processor 1 executes step S28. Otherwise, the processor 1 determines that the current vehicle model image Mvhcm is to be synthesized, and executes step S114.

Since the value N is (Nj + 1), the processor 1 proceeds to step S114 after step S113.
Execute As a result, FIG.
As shown in FIG. 4A, the vehicle model image Mvhcm is synthesized at the intermediate synthesis point Pmmd (see FIG. 4D) on the mask area Amsk, whereby the current display rear image S
rv is created. After step S114, the processor 1 executes step S27 in FIG. 11, whereby the display rear image Srv as shown in FIG. 17A is displayed on the display device 11. The processor 1 repeats steps S12 to S12 in FIG. 10 until the value N of the counter is set to Nk.
S24, step S17, step S25, step S
Steps S113, S114, S27, S111 and S112 are repeated. As a result, as shown in FIG.
The display rear image Srv as shown in FIG. 7A is continuously displayed.

The Nk-th display rear image Srv is displayed in step S
27, and after the counter value N is updated to (Nk + 1) in step S112, the processor 1
Returns to step S12 in FIG. Thereafter, the processor 1 performs the same processing as during the period in which the value N indicates (Ni + 1) to Nj until the value N of the counter is set to Nm. As a result, as shown in FIG. 19, the display device 11 continuously displays the display rear image Srv as shown in FIG.

The Nm-th display rear image Srv is displayed in step S
27, and after the counter value N is updated to (Nm + 1) in step S112, the processes in steps S12 to S24 in FIG. 10 are performed. As a result, a new intermediate image Sint is created in the frame memory. Thereafter, since N = (Nm + 1) at present, the processor 1 determines that the timing is the vehicle model image in step S17, but it is not the composite timing of the vehicle model images Mvhcs and Mvhcm in steps S25 and S113. Judge.

From the above determination, the processor 1 knows that the current time is the synthesis timing of the vehicle model image Mvhcb, and proceeds to step S28. And processor 1
Is the vehicle model data D on the working area 3
Select mdb. Further, the processor 1 converts the vehicle model image Mvhcb on the frame memory into the lower synthesized point Pbm on the mask area Amsk as shown in FIG.
d (see FIG. 4 (d)) (step S28).
By the above step S28, on the frame memory,
As shown in FIG. 15B, the intermediate image Sint (FIG.
(See (a)), a display rear image Srv in which the vehicle model image Mvhcb is synthesized is created. After step S28 described above, the processor 1 executes step S27 in FIG. 11, and as a result, a display rear image Srv as shown in FIG.

Next, since N = Np is not satisfied, the processor 1 sets the counter value N to 1 in step S112.
Only increment. Thereafter, the processor 1 repeats steps S12 to S12 until the counter value N is set to Nn.
S24, step S17, step S25, step S
113, step S28, step S27, step S
111, the process of step S112 is repeated. As a result, as shown in FIG.
The display rear image Srv as shown in FIG.

The Nn-th display rear image Srv is displayed in step S
27, and after the counter value N is updated to (Nn + 1) in step S112, the processor 1
Returns to step S12 in FIG. Thereafter, the processor 1 performs the same processing as during the period in which the value N indicates (Ni + 1) to Nj until the value N of the counter is set to Np. As a result, as shown in FIG. 19, the display device 11 continues to display the display rear image Srv as shown in FIG.

The Np-th display rear image Srv is displayed in step S
After the transfer in step 27, the processor 1 proceeds to step S11
Execute 1. In step S111, the processor 1 determines that the unit cycle has ended since the value N of the counter is Np at present, and executes step S29. Then, the processor 1 determines whether or not the present time is the end timing of the rear monitor mode (step S2).
9).

In step S29, the method for judging whether or not it is the end timing of the rear monitor mode is the same as that in step S116, and a description thereof will be omitted. If it is not the end timing of the rear monitor mode, the processor 1 returns to step S11, resets the value N of the counter to 1, and performs the subsequent processing. As a result, a new unit cycle starts, and the display rear image Srv as shown in FIG. on the other hand,
If it is the end timing of the rear monitor mode, the processor 1 ends the processing of FIGS.

By the processing of FIGS. 10 to 12, the driving support apparatus Uast1 provides the driver with the display rear image Srv representing the driver's blind spots Arlb and Arrb (see FIG. 5) behind the vehicle Vusr. Subsequently, the driving of the driver is supported. Similar to the display front image Sfv, the display rear image Srv also includes vehicle model images Mvhcb, Mvhcm, and Mvhcs having different sizes according to the counter value N as shown in FIG. However, the display rear image Srv is different from the display front image Sfv in that the vehicle model appears to the driver to be retreating on the screen of the display device 11 from the driver. Thereby, the driving support device U
Even when ast1 can provide both the display front image Sfv and the display rear image Srv to the driver, the movement of the vehicle model indicates the direction of the currently provided one with respect to the vehicle Vusr. 11 can be instantaneously determined to provide the display rear image Srv.

In the above-described display rear image Srv, the processor 1 sets the partial rear left image Sprl and the partial rear right image Sprr apart from each other with the partial rear left image Sprl and the central mask region Acmsk of the mask image Smsk interposed therebetween. Aldp and the right display area Ardp. Further, a vehicle model image Mvhcb and the like are synthesized on the central mask area Acmsk. Thus, the driver can instantaneously determine, on the display rear image Srv, that the partial rear left image Sprl and the partial rear right image Sprr show the state of the rear left and rear right of the vehicle Vusr.

In the above, the example in which the vehicle Vusr exits on the road while retreating from the parking lot has been described as the execution timing of the rear monitor mode. However, the execution timing of the rear monitor mode may be any time when the vehicle Vusr moves backward.

In the above embodiment, the imaging devices 4 and 5 capture the front left image Sfl and the front right image Sfr, and the imaging devices 6 and 7 capture the rear left image Sfl.
rl and the rear right image Srr have been described.
However, as shown in FIG. 20, one imaging device 4 'may be installed on the front side of the vehicle Vusr, and one imaging device 6' may be installed on the rear side. Imaging device 4 '
Preferably has a wide-angle lens, and as shown in FIG. 20, at least the blind spot area Afl described with reference to FIG.
The front image Sflr representing the situation of both b and Afrb is fetched. When creating the display front image Sfv, the processor 1 uses the front image Sflr from the imaging device 4 ′ to generate both the partial front left image Spfl and the partial front right image Spfr to be combined with the left display region Aldp and the right display region Ardp. Cut out. It is preferable that the imaging device 6 'also includes a wide-angle lens, and captures at least a rear image Srlr representing the situation of both the blind spot areas Arlb and Arrb, as shown in FIG.

In the above embodiment, the processor 1
Converts a partial front left image Spfl and a partial front right image Spfr cut out from the front left image Sfl and the front right image Sfr into a left display area Aldp and a right display area A.
It has been described that the intermediate image Sint is created by pasting to the rdp (see steps S13 to S16 in FIG. 7). However, similar to the image processing disclosed in JP-A-11-338074, the processor 1 forms a mask image Smsk (see FIG. 3) on one image in which the front left image Sfl and the front right image Sfr are joined. Combined and intermediate image Sint
May be created.

In the above-described embodiment, the vehicle model image moving up and down on the display screen indicates the direction of the current display image with respect to the vehicle Vusr. However, the vehicle Vusr of the current display image is not limited to the vehicle model image but may be an image representing a simpler figure.
May be indicated.

Next, a driving support device Uast2 in which a drawing device Urnd2, which is a modification of the drawing device Urnd1, is incorporated will be described with reference to FIG. In FIG.
The drawing device Urnd2 is different from the drawing device Urnd1 in that the drawing device Urnd2 includes a program memory 21 instead of the program memory 2. Since there is no other difference between the two drawing apparatuses, the same reference numerals are given to those corresponding to the configuration of the drawing apparatus Urnd1 in the drawing apparatus Urnd2 in FIG. 21, and the description thereof will be omitted. In FIG. 21, the driving support device Uast2 is different from the driving support device Uast1 in that the input device 8 has operation buttons 13 instead of the operation buttons 9 and 10, and the shift position sensor 14
Is further provided. Since there is no other difference between the two driving assistance devices, in the driving assistance device Uast2 of FIG. 21, the components corresponding to the configuration of the driving assistance device Uast1 are denoted by the same reference numerals, and the description thereof will be omitted. Omitted.

The program memory 21 typically stores R
OM (Read Only Memory), as shown in FIG.
A rendering program (hereinafter referred to as a rendering program) Prnd2 is stored. The program memory 21 further stores mask data Dmsk required when the rendering program Prnd2 is executed, and vehicle model data Dmdb, Dmdm, and Dmds. The mask data Dmsk and the vehicle model data Dmdb, Dmdm
Since Dmds and Dmds have already been described, their description is omitted in this modification.

In FIG. 21, the input device 8 has at least an operation button 13. Operation button 1
3, a start function of the front monitor mode or the rear monitor mode (see step S2 or S4 in FIG. 23) is assigned. The driver sends a display image (display front image Sfv or display rear image Sr) from the driving support device Uast2.
To obtain v), the operation button 13 is operated. In response to this operation, the input device 8 transmits to the processor 1 an instruction signal Ifrm for instructing the processor 1 to start the front monitor mode or the rear monitor mode.

The driver operates the shift change lever to change the shift position while driving the vehicle equipped with the driving support device Uast2, and shifts up or down the transmission gear of the vehicle. The shift position sensor 14 detects a currently selected shift position. In accordance with this detection result, the shift position sensor 14 generates a shift position signal Isp indicating the current shift position, and transmits it to the processor 1.

Next, the operation of the driving support device Uast2 will be described. The processor 1 includes a driving support device Uast2
Rendering program Prnd2
Is started, and the mask data Dmsk and the vehicle model data Dmdb, Dmdm and Dmds are read out to the working area 3.

The processor 1 starts the processing shown in the main flowchart of FIG. 23 in response to some received signal. Here, the main flowchart of FIG.
6 in that steps S31 and S32 are included instead of steps S1 and S3.
Since there is no difference between the two main flowcharts, steps corresponding to those in FIG. 6 are denoted by the same step numbers in FIG. 23, and description thereof will be omitted.

In FIG. 23, the processor 1 first
It is determined whether or not the received signal this time is the instruction signal Ifrm (step S31). If it is determined that the received signal this time is not the instruction signal Ifrm, the processor 1 ends the processing in FIG. On the other hand, when determining that the instruction signal Ifrm has been received, the processor 1 determines that the driver is currently displaying the front image S.
Assuming that fv or the display rear image Srv is to be obtained, step S32 is executed.

At step S32, the processor 1
Cannot determine which of the display front image Sfv and the display rear image Srv should be provided to the driver only from the instruction signal Ifrm.
4 receives the shift position signal Isp. Processor 1
Specifies the currently selected shift position from the received shift position signal Isp, and determines whether the vehicle is currently moving forward,
It is determined whether the vehicle is retreating (step S32). When determining that the vehicle is moving forward, the processor 1 executes the above-described front monitor mode (step S2). Conversely, when the processor 1 determines that the vehicle is moving backward, the processor 1 executes the above-described rear monitor mode (Step S).
4).

In the above-described first embodiment, the driver
When the operation button 9 is operated, a display front image Sfv can be obtained, and when the operation button 10 is operated, a display rear image Srv can be obtained. As is clear from the above, in the driving support device Uast1, the driver had to operate a plurality of operation buttons. However, in the present modified example, the processor 1 uses the shift position sensor 1
4 to determine whether the vehicle is moving forward or backward. Therefore, the driver can obtain the currently required one of the display front image Sfv and the display rear image Srv only by operating one operation button 13. By incorporating the shift position sensor 14 described above, it is possible to provide a more user-friendly driving support device Uast2.

FIG. 24 is a block diagram showing a hardware configuration of a drawing apparatus Urnd3 according to the second embodiment of the present invention. In FIG. 24, the drawing device Urnd3 is the display device 2
3 is a device for creating driving assistance display images (first display side images Sdp1 and second display side images Sdp2, which will be described later) displayed on the screen of FIG. It comprises a working area 17.

The program memory 16 typically stores R
OM (Read Only Memory), which stores a rendering program (hereinafter referred to as a rendering program) Prnd3, as shown in FIG. The program memory 16 further stores a rendering program Prn
First and second element data D required when executing d3
obj1 and Dobj2 are stored.

The first element data Dobj1 is used to create a first display side image Sdp1, and is shown in FIG.
As shown in FIG. 1, first device identification data Did1, first mask data Dmsk1, and first vehicle model data Dmd1
And first direction indicating data Dind1. The first device identification data Did1 indicates an identification number Nid1 assigned in advance to the imaging device 18 to identify the imaging device 18. The first mask data Dmsk1 is an image for forming a first mask area Amsk1 (entire hatched area) as shown in FIG. 26A on the screen of the display device 23 (hereinafter, a first mask image). Smsk1).
In the first mask area Amsk1, the first display area A
dp1, a first vehicle model synthesis area Amd1, and a first indicator synthesis area Aind1 are predetermined. As shown in FIG. 26B, the first display area Adp1 is an area where a partial left front image Splf described later is synthesized, and in the present embodiment, the left display area Adp1 on the screen of the display device 23 is displayed. The area occupies almost half. Further, the first vehicle model synthesis area Amd1 is an area where a first vehicle model image Mvhc1 described later is synthesized. As an example, in the present embodiment, the first vehicle model image Mvhc1 Is selected as the part corresponding to The first indicator combining area Aind1 is an area where a first indicator image Mind1 described later is combined, and as an example,
In the present embodiment, on the screen of the display device 23, the first
Display area Adp1 and the first vehicle model synthesis area Amd
It is selected for the part corresponding to between 1.

The first vehicle model data Dmd1 is shown in FIG.
An image of a model having a view of the vehicle as viewed from directly above as shown in (b) (hereinafter, referred to as a first vehicle model image)
Represents Mvhc1. Also, the first direction indicating data Dind1
Means that the partial left front image Splf is the first vehicle model image Mv
An image of an indicator indicating the direction of hc1 (hereinafter, referred to as a first indicator image) Min
Represents d1. In the present embodiment, the first indicator image M
ind1 is an image of an isosceles triangle, as indicated by the dotted portion in FIG. More specifically, the isosceles triangle has a vertex angle located at the left side door mirror portion of the first vehicle model image Mvhc1. Further, in the isosceles triangle, two sides having the same length extend from the apex angle toward the first partial side image Splf.

The second element data Dobj2 is used when the second display side image Sdp2 is created, and as shown in FIG. 25C, the second device identification data Did2 and the second mask data Dmsk2 , Second vehicle model data Dmd2, and second direction indicating data Dind2. The second device identification data Did2 indicates an identification number Nid2 assigned to the imaging device 19 in advance. Second mask data Dmsk2
Represents a mask image Smsk2 for forming a second mask region Amsk2 (the entire hatched portion) as shown in FIG. 27A on the screen of the display device 23. In the second mask area Amsk2, a second display area Adp2, a second vehicle model synthesis area Amd2, and a second indicator synthesis area Aind2 are predetermined. Second display area Adp2
As shown in FIG. 27B, is a region where a partial left rear image Sprl to be described later is combined, and in the present embodiment, is a region occupying substantially half of the left side on the screen of the display device 23. Further, the second vehicle model synthesis area A
md2 is an area where a second vehicle model image Mvhc2 described later is synthesized, and in the present embodiment, the display device 23
Selected on the screen at the bottom right. The second indicator combining area Aind2 is a second indicator combining area Aind2 described later.
Area where the indicator image Mind2 of
In the present embodiment, on the screen of the display device 23, the second
Display area Adp2 and the second vehicle model synthesis area Amd
Selected between 2

The second vehicle model data Dmd2 is shown in FIG.
As shown in (b), a second vehicle model image Mvhc2 similar to the first vehicle model image Mvhc1 is shown. The second direction indicating data Dind2 is the partial left rear image Sprl
Indicates an image of an indicator indicating the direction of the second vehicle model image Mvhc2 (hereinafter, referred to as a second indicator image) Mind2. In this embodiment,
The second indicator image Mind2 is an image of an isosceles triangle, as shown by the dotted portion in FIG. More specifically, the isosceles triangle has a vertex angle located on the left side door mirror portion of the second vehicle model image Mvhc2. Further, in the isosceles triangle, two sides having the same length are the second partial side image Sprl from the vertex angle.
Extending towards.

Referring again to FIG. The working area 17 is typically a RAM (Random Access Memory)
And the processor 15 executes the rendering program Prn
Used when running d3. The drawing device Urnd3 configured as described above is typically incorporated in the driving support device Uast3. In the driving support device Uast3, in addition to the drawing device Urnd3, an imaging device (for left front) 18, an imaging device (for left rear) 19, an input device 20, and a display device 23 are included in the drawing device Urnd3. It is communicably connected to the processor 15. The driving support device Uast3 having the above configuration is mounted on the vehicle Vusr shown in FIG.

As shown in FIG. 28, the imaging device (for left front) 18 is installed on the left side of the vehicle Vusr so as to face the left front side of the vehicle Vusr. More preferably, when the driver sits in the driver's seat, the driver faces the area Alfb which is a blind spot of the driver in front of the left side of the vehicle Vusr.
The imaging device 18 is installed. The above-described imaging device 18 captures the peripheral image of the vehicle Vusr, in particular, the left front image Slf representing the state of the blind spot area Alfb. The imaging device (for the rear left side) 19 is provided on the left side of the vehicle Vusr.
Area behind the driver's blind spot
It is installed so that it faces. The above-described imaging device 19 captures the peripheral image of the vehicle Vusr, in particular, the left front image Slr representing the state of the blind spot area Alrb. The identification numbers Nid1 and Nid2 that do not overlap with each other are previously assigned to the imaging device 18 and the imaging device 19 in order to specify each of them. Note that the driving support device Uast3 may include an imaging device that can capture images of the right front, right rear, front, and right rear of the vehicle Vusr in addition to the imaging devices 18 and 19 described above.

In FIG. 24, the input device 20
At least an operation button (for left front) 21 and an operation button (for left rear) 22 are provided. The start function of the left front monitor mode (see step S42 in FIG. 29) is assigned to the operation button 21. The driver typically operates the operation button 21 when he wants to know the state of the blind spot area Alfb, such as when parking the vehicle Vusr (see FIG. 28). In response to this operation, the input device 20 instructs the processor 15 to start the left front monitor mode, and transmits an instruction signal Ilfm including the identification number Nid1 to the processor 15. Operation button 2
2 includes a left rear monitor mode (step S4 in FIG. 29).
4) is assigned. The driver typically operates the operation button 22 immediately before moving the vehicle Vusr (see FIG. 28) backward. In response to this operation, the input device 20 instructs the processor 15 to start the left rear monitor mode, generates an instruction signal Ilrm including the above-mentioned identification number Nid2, and transmits it to the processor 15. In FIG. 24, the display device 23 is typically a liquid crystal display, and displays the first display side image Sdp1 and the second display side image Sdp2 created by the processor 15 on its own screen. indicate.

Next, the operation of the driving support apparatus Uast3 will be described with reference to the flowcharts of FIGS. The processor 15 starts the execution of the rendering program Prnd3 in response to the power-on of the driving support device Uast3, and also executes the first and second element data Dobj1.
And Dobj2 are read into the working area 17.

The processor 15 starts the processing shown in the main flowchart of FIG. 29 in response to any received signal. First, the processor 15 determines whether or not the current received signal is the instruction signal Ilfm (step S4).
1). If it is determined that the current reception signal is the instruction signal Ilfm, the processor 15 executes the left front monitor mode (step S42). On the other hand, when it is determined that the current reception signal is not the instruction signal Ilfm, the processor 15
Executes step S43 described later.

Now, it is assumed that the driver wants to know the state of the front left side of the vehicle Vusr, for example, when the vehicle Vusr is parked. Under this assumption, the driver operates the operation button 21. In response to this operation, the input device 20 outputs the instruction signal I
Send lfm to processor 15. In this case, the processor 15 determines that the instruction signal Ilfm has been received in step S41, and executes the left front monitor mode described below. The left front monitor mode is a mode for creating the first display side image Sdp1 for driving assistance of the driver, and the detailed processing procedure is shown in FIG.

In FIG. 30, the processor 15 first determines the identification number N included in the instruction signal Ilfm received this time.
Extract id1. Then, the processor 15 outputs the first element data Dobj1 stored in the working area 17.
And the second element data Dobj2, the first element data Dobj1 including the identification number Nid1 extracted this time as the first apparatus identification data Did1 is selected (step S).
51). Next, the processor 15 takes out the first mask data Dmsk1 from the selected first element data Dobj1 and stores it in a frame memory (not shown) prepared in advance in the working area 17 (step S52).
As a result, only the first mask image Smsk1 (see FIG. 26A) is created on the frame memory. ,

Next, the processor 15 sends the image pickup device 18 to which the identification number Nid1 taken out this time is assigned, that is, the image pickup device 18 facing the front left side of the vehicle Vusr, to the left front image Slf of the vehicle Vusr. Instruct capture. In response to this instruction, the imaging device 18
The left front image Slf as shown in FIG. 3A is fetched, and the left front image Slf is stored in the working area 17. As described above, the processor 15 controls the vehicle Vusr
To obtain a left front image Slf (step S53).

Next, the processor 15 proceeds to step S53.
A partial left front image Splf shown in FIG. 32 (b) is cut out from the left front image Slf obtained in (step S54). Here, the partial left front image Splf is a portion to be combined with the first display area Adp1 (see FIG. 26A) in the left front image Slf.

Next, the processor 15 combines the partial left front image Splf obtained in step S54 with the first display area Adp1 on the frame memory, that is, pastes it (step S55). By the above step S55, an intermediate image in which the partial left front image Splf is combined with the first display area Adp1 of the first mask image Smsk1 is created in the frame memory.

Next, the processor 15 proceeds to step S51.
The first vehicle data Dmd1 and the first direction indicating data Dind1 are obtained from the first element data Dobj1 selected in
Take out. Then, the processor 15 determines in step S5
5, the first vehicle model image Mvhc1 represented by the first vehicle model data Dmd1 extracted this time
To the first vehicle model combining area Amd1 of the first mask image Smsk1. Further, the processor 15 outputs the first direction instruction data D taken out this time.
The first indicator image Mind1 represented by ind1 is combined, that is, pasted, into the first indicator combining area Aind1 of the first mask image Smsk1 (step S56). By the above step S56, the frame memory
As shown in (c), a first display side image Sdp1 in which a partial left front image Splf, first vehicle model data Mvhc1, and a first indicator image Mind1 are combined with a first mask image Smsk1 is created. Is done.

After step S56, the processor 15
Transfers the first display side image Sdp1 on the frame memory to the display device 23 (step S57). Display device 2
3 is the received first display side image Sdp1 (FIG. 32).
(See (c)) on its own screen. Next, the processor 15 determines whether or not the current time is the end timing of the left front monitor mode (step S58). Also in step S58, step S116 in the first embodiment is performed.
The method for determining the end timing described with reference to FIG. 8 can be applied. If it is not the end timing of the left front monitor mode in the step S58, the processor 15 returns to the step S52, performs the subsequent processing, and creates a new first display side image Sdp1. On the other hand, if it is the end timing of the left front monitor mode, the processor 15 ends the processing of FIG.

From the first display side image Sdp1 described above,
The driving assistance device Uast3 provides the driver with the state of the blind spot area of the driver on the front left side of the vehicle Vusr, and thereby assists the driving of the driver. Here, FIG.
As shown in FIG. 2C, the partial left front image Splf is displayed on the upper left portion of the screen of the display device 23, and the first vehicle model image Mvhc1 is displayed on the lower right portion of the screen.
Further, the first indicator image Mind1 is an image of an isosceles triangle, and the vertex angle of the first indicator image Mind1 is the first vehicle model image Mvh.
It is placed on the door mirror part of c1. Further, two sides having the same length in the isosceles triangle extend toward the partial left front image Splf. Accordingly, even if the driving support device Uast3 can provide both the first display side image Sdp1 and a second display side image Sdp2 described later to the driver, the driver can perform the first display side image Sdp2. Image Sdp1
Is not confused with the second display side image Sdp2 described later. That is, the driver operates the first indicator image S
By displaying ind1, it can be instantaneously determined that the currently displayed object is the front left side of the vehicle Vusr.

As described above, step S41 in FIG.
If the processor 15 determines that the received signal is not the instruction signal Ilfm, the processor 15 proceeds to step S43. Then, the processor 15 determines whether or not the current reception signal is the instruction signal Ilrm (Step S43). If it is determined that the received signal this time is not the instruction signal Ilrm, the processor 15 ends the processing of FIG. On the other hand, when it is determined that the current reception signal is the instruction signal Ilrm, the processor 15 executes the left rear monitor mode (step S44).

Now, it is assumed that the driver is performing parallel parking while reversing the vehicle Vusr. Under this assumption, the driver operates the operation button 22. In response to this operation, the input device 20 sends an instruction signal Ilrm to the processor 15. In this case, the processor 15 determines that the instruction signal Ilrm has been received this time in step S43, and executes the left rear monitor mode described below.
The left rear monitor mode is a mode in which the second display side image Sdp2 is created to assist the driver in driving, and the detailed processing procedure is shown in FIG.

In FIG. 31, the processor 15 first determines the identification number N included in the instruction signal Ilrm received this time.
Extract id2. Then, the processor 15 outputs the first element data Dobj1 stored in the working area 17.
And the second element data Dobj2 including the identification number Nid2 extracted this time as the second apparatus identification data Did2 among the second element data Dobj2 (step S).
61). Next, the processor 15 takes out the second mask data Dmsk2 from the selected second element data Dobj2 and stores it in a frame memory (not shown) prepared in the working area 17 in advance (step S62).
As a result, only the second mask image Smsk2 (see FIG. 27A) is created on the frame memory. ,

Next, the processor 15 sends the identification number Nid2 extracted this time, that is, the imaging device 19 facing the rear left side of the vehicle Vusr to the left rear image Slr of the vehicle Vusr. Instruct capture. In response to this instruction, the imaging device 19
A left rear image Slr as shown in (a) is fetched and stored in the working area 3. Thereby, the processor 15 obtains the left rear image Slr (step S6).
3). Next, the processor 15 converts the partial left rear image S shown in FIG. 33B from the left rear image Slr obtained this time.
plr is cut out (step S64). Here, the partial left rear image Sprl means a portion to be combined with the second display area Adp2 (see FIG. 27A) in the left rear image Slr.

Next, the processor 15 combines the partial left rear image Sprl obtained this time with the second display area Adp2 on the frame memory (step S65). As a result, an intermediate image is created in the frame memory in which the partial left rear image Sprl is combined with the second display area Adp2 of the second mask image Smsk2.

Next, the processor 15 extracts the second vehicle model data Dmd2 and the second direction indicating data Dind2 included in the second element data Dobj2. Then, the processor 15 outputs the second vehicle model data Dmd2
Is combined with the second vehicle model combining area Amd2 of the second mask image Smsk2. Further, the processor 15 converts the first indicator image Mind1 represented by the first direction instruction data Dind1 into the first indicator composite area A of the first mask image Smsk1.
Combine with ind1 (step S66). Step S above
As a result, a second display side image Sdp2 as shown in FIG. 33C is created in the frame memory.

After step S56, the processor 15
Transfers the second display side image Sdp2 on the frame memory to the display device 23 (step S67). Display device 2
3 is the received second display side image Sdp2 (FIG. 33)
(See (c)) on its own screen. Next, the processor 15 determines whether or not the current time is the end timing of the left rear monitor mode, similarly to step S58 (step S68). If it is not the end timing of the left rear monitor mode, the processor 15 proceeds to step S62.
Then, the subsequent processing is performed to create a new second display side image Sdp2. On the other hand, if it is the end timing of the left rear monitor mode, the processor 15 ends the processing of FIG.

With the above second display side image Sdp2,
The driving support device Uast3 provides the driver with the state of the blind spot area behind the vehicle Vusr on the left rear side, thereby supporting the driving of the driver. Here, FIG.
As shown in FIG. 3C, the partial left rear image Sprl is displayed on the lower left portion of the screen of the display device 23, and the second vehicle model image Mvhc2 is displayed on the upper right portion of the screen.
Further, the second indicator image Mind2 is an image of an isosceles triangle, and the apex angle thereof is the second vehicle model image Mvh
It is placed on the door mirror part of c2. Further, two sides having the same length in the isosceles triangle extend toward the partial left rear image Sprl. Accordingly, even when the driving support device Uast3 can provide both the first display side image Sdp1 and the second display side image Sdp2 to the driver, the driver can use the second display side image Sdp2. The first
Can be prevented from being confused with the display side image Sdp1. That is, the driver operates the second indicator image Sin
By displaying d2, it can be instantaneously determined that the currently displayed area is the rear left side of the vehicle Vusr.

In the above description, the indicator image Mind1
Is described as an isosceles triangle. However, the indicator image Mind1 may be any other than an isosceles triangle as long as the partial left front image Splf can show any direction as viewed from the vehicle model image Mvhc1. The indicator image Mind2 may be other than an isosceles triangle.

In the above description, the first element data Dobj1
Has been described as including vehicle model data Dmd1. However, the first element data Dobj1 is the vehicle model data Dmd
1 instead of the vehicle model image Md shown in FIG.
s, that is, data representing an image Mds when the vicinity of the driver's seat of the vehicle is viewed from behind may be included. The second element data Dobj2 may also include data representing the image Mds as shown in FIG.

In the above description, for convenience of explanation, the driving support device Uast3 has been described as providing the driver with the front left side and the rear left side of the vehicle Vusr. However, the driving support device Uast3 uses the same method as the above-described first display lateral image Sdp1 to display the vehicle Vusr on the right front, right rear, front left, front right, rear left, and rear right. May be created and provided to the driver.

In each of the above embodiments, the programs Prnd1 to Prnd3 are incorporated in the drawing devices Urnd1 to Urnd3. However, the present invention is not limited to this.
Prnd3 may be distributed while being recorded on a recording medium represented by a CD-ROM, or may be distributed through a communication network represented by the Internet.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a driving support device Uast1 incorporating a drawing device Urnd1 according to a first embodiment.

FIG. 2 is a diagram showing a rendering program Prnd1 stored in a program memory 2 of FIG. 1 and other necessary data.

FIG. 3 is a diagram illustrating a mask area A represented by mask data Dmsk in FIG. 2;
It is a figure which shows msk typically.

FIG. 4 shows three types of vehicle model data Dmdb to D shown in FIG.
FIG. 4 is a diagram schematically illustrating vehicle model images Mvhcb to Mvhcs represented by mds.

FIG. 5 is a diagram schematically illustrating an installation example of the imaging devices 4 to 7 in FIG.

FIG. 6 is a main flowchart showing an operation of the driving support device Uast1 of FIG. 1;

FIG. 7 is a flowchart showing an initial part of a detailed processing procedure of step S2 in FIG. 6;

FIG. 8 is a flowchart showing an intermediate part of a detailed processing procedure of step S2 in FIG. 6;

FIG. 9 is a flowchart showing the last part of the detailed processing procedure of step S2 in FIG. 6;

FIG. 10 is a flowchart showing the first part of the detailed processing procedure of step S4 in FIG. 6;

FIG. 11 is a flowchart showing an intermediate part of a detailed processing procedure of step S4 in FIG. 6;

FIG. 12 is a flowchart showing the last part of the detailed processing procedure of step S4 in FIG. 6;

FIG. 13 is a diagram illustrating an example of a front left image Sfl and a front right image Sfr obtained in step S13 of FIG. 7;

14 is a diagram illustrating an example of a partial front left image Spfl and a partial front right image Spfr obtained in step S14 of FIG. 7;

FIG. 15 shows an intermediate image S obtained in step S16 of FIG.
FIG. 9 is a diagram illustrating an example of an int and a display front image Sfv obtained in step S19 of FIG. 8.

FIG. 16 is a diagram illustrating an example of a display front image Sfv with respect to a counter value N.

17 is a diagram showing an example of a display front image Sfv obtained in steps S113 and S115 in FIG.

FIG. 18 is a diagram showing a state in which a vehicle Vusr exits from a parking lot to a road while retreating.

FIG. 19 is a diagram illustrating an example of a display rear image Srv with respect to a counter value N.

FIG. 20 is a diagram illustrating an example of installation of imaging devices 4 ′ and 6 ′ on a vehicle Vusr.

FIG. 21 is a block diagram showing a configuration of a driving support device Uast2 incorporating a drawing device Urnd2 which is a modification of the drawing device Urnd1 of FIG.

FIG. 22 is a diagram showing a rendering program Prnd2 stored in the program memory 12 of FIG. 21 and other necessary data.

23 is a main flowchart showing the operation of the driving support device Uast2 of FIG.

FIG. 24 is a block diagram showing a configuration of a driving support device Uast3 incorporating a drawing device Urnd3 according to the second embodiment.

25 shows a rendering program Prnd3 stored in a program memory 16 of FIG. 24 and first element data D
FIG. 9 is a diagram showing obj1 and second element data Dobj2.

26 is a diagram for explaining a first mask image Smsk1 represented by the first mask data Dmsk1 in FIG. 25 (b).

FIG. 27 is a diagram for explaining a second mask image Smsk2 represented by the second mask data Dmsk2 in FIG. 25B.

FIG. 28 is a diagram schematically illustrating an installation example of the imaging devices 18 and 19 in FIG. 24;

FIG. 29 is a main flowchart showing the operation of the driving support device Uast3 of FIG.

FIG. 30 is a flowchart showing a detailed processing procedure of step S42 in FIG. 29;

FIG. 31 is a flowchart showing a detailed processing procedure of step S44 in FIG. 29;

FIG. 32 is a left front image Slf obtained by the processing of FIG. 30;
Partial left front image Splf and first display side image Sdp
FIG. 3 is a diagram showing an example of FIG.

FIG. 33 is a left rear image Slr obtained by the processing of FIG. 31;
Partial left rear image Sprl and second display side image Sdp
FIG. 3 is a diagram showing an example of FIG.

FIG. 34 is a view for explaining an alternative example of the vehicle model data Dmd1 shown in FIG. 25.

FIG. 35 is a block diagram showing an overall configuration of a vehicle surrounding monitor device which is a conventional drawing device.

36 is a diagram showing a display screen of the display device 1004 in FIG. 35.

[Explanation of symbols]

 Uast1 to Uast3: Driving support device Urnd1 to Urnd3: Drawing device 1, 15 ... Processor 2, 12, 16 ... Program memory 3, 17 ... Working area 4: Image pickup device (for front left side) 5 ... Image pickup device (for front right side) 6 imaging apparatus (for rear left side) 7 ... imaging apparatus (for rear right side) 4 '... imaging apparatus (for front side) 6' ... imaging apparatus (for rear side) 18 ... imaging apparatus (for front left side) 19 ... imaging apparatus ( 8, 20 ... input device 9 ... operation button (for front) 10 ... operation button (for rear) 13 ... operation button (for front and rear) 21 ... operation button (for left front) 22 ... operation button ( 11, 23 ... display device 14 ... shift position sensor

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Takashi Yoshida 1006 Kazuma Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. F-term (reference) 5B050 AA06 BA08 BA11 CA06 CA07 DA07 EA03 EA19 EA24 FA02 FA13 5B057 AA16 BA02 BA23 CA12 CA16 CB12 CB16 CC03 CE08 CE09 5C054 AA01 FC11 FE12 FE19 HA30 5H180 CC04 LL01 LL02 LL04 LL15 LL17

Claims (15)

[Claims] 1. A drawing device for creating a display image for driving assistance of a vehicle, comprising: an acquisition unit that obtains a peripheral image of the vehicle from an imaging device installed in the vehicle; A first image synthesizing unit that synthesizes the peripheral image with an indicator indicating the direction of the peripheral image with respect to the vehicle to create a display image. 2. A cutout section for cutting out a predetermined area in a peripheral image obtained by the acquisition section as a partial peripheral image, and a mask image prepared in advance by cutting the partial peripheral image cutout by the cutout section And a second image synthesizing unit for creating an intermediate image by combining the indicator with the intermediate image created by the second image synthesizing unit. ,
The drawing apparatus according to claim 1. 3. The vehicle according to claim 2, wherein the indicator is an image representing a vehicle model, and the first image combining unit causes the vehicle model to appear to move in a direction of the peripheral image obtained by the obtaining unit with respect to the vehicle. 2. The drawing apparatus according to claim 1, wherein the vehicle model is combined with the vehicle model. 4. The drawing device according to claim 3, wherein the indicator is a vehicle model when the vehicle is viewed from behind. 5. The indicator is an image representing a graphic, and the first image synthesizing unit is configured to control the surrounding image obtained by the obtaining unit so that the graphic appears to move in a direction with respect to the vehicle. The drawing apparatus according to claim 1, wherein the drawing apparatus combines the figures. 6. The image pickup device is installed at least one each at a front side and a rear side of a vehicle, and the image pickup device installed at a front side of the vehicle is provided as a peripheral image of the vehicle in front of the vehicle. The image capturing device installed on the rear side of the vehicle captures a rear image of the vehicle as a peripheral image of the vehicle, and a first operation button to which a start function of a front monitor mode of the vehicle is assigned. A second operation button to which a start function of a rear monitor mode of the vehicle is assigned; and the acquisition unit, when the first operation button is operated,
A front image as a peripheral image of the vehicle is acquired from an imaging device installed on a front side of the vehicle, and the first image combining unit is configured to add the front image obtained by the acquisition unit to the front image. Creating a display front image in which an indicator indicating the direction to the vehicle is combined, the obtaining unit, when the second operation button is operated,
From the imaging device installed on the rear side of the vehicle, a rear image as a peripheral image of the vehicle is acquired, and the first image combining unit adds the rear image obtained by the acquiring unit to the rear image. The drawing device according to claim 1, wherein the display device generates a display rear image in which an indicator indicating a direction with respect to the vehicle is combined. 7. The vehicle according to claim 6, wherein the indicator is a vehicle model when the vehicle is viewed from behind, and the first image combining unit is obtained by the acquisition unit when the first operation button is operated. Synthesizes the vehicle model so that the vehicle model appears to move upward from below the peripheral image, and when the second operation button is operated, from above the peripheral image obtained by the acquisition unit. The drawing apparatus according to claim 6, wherein the vehicle model is synthesized such that the vehicle model appears to move downward. 8. The image pickup device is provided at least one each at a front side and a rear side of a vehicle, and the image pickup device installed at a front side of the vehicle is provided as a peripheral image of the vehicle in front of the vehicle. The image capturing device installed on the rear side of the vehicle captures an image behind the vehicle as a peripheral image of the vehicle, and an operation button to which a start function of a monitor mode of the vehicle is assigned. A shift position sensor for detecting a current shift position is provided externally, and the acquisition unit is configured to detect when the operation button is operated and the shift position sensor indicates that a shift position indicating that the vehicle is moving forward is detected. A front image as a peripheral image of the vehicle is obtained from an imaging device installed on a front side of the vehicle, and the first image combining unit is obtained by the obtaining unit. Creating a display front image in which an indicator indicating the direction of the front image with respect to the vehicle is combined with the front image, wherein the acquisition unit is configured to operate the operation button and move the vehicle backward by the shift position sensor When a shift position indicating is detected, a rear image as a peripheral image of the vehicle is obtained from an imaging device installed on the rear side of the vehicle, and the first image combining unit is obtained by the obtaining unit. The drawing device according to claim 1, wherein a display rear image is created by combining an indicator indicating a direction of the rear image with respect to the vehicle on the rear image. 9. The vehicle according to claim 1, wherein the indicator is a vehicle model when the vehicle is viewed from behind, and the first image combining unit is configured to operate the operation button and move the vehicle forward by the shift position sensor. When a shift position indicating that is detected, the vehicle model is synthesized so that the vehicle model appears to move upward from below the peripheral image obtained by the acquisition unit, and the operation button is operated; When a shift position indicating that the vehicle is moving forward is detected by the shift position sensor, the vehicle is moved so that the vehicle model appears to move downward from above the peripheral image obtained by the acquisition unit. The drawing device according to claim 8, wherein the drawing device combines the models. 10. The indicator is an image representing a graphic, wherein the first image combining unit adds an image representing a vehicle model prepared in advance to the peripheral image obtained by the obtaining unit, The drawing apparatus according to claim 1, wherein the drawing apparatus combines an indicator that is an image indicating the direction of the image with respect to the vehicle model. 11. The drawing device according to claim 10, wherein the vehicle model represents a vehicle viewed from directly above. 12. The drawing device according to claim 10, wherein the vehicle model represents a periphery of a driver's seat of the vehicle when viewed from behind. 13. A drawing method for creating a display image for driving assistance of a vehicle, comprising: an obtaining step of obtaining a peripheral image of the vehicle from an imaging device installed in the vehicle; A first image synthesizing step of generating a display image by synthesizing an indicator indicating the direction of the peripheral image with respect to the vehicle with the peripheral image. 14. A recording medium in which a drawing program for creating a display image for driving assistance of a vehicle is recorded, wherein an acquisition step of obtaining a peripheral image of the vehicle from an imaging device installed in the vehicle; A first image synthesizing step of synthesizing the peripheral image obtained in the obtaining step with an indicator indicating the direction of the peripheral image with respect to the vehicle to create a display image, A recording medium on which a drawing program is recorded. 15. A drawing program for creating a display image for driving assistance of a vehicle, comprising: an obtaining step of obtaining a peripheral image of the vehicle from an imaging device installed in the vehicle; A first image synthesizing step of synthesizing an indicator indicating the direction of the peripheral image with respect to the vehicle with the peripheral image, and creating a display image.