JP2003219413A - Vehicle rearward monitoring system and monitoring apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle rearward monitoring system capable of easily and accurately grasping the state of a rearward of an own vehicle and driving by a driver to drive easily. <P>SOLUTION: The vehicle rearward monitoring system comprises one rearward camera 11 carried in the vehicle for imaging the rearward of the vehicle, an image processing unit 20 for capturing and processing the imaged image from the camera 11 and generating an overhead image when the circumference of the vehicle is observed from different viewpoint directions from each other, and a monitoring system 23 for displaying the overhead image on a monitor screen so that side cameras 12, 13 carried at right and left door mirrors of the vehicle or in the vicinity for imaging the rearward of the vehicle, and the images imaged by the cameras 12, 13 are simultaneously displayed together with the overhead image on the monitor screen. <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 rear monitor system and a monitor device capable of displaying a situation behind a vehicle on a monitor screen.

[0002]

2. Description of the Related Art Conventionally, a rear view of a vehicle is photographed by a camera mounted on the rear of the vehicle, and the photographed images are processed to generate a bird's-eye view image when the vehicle surroundings are viewed from different viewpoint directions. There is known a vehicle rear monitor system that displays an image on a monitor screen in a vehicle compartment.

The bird's-eye view image provides an image when the camera is virtually installed above the vehicle by subjecting the actual image of the camera to digital image processing, and the situation around the vehicle can be discriminated at a glance. So, garage parking, parallel parking,
It is very useful for safety confirmation and operation assistance when the vehicle starts.

As for such a bird's-eye view image, there are a single-eye bird's-eye view system using only one camera and a multi-eye bird's-eye view system using two or more cameras, and they are used properly depending on the application, cost and other factors. . Then, the bird's-eye view image is generally displayed as an image of one virtual camera on one monitor screen.

It has also been proposed that cameras be mounted on the left and right door mirrors to photograph the rear of the vehicle with these cameras and to display the photographed images as left and right divided images on a monitor screen. Since the door mirror portion has a volume and a shape protruding from the vehicle body, it is very effective as an installation position of the blind spot elimination camera.

[0006]

By the way, the multi-view bird's-eye view system has a wide field of view and provides a high sense of security when driving, but one bird's-eye view image is composed of two or more camera images. So it is necessary to take consistency between those cameras. Therefore, the mounting accuracy of each camera is required to be considerably high, which causes a cost increase.

On the other hand, in the monocular bird's-eye view system, one camera image constitutes one bird's-eye view image, so that the camera mounting accuracy is not so high.

However, in the monocular bird's-eye view system, since the bird's-eye view is constructed by using the monitor image photographed with the camera tilted slightly toward the ground than usual, it is difficult to discriminate a three-dimensional object due to its characteristics, The top is represented as a rather distorted shape. Also, since the image from a single camera is used, the field of view is limited to that of the real camera, only a part of the image is displayed on the monitor screen, and the remaining part is a non-display area such as blue background. Therefore, when a car or an obstacle comes into the display area while driving, the driver receives the impression that they suddenly pop out, and the anxiety increases. If there is an obstacle near the blind spot, only a part of it is displayed by the monocular bird's-eye view system, so it is possible that the obstacle may completely enter the blind spot depending on the movement of the vehicle. It is insufficient as a providing system.

Further, in the monocular bird's-eye view system, as described above, since the monitor image taken by tilting the camera toward the ground is used, the amount of information at a long distance is inevitably smaller than that at a short distance. Since the limited area is displayed as a single bird's-eye view image even when it is displayed on the screen, there is a limit to the display in the distance. For this reason, when the driver performs a driving operation, if he / she sets a target such as garage parking farther away, the target will often be lost.

On the other hand, when a camera is mounted in or near the door mirror, the field of view is wider and wider than that of the door mirror, and the visibility is good even from a distance. However, in this case, when the entire field of view is displayed on the left and right simultaneously, the image is distorted, and intuitive discrimination becomes difficult. Further, since there is a shadow directly behind the vehicle, there is a blind spot in the rear part of the vehicle, and it is difficult to accurately recognize the distance in the image.

An object of the present invention is to provide a vehicle rear monitor system capable of easily and accurately grasping the situation behind the vehicle and allowing the driver to drive in a comfortable manner.
And to provide a monitor device.

[0012]

In order to solve the above-mentioned problems, the present invention mainly focuses on a monocular bird's-eye view system that can be implemented by a simple mounting method, and secures a rear side field of view which is its weak point near the door mirror. By using the side camera installed in the sub as a sub, an attempt is made to construct a comprehensive rear safety recognition device.

That is, according to the first aspect of the present invention, one rear camera mounted on a vehicle for photographing the rear of the vehicle and a captured image from the rear camera are captured and processed, and the captured images are processed from different viewpoint directions. In a vehicle rear monitor system including image processing means for generating an overhead view image when looking around the vehicle, and display means for displaying the overhead view image on a monitor screen, in the left and right door mirrors of the vehicle or in the vicinity thereof. It is characterized in that one side camera for photographing the rear of the vehicle is mounted, and the images photographed by the side cameras are collectively displayed on the monitor screen together with the bird's-eye view image.

According to the above construction, the images taken by the left and right side cameras of the vehicle are displayed together with the bird's-eye view image on one monitor screen. Therefore, when a dangerous object or an obstacle exists behind or on the side of the vehicle. The driver can easily find the dangerous objects and obstacles and avoid them with sufficient time. Also, if the side camera is oriented in a substantially horizontal direction, there is not much distortion in the images taken with this side camera,
It is also easy to identify a three-dimensional object.

According to a second aspect of the present invention, in the first aspect, the image photographed by the side camera is displayed in an area on the monitor screen corresponding to a blind spot when the rear camera photographs. It has a feature.

When the rear camera photographs the rear of the vehicle, a blind spot naturally occurs on the side of the vehicle, and nothing is displayed in the area on the monitor screen corresponding to this blind spot. An image taken by a side camera is displayed in the area.

According to a third aspect of the present invention, in the second aspect, a frame-shaped icon is displayed in the area, and an image taken by the side camera is reduced and displayed in the icon. It is characterized in that a part of the image that is cut or cut is displayed in the icon.

With this configuration, the image taken by the side camera and the bird's-eye view image can be easily distinguished.

According to a fourth aspect of the present invention, in the third aspect, the icon is displayed in a shape simulating a door mirror. If the icon is shaped like a door mirror, the driver does not feel uncomfortable.

The invention according to claim 5 is the invention according to claim 3 or 4.
In, a reduced image display mode in which an image captured by the side camera is reduced and displayed in the icon, and a cut image display mode in which a part of the clipped image is displayed in the icon are set. In addition, a mode selector switch for switching between the two modes is provided.

With this configuration, the reduced image display mode and the cut image display mode can be switched with one touch by simply switching the mode changeover switch, and the driver has a highly necessary display depending on the situation at that time. You can select the mode.

According to a sixth aspect of the present invention, in the fifth aspect, when the cut-out image display mode is switched to, the field of view outside the vehicle out of the image captured by the side camera is close to the vehicle. The inside field of view and the field of view of the middle region between the outside and the inside are cut out, and one of the cut out views is selected according to the switching operation of the view angle changeover switch, and the image of the selected view field is displayed. It is characterized by that.

According to this structure, one of the visual field outside the vehicle, the visual field inside the vehicle and the visual field in the intermediate region between the outer side and the inner side can be obtained only by switching the visual field angle changeover switch. Can be selected to display an image of the selected field of view in the icon.

According to a seventh aspect of the invention, in the sixth aspect, whether the icon is a field of view cut out is the field of view of the outside, the field of view of the inside, or the field of view between the outside and the inside. It is characterized in that the frame is deformed and displayed according to.

For example, in the case of displaying an image of an outer part away from the vehicle among the images taken by the side cameras, the entire frame of the icon is arranged so that both ends of the icon in the shape of a door mirror are located slightly above. When the image of the inner part close to the vehicle is cut out and displayed, the entire frame of the icon is deformed so that both ends of the icon of the door mirror shape are located slightly downward, and the outer part and the inner part of the icon are deformed. To cut and display the middle area,
Do not change the shape of the door mirror icon.
By doing so, the driver can easily determine which part is cut and displayed.

The invention described in claims 1 to 7 is an invention as a monitor system, but can be applied to a monitor device installed in a driver's seat. That is, the invention according to claim 8 is connected to a rear camera mounted on a vehicle, captures and processes an image when the rear of the vehicle is photographed by the rear camera, and processes the surroundings of the vehicle from different viewpoint directions. In a vehicle rear monitor device including image processing means for generating a bird's-eye view image and a display means for displaying the bird's-eye view image on a monitor screen, the image processing means includes left and right door mirrors of the vehicle or those. Connected to side cameras mounted one by one in the vicinity of the vehicle, captures an image of the rear of the vehicle captured by the side cameras, and collectively captures the image together with the bird's-eye view image on the monitor screen. The feature is that it is displayed.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. (Embodiment 1) FIG. 1 shows the overall configuration of a vehicle rear monitor system according to the first embodiment. The vehicle rear monitor system includes a rear camera 1 as shown in the figure.
1, a left side camera 12 and a right side camera 13 are provided. As shown in FIG. 2, the rear camera 11 is mounted on or near the upper portion of the trunk 2 at the rear of the vehicle 1, the left side camera 12 is at the tip of the door mirror 3 on the left side of the vehicle, and the right side camera 13 is at the right side of the vehicle. Door mirror 4
It is attached to the tip of each.

As shown in FIG. 1, the rear camera 11 is in the image memory 15 via the decoder unit 14, the left camera 12 is in the image memory 17 via the decoder unit 16, and the right camera 13 is in the decoder unit 18. Via the image memory 19
To each of the image memories 15, 17,
Reference numeral 19 is connected to an image processing unit 20 having RAMs 1 and 2. An image processing memory (display image memory) 21 is connected to the image processing unit 20, and the image processing memory 21 is connected to a monitor system 23 via an encoder unit 22.
It is connected to the.

Here, the left and right side cameras 12, 13, the decoder sections 16, 18 and the image memories 17, 19 constitute a side camera system (a portion surrounded by a broken line in FIG. 1). The present embodiment is characterized in that this side camera system is added to the conventional monocular bird's eye view system.

Further, the vehicle rear monitor system is provided with a control unit 24, which controls the decoder unit 14,
16, 18 and the image memories 15, 17, 19. Then, the control unit 24 and the image memories 15 and 1
A sync separation signal is input to each of the cameras 7 and 19.
It absorbs the time delay between 12 and 13. As described above, in the present embodiment, the image memories 15, 17, and 19 are used to absorb the time delay between the cameras 11, 12, and 13 to achieve synchronization.
It is also possible to synchronize 12 and 13 with an external synchronizing signal.

Further, the control section 24 includes an image processing section 20,
It is connected to the image processing memory 21 and the encoder unit 22, respectively, and outputs a control signal to the image processing unit 20 and the image processing memory 21 and exchanges a control signal with the encoder unit 22.

Further, an image processing data ROM 25 for storing a large number of image processing data is provided, and by outputting the image processing data according to the display specifications to the control section 24, images having various variations can be obtained. It is possible to display.

In the above structure, the vehicle rear monitor device according to the present invention does not include the rear camera 11, the left and right side cameras 12, 13, and the monitor system 23.

In the vehicle rear monitor system having the above structure, first, a case where only the rear camera 11 is used for photographing will be described. When the rear of the vehicle 1 is photographed by the rear camera 11,
The image signal is decoded by the decoding unit 14 to obtain RGB signals.
It becomes a signal and is stored in the image memory 15. The image processing unit 20 takes in the image signal stored in the image memory 15 and performs digital image processing to generate a monocular bird's-eye view image. The generated monocular bird's-eye view image is temporarily stored in the RAM 1 or the RAM 2 in the image processing memory 21, and then encoded by the encoding unit 22 into an image signal suitable for the monitor system 23 such as NTSC, and then output to the monitor system 23. Displayed on the monitor screen.

The monitor system 23 has a monitor screen 30 as shown in FIG. 3, and the monocular bird's-eye view image is displayed in a bird's-eye view display area 31 on the monitor screen 30. On the monitor screen 30,
The video 1'of the vehicle is also displayed, and the bird's eye view display area 3
1 is displayed behind the image 1'of the vehicle. Note that FIG.
In the figure, reference numeral 32 is a non-display area corresponding to a blind spot when the rear camera 11 photographs the rear of the vehicle 1.

Here, the monocular bird's-eye view image will be described.
For example, as shown in FIG. 4, when the rear camera 11 captures an image of the white line 33 for garage entry in the rear of the vehicle 1, the single-eye bird's-eye view images obtained from the results of the image look around the vehicle 1 from different viewpoint directions. The image at that time is displayed in the overhead view display area 31 on the monitor screen 30 as shown in FIG. In this case, a part of the white line 33 is displayed as the bird's-eye view image 33 ′ in the bird's-eye view display area 31, and nothing is displayed in the area (non-display area 32) corresponding to the blind spot of the rear camera 11.

Next, when the rear side of the vehicle 1 is photographed by the left side camera 12 and the right side camera 13, the image signals thereof are decoded by the decoding units 16 and 18 to become RGB signals, which are stored in the image memories 17 and 19, respectively. It The image processing unit 20 takes in the image signals stored in the image memories 17 and 19 and performs digital image processing. in this case,
The image processing unit 20 also captures the image signals stored in the image memory 15, and collectively displays the images captured by the left and right side cameras 12 and 13 together with the monocular bird's-eye view image captured by the rear camera 11 on the monitor screen 30. Image processing is performed so that it is displayed on. The processing result is temporarily stored in the RAMs 1 and 2 in the image processing memory 21, and then the encoding unit 2
In step 2, the video signal is encoded into an image signal suitable for the monitor system 23 such as NTSC and then output to the monitor system 23.

On the monitor screen 30 of the monitor system 23, as shown in FIG. 6, a bird's-eye view image 33 'of a white line 33 for garage entry is displayed in the bird's-eye view display area 31, and the left side of the image 1'of the vehicle. In the non-display area 32A and the non-display area 32B on the right side, icons 34A and 34B imitating the frame shape of the door mirror are displayed, respectively. And
The image captured by the left camera 12 is displayed in the icon 34A, and the image captured by the right camera 13 is displayed in the icon 34B. Icon 34A, 34
In B, an image is displayed in a reduced size, or a part of the clipped image is displayed without being reduced in size.

In the present embodiment, the rear camera 11
The displayable area of the captured image by and the displayable area of the captured image by the left and right side cameras 12 and 13 are set as shown in FIG. That is, the displayable area of the image captured by the rear camera 11 is the range A in the figure, which corresponds to the above-mentioned overhead view display area 31. The displayable area of the images taken by the left and right side cameras 12 and 13 is the range B of the finely shaded lines, but also the range C of the coarsely shaded lines. Therefore, in the present embodiment, the entire rear area of the vehicle 1 is the displayable range.

Next, an example will be described in which the rear camera 11 and the left and right side cameras 12, 13 photograph the rear of the vehicle while the vehicle is traveling on the road and the photographed image is displayed on the monitor screen 30.

For example, as shown in FIG. 8, a passenger car 41 is located directly behind the own vehicle 1 and a passenger car 4 is located diagonally to the right rear of the own vehicle 1.
2 describes a case in which the motorcycles 43 are traveling to the left and diagonally rearward of the host vehicle 1, respectively. The front side of the passenger car 41,
Since the left rear part of the passenger car 42 and the right rear part of the motorcycle 43 do not enter the blind spot of the rear camera 11, they are photographed by the rear camera 11 and, on the monitor screen 30, as shown in FIG. Overhead image 41 ', 4
They are displayed as 2'and 43 ', respectively.

The left side of the passenger car 41 and the motorcycle 43
Is photographed by the left side camera 12 and the right side of the passenger car 41 and the front side of the passenger car 42 are photographed by the right side camera 13, respectively, and the photographed images are taken in the left and right non-display areas 32A, 32.
Door mirror icon 34A, 34 displayed on B
Displayed in B respectively. Among the icons 34A are the passenger car 41 and the motorcycle 4 photographed by the left camera 12.
The respective images of the passenger car 41 and the passenger car 42 captured by the right camera 13 are displayed in the icon 34B. In the icons 34A and 34B, an image is displayed in a reduced size, or a part of the clipped image is displayed without being reduced in size.

According to the present embodiment, the images taken by the left and right side cameras 12 and 13 are displayed together on the monitor screen 30 together with the bird's-eye view image, so that the driver can put the vehicle in the garage or the like. The obstacle behind the vehicle can be easily found when the vehicle is moving backward, and the situation behind the vehicle can be instantly known when the vehicle is traveling on the road.

Further, according to the present embodiment, while traveling,
It is also possible to drive while looking at the images displayed in the icons 34A and 34B and to utilize as a substitute for the door mirror. Since the side cameras 12 and 13 have a wider field of view than the door mirrors, the side cameras 12 and 13 are more suitable for confirming safety confirmation behind the vehicle.

The side cameras 12 and 13 can be attached not only to the front end of the door mirror but also to the fender panel or door panel near the door mirror. Also, there may be three or more side cameras.

Further, in the present embodiment, the icon 34
Although A and 34B have a door mirror shape, they may have another shape (for example, a quadrangle or an oval shape).

(Second Embodiment) Next, a second embodiment of the present invention will be described. In this embodiment, as shown in FIG. 10, an external control switch 50 is provided. The external control switch 50 comprises a mode changeover switch 51 and a view angle changeover switch 52. These changeover switches 51, 52 are provided in the driver's seat and can be operated freely by the driver. When the driver operates the changeover switches 51 and 52, the external control switch 50 outputs an external control signal to the control unit 24. A superimposing data ROM 53 is provided, and the superimposing data ROM 53 outputs superimposing data to the control unit 24. Other configurations are similar to those in the first embodiment.

In the present embodiment, the icons 34A and 34A
B (see FIG. 6 or 9), a reduced image display mode for reducing and displaying the image and a cut image display mode for displaying a part of the cut image in the icons 34A and 34B are set. Has been done. The mode switch 51 is
The reduced image display mode and the cut image display mode are switched.

Here, the driver selects the mode changeover switch 51.
When the reduced image display mode is selected by operating, the images captured by the side cameras 12 and 13 are reduced and displayed in the icons 34A and 34B. As described above, in the reduced display mode, when the image is reduced and displayed, the entire image of the rear of the vehicle can be easily grasped, and it is suitable for checking the presence or absence of an obstacle.

When the driver operates the changeover switch 51 to select the cut image display mode, the icon 34A,
A part of the image cut out of the images captured by the side cameras 12 and 13 is displayed in 34B. In the present embodiment, the image is cut out so that three types of fields of view can be obtained. That is, the case of cutting out the outside view D away from the vehicle as shown in FIG. 11B, the case of cutting out the inside view E close to the vehicle as shown in FIG. 12B, and FIG.
The case of cutting out the visual field F in the intermediate region between the outer side and the inner side as in (b) is set in advance, and which visual field is cut out is selected by the switching operation of the visual field angle switching switch 52.

When the field of view D in FIG. 11B is selected,
On the monitor screen 30, as shown in FIG. 11A, the images in the field of view D among the images captured by the side cameras 12 and 13 are displayed in the door mirror-shaped icons 34A and 34B. As in FIG. 8, the passenger cars 41 and 42 and the motorcycle 43 are running behind the host vehicle 1, but the field of view D is the field of view outside the host vehicle 1, so that the icon 34A appears in the icon 34A. Shows only the image of the motorcycle 43 and only the image of the passenger car 42 in the center of the icon 34B. Note that the overhead view display area 31 displays an image of the passenger vehicle 41 traveling directly behind the host vehicle 1, but is omitted in FIG. 11 (a). Figure 1
The same applies to 2 (a) and FIG. 13 (a).

When the image within the field of view D is displayed, the entire frame of the icons 34A and 34B is deformed and displayed so that both ends thereof are upward.

Next, when the field of view E in FIG. 12 (b) is selected, on the monitor screen 30, as shown in FIG. 12 (a),
Of the images taken by the side cameras 12, 13, the images in the field of view E are displayed in the icons 34A, 34B. Since the field of view E is the field of view inside the vehicle 1 close to the host vehicle 1, the icon 3
An image of the motorcycle 43 and the passenger car 41 and an image of the left side of the host vehicle 1 are also displayed in 4A, and an image of the passenger car 41 and the passenger car 42 and an image of the right side of the host vehicle 1 are also displayed in the icon 34B. Has been done.

When an image within the field of view E is displayed, the entire frame of the icons 34A and 34B is deformed and displayed so that both ends thereof are located downward.

Further, when the field of view F of FIG. 13 (b) is selected, the field of view F of the images taken by the side cameras 12, 13 is displayed on the monitor screen 30 as shown in FIG. 13 (a).
The image inside is displayed in the icons 34A and 34B.
Since the field of view F is the field of view between the outer side and the inner side, images of the motorcycle 43 and the passenger car 41 are displayed in the icon 34A, and images of the passenger car 41 and the passenger car 42 are displayed in the icon 34B. ing.

When an image within the field of view F is displayed, the frames of the icons 34A and 34B are not deformed.

According to the present embodiment, since the frame shapes of the icons 34A and 34B are deformed according to the visual fields D, E, and F, the image currently displayed in the icons 34A and 34B is an image of which visual field. The driver can intuitively and instantly determine whether

In the present embodiment, the visibility is D, E,
Although there were three types of F, continuous operation is possible by increasing the number of data in the icon data ROM and the number of data of the cutout pattern of the side camera image. It is also possible to display an animation as if changing.

[0059]

As described above, according to the present invention,
Since the driver can easily and accurately grasp the situation behind the host vehicle, it is possible to drive in a comfortable manner.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a vehicle rear monitor system according to a first embodiment of the present invention.

FIG. 2 is a diagram showing arrangement positions of a rear camera and a side camera.

FIG. 3 is a diagram showing an example of a monocular overhead view display.

FIG. 4 is a diagram showing a vehicle that is put into a garage.

FIG. 5 is a view showing a vehicle to be put into a garage on a monitor screen in a monocular overhead view.

FIG. 6 is a diagram in which images taken by a side camera are collectively displayed on the monitor screen of FIG.

FIG. 7 is a diagram showing displayable areas of a rear camera and side cameras.

FIG. 8 is a diagram showing a positional relationship between vehicles during road traveling.

FIG. 9 is a diagram collectively showing images taken by a rear camera and side cameras in the case of FIG.

FIG. 10 is an overall configuration diagram of a vehicle rear monitor system according to a second embodiment of the present invention.

FIG. 11A is a diagram showing a monitor screen on which an image of the clipped field of view is displayed, and FIG. 11B is a diagram showing a range of the clipped field of view when the field of view outside the vehicle is clipped.

FIG. 12 shows a case of cutting out an inside view close to a vehicle,
FIG. 6A is a diagram of a monitor screen on which an image of the cut-out view is displayed, and FIG. 6B is a diagram showing a range of the cut-out view.

13A and 13B are diagrams showing a case where a field of view in an intermediate region between the outer side and the inner side is cut out, FIG. 13A is a diagram of a monitor screen on which an image of the cut out field of view is displayed, and FIG. is there.

[Explanation of symbols]

1 vehicle 11 rear camera 12 Left camera 13 Right side camera 20 Image processing unit 23 Monitor system 24 Control unit 30 monitor screen 31 bird's eye view display area 32, 32A, 32B non-display area 34A, 34B icons 51 Mode selector switch 52 View angle selector switch

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification symbol FI Theme Coat (reference) B60R 21/00 B60R 21/00 621R 628 628D G03B 15/00 G03B 15/00 V (72) Inventor Hirotaka Iwano 5-35-2, Hakusan, Bunkyo-ku, Tokyo Clarion Co., Ltd. (72) Inventor Ryota Kawauchi 5-35-2, Hakusan, Bunkyo-ku, Tokyo Clarion Co., Ltd. F-term (reference) 5C054 FD07 FE17 GA04 GB01 HA30

Claims (8)

[Claims] 1. A bird's-eye view of a rear camera mounted on a vehicle and photographing the rear of the vehicle, and a captured image from the rear camera is captured and processed to look around the vehicle from different viewpoint directions. Image processing means for generating an image,
In a vehicle rear monitor system including display means for displaying the bird's-eye view image on a monitor screen, one side camera for photographing the rear of the vehicle is mounted on each of the left and right door mirrors of the vehicle or in the vicinity thereof,
A vehicle rear monitor system, wherein images taken by the side cameras are collectively displayed on the monitor screen together with the bird's-eye view image. 2. The vehicle rear monitor system according to claim 1, wherein an image taken by the side camera is displayed in an area on a monitor screen corresponding to a blind spot when the rear camera takes an image. A characteristic vehicle rear monitor system. 3. The vehicle rear monitor system according to claim 2, wherein a frame-shaped icon is displayed in the area, and an image captured by the side camera is reduced and displayed in the icon. A rear vehicle monitoring system, characterized in that a part of the image that has been cut or clipped is displayed in the icon. 4. The vehicle rear monitor system according to claim 3, wherein the icon is displayed in a shape simulating a door mirror. 5. The vehicle rear monitor system according to claim 3 or 4, wherein a reduced image display mode in which an image captured by the side camera is reduced and displayed in the icon, and the clipped part The cut-out image display mode for displaying the image in the icon is set, and a mode rear switch for switching between the both modes is provided. 6. The vehicle rear monitor system according to claim 5, wherein when switched to the cut-out image display mode, the outside field of view of the image taken by the side camera, which is far from the vehicle, is close to the vehicle. The inside field of view and the field of view of the middle region between the outside and the inside are cut out, and one of the cut out views is selected according to the switching operation of the view angle changeover switch, and the image of the selected view field is displayed. A vehicle rear monitor system characterized in that 7. The vehicle rear monitor system according to claim 6, wherein the icon is a field of view cut out from the outer field of view, the inner field of view, or a field of view between the outer and inner regions. A vehicle rear monitor system characterized in that a frame is deformed and displayed according to. 8. A bird's-eye view of the surroundings of the vehicle, which is connected to a rear camera mounted on the vehicle, captures and processes an image of the rear of the vehicle captured by the rear camera, and views the surroundings of the vehicle from different viewpoint directions. In a vehicle rear monitor device comprising image processing means for generating an image and display means for displaying the bird's-eye view image on a monitor screen, the image processing means includes one left and right door mirror of the vehicle or one in the vicinity thereof. Each of them is connected to a side camera mounted therein, captures an image when the rear side of the vehicle is photographed by the side camera, and displays the image together with the bird's-eye view image on the monitor screen. Vehicle rear monitor device.