JP2003169323A - Vehicle periphery-monitoring apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery-monitoring apparatus that allows a driver to easily and accurately recognize obstacles that are present in an imaging region that becomes the dead angle of an output image. <P>SOLUTION: When obstacles are present at a portion that becomes a dead angle in an output image, an ultrasonic sensor 29 detects the obstacles, where an installation angle θ of the ultrasonic sensor is equal to an angle ϕ formed by the joint mask patterns of the output image. Then, since the ultrasonic sensor 29 is installed so that the center of the directivity of the ultrasonic sensor is directed corresponding to the center direction of a range that becomes a dead angle in the output image, the ultrasonic sensor 29 can sensitively detect obstacles located in a range that becomes the dead angle in the output image. A signal-processing section 36 gives an instruction to an alarm sound-generating apparatus 30 to transmit an alarm by receiving signals from the ultrasonic sensor 29, and at the same time gives an instruction to an image-superposing section 38 to blink a joint eye mask pattern. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle surroundings monitoring device, and more particularly, to an image obtained by synthesizing images taken by a plurality of cameras so that a driver can easily grasp the situation around the vehicle. The present invention relates to a vehicle surroundings monitoring device displayed on display means.

[0002]

2. Description of the Related Art Conventionally, a vehicle is equipped with a camera for picking up an image of the vicinity of the vehicle, road surface conditions, etc., and the taken image of the surroundings of the vehicle is displayed on a display (image display means) so that the driver can see the surroundings of the vehicle. Make information easy to recognize,
BACKGROUND ART A vehicle surroundings monitoring device is known for the purpose of ensuring safe driving.

Further, a method is nowadays known in which images taken by a plurality of cameras are image-processed to synthesize an image viewed from a virtual viewpoint above the vehicle (see Japanese Patent Laid-Open No. 3-99952). . When the information around the vehicle is displayed on the display by using such image conversion processing (hereinafter referred to as “overview processing”), the driver is more likely to display the image captured by the camera as it is on the display. This makes it easier to intuitively understand the sense of distance in the surroundings, and it is possible to further improve safety in operation.

FIG. 11 is a block diagram showing the configuration of a vehicle surroundings monitoring device for performing overhead view processing. Vehicle surroundings monitoring device 3
Is a camera 2a, 2b installed at the left and right corners of the rear part of the vehicle 1 (see FIG. 12), and an image processing device 4 for bird's-eye view processing of the image input from the camera 2a, 2b and converting it into an output image. , And an image display unit 5 for displaying an output image.

The image processing apparatus 4 has decoders 6 and 7, an image conversion section 8, an image superposition section 9, a ROM 10 and an encoder 11. The input images captured by the cameras 2a and 2b are decoded and A / D converted by the decoders 6 and 7 and sent to the image conversion unit 8. The image conversion unit 8 converts the input images from the cameras 2a and 2b into a composite image by the so-called point-to-point method. The concept of this conversion processing will be described with reference to FIGS. 13 to 15.

As shown in FIG. 13, when the obstacle 12 is imaged by the cameras 2a, 2b, the cameras 2a, 2b
bird's-eye view images 15 and 16 corresponding to the imaging ranges 13 and 14 of FIG.
Can think of. As shown in FIG. 14, in the combined image 17, the area 15a of the bird's-eye view image 15 and the area 16a of the bird's-eye view image 16 are deleted from the overlapping portion of the bird's-eye view image 15 and the bird's-eye view image 16, and the remaining bird's-eye view image 15 remains. Area 15
It is generated by connecting b and the remaining area 16b of the bird's-eye view image 16 at the boundary line 18. Here, FIG.
3, reference numeral 12a indicates an image of the obstacle 12 in the overhead image 15 corresponding to the camera 2a, and reference numeral 12b indicates an image of the obstacle 12 in the overhead image 16 corresponding to the camera 2b. Further, in FIG. 14, reference numeral 12c indicates
An image of the obstacle 12 appearing in the composite image 17 is shown.

After the image conversion unit 8 performs image conversion into the composite image 17, the image superimposing unit 9 superimposes a predetermined image pattern on the composite image 17 based on the image superimposing information stored in the ROM 10. Generate an output image. The output image is D / A converted and encoded by the encoder 11 and then displayed on the image display unit 5.

FIG. 15 shows an output image displayed on the image display section 5. In addition to the bird's-eye view image around the vehicle, the output image 19 displays an image pattern (own vehicle image pattern) 1 ′ of the vehicle 1 and a joint mask pattern (joint image pattern) 20 superimposed by the image superimposing unit 9. ing. The joint mask pattern 20 is overlapped so as to hide the joint (boundary line 18) between the region 15b and the region 16b.

In this vehicle surrounding monitoring device 3, the driver can easily and accurately determine the situation around the vehicle by checking the output image 19 on the image display unit 5.

In addition to the above-mentioned vehicle surroundings monitoring device, as a system for supporting the presence / absence determination of an obstacle behind the vehicle, for example, an ultrasonic sensor is provided in a bumper portion behind the vehicle, and the ultrasonic sensor is provided when the vehicle moves backward. There is a rear warning device that alerts the driver by emitting a warning sound when an obstacle is detected.

[0011]

However, in the vehicle surroundings monitoring device 3, a blind spot occurs at the joint mask pattern 20 portion of the output image. Specifically, as shown in FIGS. 16 (a) and 16 (b), there is an obstacle 12 standing upright behind the vehicle 1, and the obstacle 12 is present in the output image 1
When located in the imaging area corresponding to the ninth joint mask pattern 20, only the image 21 of the obstacle 12 near the ground is displayed in the output image 19 as shown in FIG.
The upper part of the obstacle 12 is not displayed. Therefore, when the obstacle 12 is located in this area, it is difficult for the driver to determine the obstacle 12 based on the output image 19 displayed on the image display unit 5.

Further, as one means for solving such a problem, a human being looks upward by converting the input images from the cameras 2a and 2b at high speed and converting it into a virtual viewpoint image looking down diagonally from above the vehicle. Has proposed a method of displaying an image with a wide angle of view, which is similar to an image looking down on the ground diagonally on a display (Japanese Patent Application No. 2000-271).
No. 281).

When the image processing of the input images from the cameras 2a and 2b is performed using this processing method, the obstacle 12 can be displayed three-dimensionally, so that the driver can see the obstacle 1
Although it is easy to recognize No. 2, a high-speed arithmetic processing unit or the like is required to realize this processing method in the vehicle surroundings monitoring apparatus, which causes a significant increase in cost and thus cannot be easily used. It was

On the other hand, although the rear warning device using the ultrasonic sensor can detect the existence of the obstacle, it is difficult for the driver to accurately grasp the position of the obstacle with respect to the own vehicle. .

The present invention has been made in view of the above circumstances, and allows a driver to easily and accurately recognize an obstacle existing in an image pickup area which is a blind spot of an output image displayed on the image display means. It is an object of the present invention to provide a vehicle surroundings monitoring device capable of performing the above.

[0016]

In order to solve the above-mentioned problems, the invention of claim 1 combines a plurality of cameras for picking up images of the surroundings of a vehicle and input images picked up by the plurality of cameras. What is claimed is: 1. A vehicle surrounding monitoring device comprising: an image processing unit that generates an output image; and an image display unit that displays the output image generated by the image processing unit. The vehicle surroundings monitoring unit serves as a joint between the images when the input images are combined. An obstacle detecting means for detecting an obstacle existing in the imaging area which is a blind spot of the vehicle, and a warning means for giving a warning to the driver when the obstacle is detected by the obstacle detecting means. It is characterized by

According to a second aspect of the present invention, in the vehicle surroundings monitoring device according to the first aspect, the warning means issues a visual warning using the image display means.

According to a third aspect of the present invention, in the vehicle surrounding monitoring device according to the second aspect, the image processing means generates a joint image pattern at a position corresponding to a joint of the images on the output image, The warning unit blinks the joint image pattern displayed on the image display unit when an obstacle is detected by the obstacle detection unit.

According to a fourth aspect of the present invention, in the vehicle surroundings monitoring device according to the second aspect, when the obstacle detecting means detects the obstacle, a distance to the obstacle is detected, and the warning is issued. The means, when an obstacle is detected by the obstacle detecting means, causes the image processing means to generate an image pattern of the obstacle in correspondence with the separation distance detected by the obstacle detecting means, The visual warning is given by displaying an output image including an image pattern of an obstacle on the image display means.

According to a fifth aspect of the present invention, in the vehicle surroundings monitoring apparatus according to the second aspect, the image processing means alternates pixel information of each input image for the same image pickup area included in a plurality of input images. An image processing function for generating an output image by using the output image, the warning means outputs an output image to the image processing means by the image processing function when an obstacle is detected by the obstacle detection means. It is characterized in that the visual warning is given by generating the output image and displaying the output image generated by the image processing function on the image display means.

According to a sixth aspect of the present invention, there is provided the vehicle surroundings monitoring device according to any one of the first to fifth aspects,
A warning sound generating unit for generating a warning sound is further provided, and when the warning unit detects an obstacle, the warning unit generates an alarm sound by the warning sound generating unit to generate a warning sound. It is characterized by giving a warning.

According to a seventh aspect of the invention, there is provided the vehicle surroundings monitoring device according to any one of the first to sixth aspects,
The obstacle detecting means is an ultrasonic sensor, and the obstacle detecting means is installed in the vehicle so that the center of the directivity of the ultrasonic waves emitted from the obstacle sensor faces the imaging region serving as a joint between the images.

The invention according to claim 8 is the vehicle surroundings monitoring device according to any one of claims 1 to 6, wherein:
The obstacle detecting means is a radio wave radar, and the obstacle detecting means is installed in the vehicle so that the center of the directivity of the radio wave emitted from the obstacle detection means is directed to the imaging region serving as a joint between the images.

According to a ninth aspect of the present invention, there is provided the vehicle surroundings monitoring device according to any one of the first to sixth aspects,
The obstacle detecting means is an infrared sensor, and the obstacle detecting means is installed in the vehicle so that the center of the directivity of the infrared rays emitted from the obstacle sensor faces the imaging region serving as a joint between the images.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION A vehicle surrounding monitoring apparatus according to an embodiment of the present invention will be described with reference to the drawings.

[Embodiment 1] FIG. 1 is a block diagram showing the configuration of a vehicle surroundings monitoring apparatus according to Embodiment 1. The vehicle surroundings monitoring device 25 includes a camera 26 installed at the rear of the vehicle,
27, an image display unit 28 as an image display unit, an ultrasonic sensor 29 for detecting an obstacle behind the vehicle, a warning sound generation device 30 as a warning sound generation unit, and cameras 26, 2
The image displayed by the image display unit 28
And an image processing device 31 for outputting to.

The cameras 26 and 27 are, as shown in FIG.
It is installed at the left and right corners of the rear of the vehicle 32.

The ultrasonic sensor 29 is provided at an intermediate point between the camera 26 and the camera 27 and is installed at an angle θ with respect to the vehicle width direction of the vehicle 32. Here, in the angle θ, the center of the directivity of the ultrasonic wave emitted by the ultrasonic sensor 29 is an image pickup area where the image is a joint when the input images are combined (corresponding to the vicinity of the joint mask pattern on the output image described later). It is set so as to face the imaging area in space). Further, the ultrasonic sensor 29 has an angle θ.
Range 2 with some extent centered on the direction of
It is possible to detect the presence or absence of an obstacle in 9a.

The image display unit 28 is a general display (monitor), and is installed at a position where the driver can easily see it when driving, specifically, an instrument panel or the like. Further, the warning sound generating device 30 is also provided at a position where it is easy for the driver to determine whether or not the warning sound is generated during driving, for example, around the driver's seat in the passenger compartment.

The image processing device 31 decodes NTSC signals or PAL signals input from the cameras 26 and 27 into RGB signals, and A / D converts the RGB signals into digital signals, and decoders 33 and 34. 33,
An image conversion unit 35 that generates a synthetic image that has been subjected to a bird's-eye view process based on the input image that has been digitized by 34, and a signal processing unit that controls the warning sound generation device 30 based on the detection result of the ultrasonic sensor 29. 36, a ROM 37 that stores a superimposed image pattern for performing a superimposing process, and a ROM 37
An image superimposing unit 38 that superimposes the superposed image pattern stored in the composite image on the composite image to generate an output image;
An encoder 39 is provided for performing A-conversion and encoding into an NTSC signal or a PAL signal. In this embodiment, the image conversion unit 35, the ROM 37, and the image superimposing unit 38 function as an image processing unit, and the signal processing unit 36.
Functions as a warning means.

The input images picked up by the cameras 26 and 27 are converted into digital RGB images by the decoders 33 and 34.
It is converted into data and transmitted to the image conversion unit 35. The image conversion unit 35 includes a conversion table in which the correspondence relationship between the pixel information of the input image and the pixel information of the combined image is recorded, and one combined image is generated from the two input images based on this conversion table. .

An image superimposing unit 38 superimposes a superimposing image pattern (vehicle image pattern, joint mask pattern, etc.) stored in the ROM 37 on the composite image generated by the image converting unit 35, and outputs it after the superimposing process. An image is generated. After that, the output image is displayed on the image display unit 28 via the encoder 39 as shown in FIG.
In FIG. 3, reference numeral 22 is the output image, reference numeral 32 'is the vehicle image pattern, reference numeral 40 is the joint mask pattern, and reference numeral φ is the joint mask pattern 40 in the vehicle width direction of the vehicle image pattern 32'. Indicates the angle to make.

The image processing device 31 executes the image conversion processing by the point-to-point method based on the conversion table described above in real time. When there is no obstacle in the image pickup area (near the intermediate position between the cameras 26 and 27) which is a joint between the images by the cameras 26 and 27 and which is the blind spot of the output image 22 and there is an obstacle in another image pickup area, Since the obstacle is displayed in the output image 22, the driver can easily and accurately recognize the existence of the obstacle only by looking at the image display unit 28.

On the other hand, as shown in FIG. 4, the output image 2
When the obstacle 41 is present in the imaging area having the blind spot of 2, the ultrasonic sensor 29 detects the obstacle 41. That is, in this embodiment, the ultrasonic sensor 29 is arranged so that the center of directivity of the ultrasonic waves emitted from the ultrasonic sensor 29 is directed toward the image pickup region serving as the joint of the images, the installation angle θ of the ultrasonic sensor 29 and the joint mask pattern. Since the angle φ formed by 40 is the same, the effective range 29 of the ultrasonic sensor 29 is
a covers the range where the output image 22 becomes a blind spot,
The ultrasonic sensor 29 detects an obstacle located in the blind spot with high sensitivity.

Ultrasonic sensor 29 that has detected an obstacle 41
Sends a signal indicating that an obstacle is detected to the signal processing unit 36. The signal processing unit 36 receives the signal from the ultrasonic sensor 29 and gives an instruction to the alarm sound generating device 30 to emit an alarm sound, and also instructs the image superimposing unit 38 to blink the joint mask pattern 40. Give out. The warning sound generation device 30 generates a warning sound according to the instruction of the signal processing unit 36, and the image superimposing unit 38 superimposes the joint mask patterns 40 of different colors alternately at regular time intervals according to the instruction of the signal processing unit 36. The joint mask pattern 40 displayed on the image display unit 28 is caused to blink so that the driver can recognize the presence of the obstacle 41. The image of the obstacle 41 is displayed in the output image 22, for example, as indicated by reference numeral 41a in FIG.

In the vehicle surroundings monitoring apparatus according to the first embodiment, when the obstacle 41 exists at a position other than the blind spot of the output image 22, the driver displays the obstacle displayed on the output image 22 in the image display unit. By checking at 28, it is possible to easily and accurately determine the presence or absence and the position of the obstacle. Further, even when the obstacle 41 enters the blind spot of the output image 22, a warning sound is generated and the joint mask pattern 40 blinks, so that the driver easily recognizes that there is an obstacle behind the vehicle. It becomes possible to do.

Further, since the vehicle surroundings monitoring apparatus according to the first embodiment does not require a high-speed arithmetic processing unit, it is possible to avoid a large increase in cost and simply implement it.

In the first embodiment, the joint mask pattern 40 blinks to notify the driver of the existence of the obstacle. However, the blinking of the joint mask pattern 40 uses a monochrome image. Alternatively, a color image may be used.

[Embodiment 2] The vehicle surroundings monitoring apparatus according to the present embodiment has the same configuration as the vehicle surroundings monitoring apparatus according to the first embodiment, but a signal indicating that the image conversion unit 35 has detected an obstacle is transmitted. This is different from the vehicle surroundings monitoring device according to the first embodiment in that when the signal is received from the signal processing unit 36, a composite image is generated using a mixing method.

Here, the mixing method is a method for generating a composite image (or an output image) by alternately using pixel information of each input image with respect to the same image pickup area included in a plurality of input images. . Specifically, as shown in FIG. 6A, the obstacles 4 are taken by the cameras 26 and 27.
1 is imaged, the imaging range 5 of the cameras 26 and 27
In the bird's-eye view images 52 and 53 corresponding to 0 and 51, an area 52 related to the same imaging area (area in which the obstacle 41 exists)
a and 53a are included. Then, when synthesizing the bird's-eye view images 52 and 53, the pixel information of the region 52a and the pixel information of the region 53a are alternately adopted according to a certain rule for the same imaging region, as shown in FIG. Such a composite image 54 is generated. In this embodiment, the area 54a of the composite image 54 is in the area 52b of the bird's-eye view image 52.
The pixel information of (the area excluding the area 52a of the bird's-eye image 52) is used as it is, and the pixel information of the area 53b of the bird's-eye image 53 (the area of the bird's-eye image 53 excluding the area 53a) is used as the area 54b of the composite image 54. Used as is. Also,
In the area 54c of the overhead image 54, the pixel information 5 of the area 52a is included.
2a 'and the pixel information 53a' of the area 53a are alternately used one by one, whereby it is possible to confirm the presence of the obstacle 41 on the composite image 54 although the obstacle 41 appears double.

In the vehicle surroundings monitoring apparatus according to the second embodiment, when the obstacle exists in the imaging area other than the blind spot of the output image, the image of the obstacle is displayed on the output image as in the first embodiment. Therefore, the driver can easily and accurately recognize the existence of the obstacle by looking at the image display unit 28.

On the other hand, when the ultrasonic sensor 29 detects an obstacle when the obstacle enters the image pickup area which is a blind spot of the output image, the ultrasonic sensor 29 sends a signal to the signal processing unit 36 indicating that the obstacle exists. Then, the signal processing unit 36 transmits the control signal to the image conversion unit 35, and the image conversion unit 35 generates a composite image by using the mixing method, and the output image 55 as shown in FIG.
Is displayed on the image display unit 28. In the output image 55, the obstacle 41 is reflected as an image 41b in a double manner, but the obstacles imaged by the left and right cameras are surely shown in the output image, so that the driver can clearly see the existence of the obstacle. Can be recognized and the direction and position of the obstacle can be grasped. In this case, similarly to the first embodiment, it is possible to generate a warning sound by the warning sound generation device 30 to more actively alert the driver to the obstacle.

[Embodiment 3] The vehicle surroundings monitoring apparatus according to this embodiment also has the same structure as the vehicle surroundings monitoring apparatus according to the first embodiment, but the ultrasonic sensor 29 detects the distance to the obstacle. The signal processing unit 36 differs from the vehicle surroundings monitoring device according to the first embodiment in that the signal processing unit 36 superimposes a superimposed image pattern indicating the position of an obstacle on the image superimposing unit 38 according to the distance.

That is, in the vehicle surroundings monitoring apparatus according to the third embodiment, when the obstacle exists in the imaging area other than the blind spot of the output image, the image of the obstacle is displayed on the output image as in the first embodiment. Therefore, the driver can easily and accurately recognize the existence of the obstacle by looking at the image display unit 28.

On the other hand, when the ultrasonic sensor 29 detects the obstacle entering the image pickup area which is the blind spot of the output image, the ultrasonic sensor 29 causes the signal processing unit 36 to detect the distance information to the obstacle. The signal processing unit 36 transmits the control signal to the image superimposing unit 38 as a signal indicating that an object exists. The image superimposing unit 38 reads the superimposed image pattern (the image pattern of the obstacle) from the ROM 37 and superimposes it on the combined image according to the distance to the obstacle.

FIG. 8A is a diagram showing an output image displayed on the image display unit 28 when the distance from the ultrasonic sensor 29 (or the vehicle 32) to the obstacle is large. FIG. 8B is a diagram showing an output image displayed on the image display unit 28 when the separation distance is short (each output image is denoted by reference numeral 56).

As shown in FIGS. 8 (a) and 8 (b),
Obstacles detected by the ultrasonic sensor 29 are a superposed image pattern 29b indicating the effective measurement range of the ultrasonic sensor 29 and a superposed image pattern 41c indicating a range where the obstacle exists (a range including a position where the obstacle exists). By displaying the image on the image display unit 28 according to the distance to the object, the driver can not only easily grasp the position of the obstacle but also the superimposed image pattern 2 of the effective measurement range.
9b makes it possible to estimate the angle at which the obstacle exists.

8A and 8B, both the effective measurement range 29b of the ultrasonic sensor 29 and the obstacle image pattern 41c are displayed as the superimposed image pattern. Effective measurement range 29b of the ultrasonic sensor 29
Is not essential, and the driver can recognize the presence of the obstacle even when only the image pattern 41c of the obstacle is superimposed. Further, the image pattern 41c of the obstacle may be blinked in order to call the driver's attention.

The vehicle surroundings monitoring apparatus according to the present invention has been described above with reference to the drawings.
It is not limited to those described in Example 3. For example, in the vehicle surroundings monitoring device described in the first to third embodiments, the description has been given using two cameras, but the number of cameras may be three or more.

FIG. 9 shows three cameras 4 at the rear of the vehicle 32.
It is a figure for demonstrating the vehicle surroundings monitoring apparatus provided with 3,44,45. When such a vehicle surrounding monitoring device is used, as shown in FIG. 10, the joint mask patterns 40a and 40b are superimposed on the output image. When the joint mask patterns 40a and 40b are overlapped with each other at the angles of θ ′ and φ ′ with respect to the vehicle front-rear direction, the two ultrasonic sensors 46 and 47 similarly have the vehicle 3 at the angles of θ ′ and φ ′.
Need to be attached to 2. Generally, when n cameras are used, it is necessary to install (n-1) ultrasonic sensors.

Further, although all the image conversions of the vehicle surroundings monitoring devices shown in the first to third embodiments are images from the viewpoint of vertically looking down directly from above the vehicle, the output images are always vertically down. The output image is not limited to the above, but may be an output image viewed obliquely from above the vehicle.

Further, in the vehicle surroundings monitoring apparatus described in the first to third embodiments, the ultrasonic sensor 29 is used to detect the obstacle, but if the obstacle can be detected, the ultrasonic sensor is used. The present invention is not limited to this, and may use a radio wave radar, an infrared reflection type sensor, or the like. At this time, the radio wave radar and the infrared sensor are attached to the vehicle so that the center of the directivity of the radio wave emitted by the radio wave radar and the center of the directivity of the infrared ray emitted by the infrared sensor face the imaging region that is the joint of the images. .

[0053]

As described above, according to the vehicle surroundings monitoring apparatus of the present invention, when the obstacle is in the image pickup area where the output image does not become a blind spot, the driver displays the obstacle by the image display means. It can be easily and accurately recognized, and even if an obstacle enters the imaging area, which is a blind spot in the output image,
By blinking / changing the superimposed image pattern of the output image displayed on the image display means, or by generating a warning sound by the warning sound generating means, the driver can easily recognize that there is an obstacle behind the vehicle. Can be recognized.

Further, since the vehicle surroundings monitoring apparatus according to the present invention does not require the use of a high-speed arithmetic processing unit or the like, it is possible to avoid the significant increase in cost and simply implement it.

[Brief description of drawings]

FIG. 1 is a block diagram showing a vehicle surroundings monitoring device according to the present invention.

FIG. 2 is a plan view showing a rear portion of a vehicle including the vehicle surroundings monitoring device according to the first embodiment.

FIG. 3 is a diagram showing an output image displayed on the image display unit of the vehicle surroundings monitoring apparatus according to the first embodiment when there is no obstacle behind the vehicle.

FIG. 4 is a plan view showing a detection range of an ultrasonic sensor when an obstacle exists behind a vehicle including the vehicle surroundings monitoring device according to the first embodiment.

FIG. 5 is a diagram showing an output image displayed on the image display unit of the vehicle surroundings monitoring apparatus according to the first embodiment when an obstacle exists behind the vehicle.

6A and 6B are views for explaining an image synthesizing method of the vehicle surroundings monitoring apparatus according to the second embodiment, in which FIG. 6A shows a bird's-eye view image by each camera, and FIG. The image is shown.

FIG. 7 is a diagram showing an output image displayed on the image display unit of the vehicle surroundings monitoring apparatus according to the second embodiment when an obstacle exists behind the vehicle.

FIG. 8 is an output image displayed on the image display unit of the vehicle surrounding monitoring apparatus according to the third embodiment, and FIG. 8A is a diagram showing an output image when an obstacle is present at a position far from the rear of the vehicle. Yes, (b) is a diagram showing an output image when an obstacle exists at a position near the rear of the vehicle.

FIG. 9 is a plan view showing a vehicle in which three cameras are installed at a rear portion of the vehicle including the vehicle surrounding monitoring device according to the present invention.

FIG. 10 is a plan view showing an output image displayed on the image display unit when three cameras are installed in the rear portion of the vehicle including the vehicle surroundings monitoring device according to the present invention.

FIG. 11 is a plan view showing a vehicle equipped with a conventional vehicle surroundings monitoring device.

FIG. 12 is a block diagram showing a conventional vehicle surroundings monitoring device.

FIG. 13 is a diagram for explaining an overhead view process of an image processing unit in a conventional vehicle surrounding monitoring device.

FIG. 14 is a diagram showing an output image created by an image processing unit in a conventional vehicle surrounding monitoring device.

FIG. 15 is a diagram showing an output image displayed on an image display unit of a conventional vehicle surrounding monitoring device when an obstacle does not exist behind the vehicle.

16A and 16B are diagrams showing a camera and an ultrasonic sensor installed in the rear portion of a vehicle equipped with a conventional vehicle surrounding monitoring device, wherein FIG. 16A is a plan view and FIG. 16B is a side view of the vehicle. FIG.

FIG. 17 is a diagram showing an output image displayed on an image display unit of a conventional vehicle surrounding monitoring device when an obstacle exists behind the vehicle.

[Explanation of symbols]

25 Vehicle Surrounding Monitoring Devices 26, 27 Camera 28 Image Display Unit (Image Display Unit) 29 Ultrasonic Sensor 30 Warning Sound Generation Device (Warning Sound Generation Unit) 31 Image Processing Device 33, 34 Decoder 35 Image Conversion Unit 36 Signal Processing Unit ( Warning unit) 38 Image superimposing unit 37 ROM 39 Encoder 40 Joint mask pattern (joint image pattern)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 624 B60R 21/00 624B 624C 624D 624E 626 626B 626G 628 628D G06T 1/00 330 G06T 1/00 330A 3/00 300 3/00 300 (72) Inventor Hirotaka Iwano 5-35-2 Hakusan, Bunkyo-ku, Tokyo Clarion Co., Ltd. (72) Tokuyuki Sato 5-35-2 Shirayama, Bunkyo-ku, Tokyo C term in Clarion Co., Ltd. (reference) 5B057 AA16 BA02 CA12 CA16 CE08 5C054 AA05 CA04 CC03 CE12 CH01 EA01 FC00 FD03 FF06 HA30

Claims (9)

[Claims] 1. A plurality of cameras for picking up images of the surroundings of a vehicle, an image processing unit for combining input images picked up by the plurality of cameras to generate an output image, and an output generated by the image processing unit. A vehicle surroundings monitoring device comprising an image display means for displaying an image, wherein an obstacle detection means for detecting an obstacle existing in an imaging region which is a joint between the images when the input images are combined and which is a blind spot of the output image, A vehicle surroundings monitoring device comprising: a warning unit that warns a driver when an obstacle is detected by the obstacle detection unit. 2. The vehicle surroundings monitoring device according to claim 1, wherein the warning means issues a visual warning using the image display means. 3. The image processing means generates a seam image pattern at a position corresponding to a seam of the images on the output image, and the warning means when the obstacle is detected by the obstacle detecting means. The vehicle surroundings monitoring device according to claim 2, wherein the joint image pattern displayed on the image display means is blinked. 4. The obstacle detecting means detects a distance to the obstacle when the obstacle is detected, and the warning means detects when the obstacle is detected by the obstacle detecting means. An image pattern of the obstacle is generated by the image processing means in correspondence with the distance detected by the obstacle detection means, and an output image including the image pattern of the obstacle is displayed on the image display means. The vehicle surroundings monitoring device according to claim 2, wherein the visual warning is given by the above. 5. The image processing means has an image processing function of generating an output image by alternately using pixel information of each input image with respect to the same imaging region included in a plurality of input images, The means causes the image processing means to generate an output image by the image processing function when an obstacle is detected by the obstacle detection means, and the output image generated by the image processing function is displayed on the image display. The vehicle surroundings monitoring device according to claim 2, wherein the visual warning is given by being displayed on a means. 6. A warning sound generating means for generating a warning sound is further provided, wherein the warning means generates a warning sound for the warning sound generating means when an obstacle is detected by the obstacle detecting means. The vehicle surroundings monitoring device according to any one of claims 1 to 5, wherein an audible warning is given by the operation. 7. The obstacle detecting means is an ultrasonic sensor, and is installed in the vehicle such that the center of directivity of the ultrasonic waves emitted from the obstacle sensor is directed to an imaging region serving as a joint between the images. The vehicle surrounding monitoring device according to any one of claims 1 to 6. 8. The obstacle detecting means is a radio wave radar, and is installed in the vehicle so that the center of directivity of the radio waves emitted from the obstacle detection means is directed to an image pickup area serving as a joint between the images. The vehicle surroundings monitoring device according to any one of claims 1 to 6. 9. The obstacle detection means is an infrared sensor, and the obstacle detection means is installed in the vehicle so that the center of directivity of the infrared rays emitted from the obstacle sensor faces an imaging region serving as a joint between the images. The vehicle surroundings monitoring device according to any one of claims 1 to 6.