JP2005173880A - Approaching object notifying apparatus and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To emphatically display only a caution-needed approaching object and reduce troublesomeness. <P>SOLUTION: An approaching object notifying apparatus comprises a left rear side camera 1 and a right rear side camera 2 for respectively photographing images on right and left rear sides of a surrounding of an own vehicle; an activation detection part 3 for detecting activation start time points of images photographed by the cameras 1, 2; a navigation device 4 for detecting a travelling state of its own vehicle; a winker sensor 5; a caution-needed approaching direction specifying part 6 for specifying the approaching direction of the object on the basis of the images photographed by the cameras 1, 2 and the activation of which is detected by the detection part 3 and the detection results from the navigation device 4 and the winker sensor 5; an object detection part 7 for detecting the object approaching on the direction specified by the specifying part 6 by image processing of the images photographed by the cameras 1, 2; an image processing part 8 for emphatically display-processing the object detected by the object detection part 7 onto the images photographed by the cameras 1, 2; a presenting monitor 9 for presenting the images processed by an image processing part 8; and an notifying unit 10. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an approaching object notification device and method mounted on a vehicle.

  In the following Patent Document 1, another vehicle approaching the host vehicle is detected based on a side image of the host vehicle captured by an imaging unit provided at the front of the host vehicle, and the approaching other vehicle An apparatus and a method for highlighting the symbol on the display unit are described.

JP 2002-321579 A

  In the conventional apparatus and method described above, all other vehicles approaching are highlighted. Since approaching objects requiring attention differ depending on the traveling state, it is not necessary to highlight all the approaching objects. It is annoying for the driver to highlight all objects.

  An object of the present invention is to provide an approaching object notification device and method that can highlight only an approaching object requiring attention and reduce annoyance.

  In order to solve the above-described problem, the present invention is based on an imaging unit that captures an image around a host vehicle, an activation detection unit that detects an activation start point of the captured image, and an image from which activation is detected. An approach direction specifying means for specifying an approach direction of an object, an object detection means for detecting an object approaching in the specified direction by image processing, and processing for highlighting the detected object on the image Image processing means for displaying and presentation means for presenting an image.

  According to the present invention, it is possible to emphasize and notify only an object requiring attention, and to reduce annoyance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings described below, components having the same function are denoted by the same reference numerals, and repeated description thereof is omitted.
Embodiment 1
As means for paying attention to objects around the host vehicle, object detection and notification means such as image providing means, laser radar, millimeter wave radar, and ultrasonic sensor have been put into practical use. The advantage of the image providing means is that the situation around the host vehicle can be visually confirmed. The advantage of the object detection notification means is that it is easy to recognize the presence or absence of an object that requires attention around the host vehicle. However, since the objects requiring attention around the host vehicle vary depending on the traveling state, the detection and notification of the object based only on the distance and relative speed may be bothersome and uncertain.
The present invention is a method for selectively detecting and notifying a target object requiring attention that is relatively close to the host vehicle.
FIG. 1 is a diagram showing the concept of the approaching object notification device and method of the present invention, where (a) shows the identification of the approaching direction requiring attention based on the image range, and (b) shows the approaching that requires attention taking into account the running state. Indicates direction identification.
In (a) and (b), 11 is the host vehicle, 12 is the rear of the host vehicle 11 captured by a left rear side camera (see reference numeral 1 in FIG. 3) installed on the front end side of the host vehicle 11. A rear side view 13 for paying attention to the side is taken with a left front end side camera (see reference numeral 21 in FIG. 6) installed on the front end side of the own vehicle 11, and the front end side of the own vehicle 11 is noted. 14a and 15a in (a), 14b and 15b in (b) are cautionary approach directions, 16 in (a) is the traveling direction of the host vehicle 11, 17 is half the width of one lane, (b ) 18 is the “current” traveling direction of the host vehicle 11, and 19 is the “front” traveling direction of the host vehicle 11. Here, the rear side view 12 and the preview 13 are shown only on the left side of the host vehicle 11.

The rear side view 12 of (a) assumes a state in which the host vehicle 11 is traveling while maintaining a lane. The attention approaching direction 14a in the rear side view 12 is the image center axis direction. For example, when the host vehicle 11 is traveling in the right lane of three lanes on one side, it is not necessary to highlight each time another vehicle traveling in the left lane / center lane passes without changing lanes, and an image is presented. It is enough if it is done. However, if there are other vehicles in the rear side view 12 that are approaching from the center lane or left lane to the right lane, it is better to highlight them on the display screen or notify them using a notification sound and call attention. good. That is, in the state where the host vehicle 11 is traveling while maintaining the lane as in (a), in the rear side view 12, the other vehicle approaching the lane of the host vehicle 11 from the lane on the side of the host vehicle 11 If there is, it is highlighted on the image of the presentation monitor (display). Alternatively, it is notified by a notification sound with an alarm together with the emphasis display.
The rear side view 12 in (b) assumes a state in which the host vehicle 11 is traveling while changing lanes. The attention approaching direction 14b in the rear side view 12 is the direction of the adjacent lane on the course changing side. For example, when the host vehicle 11 travels from the right lane of three lanes on one side to the central lane, and there is another vehicle traveling in the central lane, it is highlighted and alerted to call attention Better. That is, in the state where the host vehicle 11 is traveling with the lane changed, if there is another vehicle approaching along the direction of the adjacent lane on the rear side view 12 in the rear side view 12, it is highlighted on the image of the presentation monitor. Alternatively, it is notified by an alarm.

The preview 13 of (a) assumes a state of entering an intersection with poor visibility as an initial stage. The caution approaching direction 15a in the preview 13 is an axis direction of a road (a road perpendicular to or closer to the approach direction of the host vehicle 11) into which the host vehicle 11 enters, that is, an approach road axis direction.
The preview 13 of (b) assumes a state in which the host vehicle 11 enters while changing its course because of a right turn or a left turn to an intersection with poor visibility. The attention approaching direction 15b in the preview 13 is the approach road axis direction. However, the attention approaching direction 15b in the preview 13 is changed by the amount of change of the own vehicle 11.
That is, in the preview 13 that displays the front end side of the host vehicle 11, when there is another vehicle approaching in the approach road axis direction, it is highlighted or notified.

FIG. 2 is an explanatory diagram of the approaching object notification device and method according to the first embodiment, and shows an example of emphasis display of the attention approaching object in the rear side view. (A) shows an example of the caution approaching direction in the lane maintaining state of the host vehicle, (c) shows an example of the cautionary approaching direction in the lane change state, (b) and (d) are (a), The example of a highlight display of the attention approach target object in the case of (c) is shown. 31 is another vehicle, 32 is a white line on the road, and in (b) and (d), 33 is highlighted.
Each of the diagrams (a) and (c) shows the screen of the presentation monitor for explaining the detection principle of the attention approaching object, and time passes in the directions of the arrows. The screen is divided into minute sections, and the attention approaching directions 14a and 14b having a predetermined range set in advance are specified. A target object requiring attention such as another vehicle moves with time, and the center position of the target object moves in the direction approaching the target vehicle in a direction requiring attention, and the size of the target object increases. come. By detecting the contour line and the center point of the object by image processing and comparing with the above conditions, it is possible to determine the presence or absence of an object requiring attention. When there is a target object requiring attention, for example, highlighting as shown in (b) and (d) is performed. As the highlighting, various methods such as highlighting on the display in which the outside of the contour line of the object as shown in FIGS. It is.

FIG. 3 is a diagram illustrating a configuration of the approaching object notification device according to the first embodiment.
1 is a left rear side camera that captures an image of the left rear side around the host vehicle, 2 is a right rear side camera that captures an image of the right rear side around the host vehicle, and 3 is a left rear side camera. An activation detection unit that detects the activation start point (that is, the presentation start point) of the image captured by the camera 1 and the right rear side camera 2 to the driver, 4 is a navigation device that detects the traveling state of the host vehicle, 5 Is a winker sensor that detects the running state of the host vehicle by the operation of the turn signal (direction indicator) of the host vehicle, and 6 is detected by the start detection unit 3 and is detected by the left rear side camera 1 and the right rear side camera 2. Based on the image of the imaged range and the detection results of the navigation device 4 and the turn signal sensor 5, a caution approach direction specifying unit 7 that specifies the approach direction of the target object requiring attention, and 7 is a caution approach direction specifying unit 6. Approaching the direction specified by An object detection unit for detecting an object to be detected by image processing of a range of images captured by the left rear side camera 1 and the right rear side camera 2, and 8 an object detected by the object detection unit 7. In some cases, an image processing unit that highlights and processes the object on an image captured by the left rear side camera 1 and the right rear side camera 2, and 9 includes an image including an image processed by the image processing unit 8. The presentation monitor 10 to be presented is a notification device that generates a notification sound when there is an object detected by the object detection unit 7.
Needless to say, the activation detecting unit 3, the attention approaching direction specifying unit 6, the object detecting unit 7, and the image processing unit 8 indicate control functions that the processor executes according to the following flowchart (FIG. 4).

FIG. 4 is a flowchart showing a processing flow of the approaching object notification device and method according to the first embodiment.
First, in step 101, the ignition is turned on by the driver.
Next, in step 102, it is determined whether or not the ignition is turned off at the driver's will. If it is OFF, the process proceeds to step 103. If it is ON, the process proceeds to step 104.
In step 103, the processing flow ends.
Next, in step 104, it is determined whether the approach target object notification device, that is, the image providing system is activated. If it is OFF, go to (A). If it is ON, go to Step 105.
Next, in step 105, an image signal is acquired and stored in the storage unit.
Next, in step 106, the travel route axis of the host vehicle is specified using the position information and map information of the navigation device, and stored in the storage unit.
Next, at step 107, the presence / absence of a winker operation is determined. If not, the process proceeds to step 108, and if present, the process proceeds to step 113.

In step 108, the direction of attention required for maintaining the lane is specified. Specifically, the image center axis direction is specified.
Next, in step 109, the contour line and center point of the object are detected by image processing and stored in the storage unit.
Next, in step 110, the contour line and the center point of the previous object of the previous frame and the current object of the current frame are compared. When there is no target object in the previous time, go to (B), and when there is no target object approaching in the specified cautionary approach direction, go to (B), the target object approaching in the cautionary approach direction. If yes, go to Step 111.
Next, in step 111, the object is highlighted.
Next, in step 112, image presentation is performed, and the process proceeds to (A).

In step 113, the attention approach direction for lane change is specified. Specifically, the adjacent lane direction on the course changing side is specified.
Next, in step 114, the contour line and center point of the object are detected by image processing and stored in the storage unit.
Next, in step 115, the contour line and the center point of the previous object of the previous frame and the current object of the current frame are compared. When there is no target object in the previous time, go to (C), and when there is no target object approaching in the specified cautionary approach direction, the target object approaching in the cautionary approach direction is (C). If yes, go to Step 116.
Next, in step 116, the object is highlighted.
Next, in step 117, an image is presented and the process proceeds to (A).

As described above, the approach target object notification device according to the first embodiment is captured by the left rear side camera 1, the right rear side camera 2, and the cameras 1 and 2 that capture images around the host vehicle 11. The start detection unit 3 that detects the start point of start of the image, and the attention approach direction that specifies the approach direction of the target object based on the image captured by the cameras 1 and 2 and detected by the start detection unit 3 An object detection unit 7 for detecting an object approaching in the direction specified by the specifying unit 6 and the attention approaching direction specifying unit 6 by image processing of images captured by the cameras 1 and 2; An image processing unit 8 that highlights and processes an object detected by the object detection unit 7 on an image captured by the cameras 1 and 2, and a presentation monitor 9 that presents an image processed by the image processing unit 8. ing.
In addition, in the approach target object notification method according to the first embodiment, the surrounding image of the host vehicle 11 is captured by the left rear side camera 1 and the right rear side camera 2, and the activation start point of the captured image is detected. Then, based on the image that has been picked up and detected to be activated, the approach direction of the object is specified, the object approaching in the specified direction is detected by image processing, and the detected object is imaged The image is highlighted and processed, and the processed image is presented on the presentation monitor 9.
Based on the captured image, the approach direction of the target object requiring attention is specified, and the target object approaching the specified direction is detected by image processing. In addition to the presentation, it is possible to emphasize and notify only the target object requiring attention, thereby reducing annoyance.
Moreover, the navigation apparatus 4 and the turn signal sensor 5 for detecting the traveling state of the host vehicle 11 are provided, and the approach direction of the object is specified based on the images and the traveling state of the host vehicle 11 based on the detection results. It has become. Accordingly, it is possible to reliably specify the approach direction of the attention approaching target object in consideration of the traveling state of the host vehicle 11.
Further, when it is detected from these detection results that the host vehicle 11 is running while maintaining a lane, the lane on the side of the host vehicle 11 in the image of the rear side of the host vehicle 11 is captured. The object approaching the lane in which the host vehicle 11 is traveling is highlighted. Further, when it is detected that the host vehicle 11 is traveling while changing lanes, the host vehicle 11 approaches the host vehicle 11 along the direction of the adjacent lane on the changing side in an image of the rear side of the host vehicle 11 captured. The incoming object is highlighted. As a result, it is possible to emphasize and notify only the target object requiring attention, thereby reducing annoyance.
Further, the image processing unit 8 can express the attributes of the position, direction, and speed of the object detected by the object detection unit 7. By doing so, it is possible to accurately grasp the behavior of the notified object such as the other vehicle 31 (not shown).
Moreover, when the target object is detected by the target object detection unit 7, the alarm device 10 is provided that outputs a notification sound together with the emphasis display. Thereby, quick information acquisition can be performed with respect to notification.

Embodiment 2
The difference between the first embodiment and the second embodiment is that in the first embodiment, the left rear side camera 1 and the right rear side camera 2 are provided, and the rear side of the host vehicle 11 is noted. This is an embodiment related to a rear side view. On the other hand, the second embodiment relates to a preview that is provided with a left front end side camera 21 and a right front end side camera 22 and that pays attention to the front end side of the host vehicle 11. Hereinafter, although there is a portion overlapping with the first embodiment, details of the second embodiment will be described. Needless to say, it is most desirable to have both the left rear side camera 1 and the right rear side camera 2, and the left front end side camera 21 and the right front end side camera 22.
FIG. 5 is an explanatory diagram of the approaching object notification device and method according to the second embodiment of the present invention, and shows an example of emphasis display of the attention approaching object in the preview. (A) shows an example of the caution approaching direction in the straight traveling state of the host vehicle, (c) shows an example of the cautionary approaching direction in the changing state, and (b) and (d) are (a) and (c), respectively. In the case of (), an example of highlight display of an object requiring attention is shown. Reference numeral 34 denotes a wall.
Each of the diagrams (a) and (c) shows the screen of the presentation monitor for explaining the detection principle of the attention approaching object, and time passes in the directions of the arrows. The screen is divided into minute sections, and the attention approaching directions 15a and 15b having a predetermined range set in advance are specified. A target object requiring attention such as another vehicle moves with time, and the center position of the target object moves in the direction approaching the target vehicle in a direction requiring attention, and the size of the target object increases. come. By detecting the contour line and the center point of the object by image processing and comparing with the above conditions, it is possible to determine the presence or absence of an object requiring attention. When there is a target object requiring attention, for example, highlighting as shown in (b) and (d) is performed. As the highlighting, various methods such as highlighting on the display in which the outside of the contour line of the object as shown in FIGS. It is.

FIG. 6 is a diagram illustrating a configuration of the approaching object notification device according to the second embodiment.
21 is a left front end side camera that captures an image of the left front end side around the host vehicle, 22 is a right front end side camera that captures an image of the right front end side around the host vehicle, and 23 is a left front end side. An activation detection unit that detects the activation start point (that is, the presentation start point) of the image captured by the camera 21 and the right front end side camera 22 to the driver; 24, a navigation device that detects the running state of the host vehicle; Is a gyro sensor that detects the traveling state of the host vehicle, 26 is the activation detected by the activation detection unit 23, the image of the range captured by the left front end side camera 21, the right front end side camera 22, the navigation device 24, Based on the detection result of the gyro sensor 25, a caution approach direction specifying unit 27 for specifying the approach direction of the caution approaching object, 27 approaches in the direction specified by the caution approach direction specifying unit 26. An object detection unit that detects an incoming object by image processing of an image in a range captured by the left front end side camera 21 and the right front end side camera 22, and 28 is an object detected by the object detection unit 27. If there is an image, the image processing unit 29 highlights the object on the image captured by the left front end side camera 21 and the right front end side camera 22, and 29 includes an image including the image processed by the image processing unit 28. The presentation monitor 30 presents a notification sound that generates a notification sound when there is an object detected by the object detection unit 27.
Needless to say, the activation detection unit 23, the attention approaching direction specifying unit 26, the object detection unit 27, and the image processing unit 28 indicate control functions that the processor executes according to the following flowchart (FIG. 7).

FIG. 7 is a flowchart showing a process flow of the approaching object notification device and method according to the second embodiment.
First, in step 201, the ignition is turned on by the driver.
Next, in step 202, it is determined whether or not the ignition is turned off at the driver's will. If it is OFF, the process proceeds to step 203. If it is ON, the process proceeds to step 204.
In step 203, the processing flow ends.
Next, in step 204, it is determined whether the approaching object notification device, that is, the image providing system is activated. If it is OFF, go to (A). If it is ON, go to Step 205.
Next, in step 205, an image signal is acquired and stored in the storage unit.
Next, in step 206, using the position information and map information of the navigation device, the travel route axis of the host vehicle is specified and stored in the storage unit.
Next, at step 207, the change angle θ of the host vehicle is determined using the detection signal of the gyro sensor. If 0 ≦ | θ | <θ1, the process proceeds to step 208. If θ1 ≦ | θ |, the process proceeds to step 213. Note that θ1 is a turning angle threshold value of the own vehicle in which a change in the attention approaching direction in the image range should be taken into consideration.

In step 208, the attention approach direction for straight travel is specified. Specifically, the approach road axis direction is specified.
Next, in step 209, the contour line and center point of the object are detected by image processing and stored in the storage unit.
Next, in step 210, the contour line and the center point of the previous object of the previous frame and the current object of the current frame are compared. When there is no target object in the previous time, go to (B), and when there is no target object approaching in the specified cautionary approach direction, go to (B), the target object approaching in the cautionary approach direction. If yes, go to step 211.
Next, in step 211, the object is highlighted.
Next, in step 212, image presentation is performed, and the flow proceeds to (A).

In step 213, the direction requiring attention for changing the needle is specified. Specifically, the approach road axis direction is specified.
Next, in step 214, the contour line and center point of the object are detected by image processing and stored in the storage unit.
Next, in step 215, the contour line and the center point of the previous object of the previous frame and the current object of the current frame are compared. When there is no target object in the previous time, go to (C), and when there is no target object approaching in the specified cautionary approach direction, the target object approaching in the cautionary approach direction is (C). If yes, go to Step 216.
Next, in step 216, the object is highlighted.
Next, in step 217, image presentation is performed, and the flow proceeds to (A).

As described above, the approaching object notification device according to the second embodiment is captured by the left front end side camera 21, the right front end side camera 22, and the cameras 21 and 22 that capture images around the host vehicle 11. The start detection unit 23 that detects the start point of the start of the image, and the attention approach direction that specifies the approach direction of the object based on the image captured by the cameras 21 and 22 and detected by the start detection unit 23 An object detection unit 27 for detecting an object approaching in the direction specified by the specifying unit 26, the attention approaching direction specifying unit 26, and images captured by the cameras 21 and 22; An image processing unit 28 that highlights and processes an object detected by the object detection unit 27 on an image captured by the cameras 21 and 22, and a presentation monitor that presents an image processed by the image processing unit 28 And a 9.
Further, in the approaching object notification method according to the second embodiment, the surrounding image of the host vehicle 11 is captured by the left front end side camera 21 and the right front end side camera 22, and the start point of the captured image is detected. Then, based on the image that has been picked up and detected to be activated, the approach direction of the object is specified, the object approaching in the specified direction is detected by image processing, and the detected object is imaged The image is highlighted and processed, and the processed image is presented on the presentation monitor 29.
Thereby, in addition to the image presentation, it is possible to emphasize and notify only the target object requiring attention, and to reduce annoyance.
Moreover, the navigation apparatus 24 and the gyro sensor 25 which detect the driving | running | working state of the own vehicle 11 are provided, and the approach direction of a target object is pinpointed based on the running state of the own vehicle 11 from these detection results. Accordingly, it is possible to reliably specify the approach direction of the attention approaching target object in consideration of the traveling state of the host vehicle 11.
In addition, when the host vehicle 11 is about to enter the road, an object approaching in the direction of the approach road axis of the host vehicle 11 is highlighted in an image in which the side of the host vehicle 11 is captured. Yes. As a result, it is possible to emphasize and notify only the target object requiring attention and to reduce annoyance.
Further, the image processing unit 28 can express the attributes of the position, direction, and speed of the object detected by the object detection unit 27. By doing so, it is possible to accurately grasp the behavior of the notified object such as the other vehicle 31 (not shown).
Moreover, when the target object is detected by the target object detection unit 27, a notification device 30 is provided that outputs a notification sound together with the emphasis display. Thereby, quick information acquisition can be performed with respect to notification.

It should be noted that the left rear side camera 1, the right rear side camera 2 in FIG. 3, the left front end side camera 21 in FIG. 6, the right front end side camera 22, and steps 105 and 205 in FIGS. 4 and 7 are claimed. In the range imaging means and imaging process, the activation detection units 3 and 23, steps 104 and 204 are activation detection means, and the attention approaching direction specifying units 6 and 26, steps 108, 113, 208, and 213 are proximity direction specifying means. The object detection units 7 and 27, steps 110, 115, 210, and 215, and the image processing units 8 and 28, steps 111, 116, 211, and 216 are the image processing means, and the presentation monitors 9 and 29, steps 112 and 117, respectively. 212, 217 as the presenting means, navigation devices 4, 24, turn signal sensor 5, gyro sensor 25, steps 107, 207 as the running state detecting means, alarm devices 10, 30, Flop 112,117,212,217 corresponds to the notification means.
The embodiment described above is described in order to facilitate understanding of the present invention, and is not described in order to limit the present invention. Therefore, each element disclosed in the above embodiment includes all design changes and equivalents belonging to the technical scope of the present invention.

It is a conceptual diagram of the approach target object notification apparatus and method of this invention. It is explanatory drawing of the approach target object alerting | reporting apparatus and method of Embodiment 1 of this invention. It is a figure which shows the structure of the approaching object alerting | reporting apparatus of Embodiment 1 of this invention. It is a flowchart which shows the flow of a process of the approach target object alerting | reporting apparatus and method of Embodiment 1 of this invention. It is explanatory drawing of the approach target object alerting | reporting apparatus and method of Embodiment 2 of this invention. It is a figure which shows the structure of the approaching object alerting | reporting apparatus of Embodiment 2 of this invention. It is a flowchart which shows the flow of a process of the approach target object alerting | reporting apparatus and method of Embodiment 2 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Left rear side camera 2 ... Right rear side camera 3, 23 ... Activation | determination detection part 4, 24 ... Navigation apparatus 5 ... Winker sensor 6, 26 ... Careful approach direction identification part 7, 27 ... Object detection part 8 , 28 ... Image processing unit 9, 29 ... Presentation monitor 10, 30 ... Alarm 11 ... Own vehicle 12 ... Rear side view 13 ... Preview 14a, 14b, 15a, 15b ... Caution approaching direction 16 ... Traveling direction 17 ... 1 lane Half width 18 ... "Current" traveling direction 19 ... "Front" traveling direction 21 ... Left front end side camera 22 ... Right front end side camera 25 ... Gyro sensor 31 ... Other vehicle 32 ... White line 33 ... Highlight display 34 ... Wall

Claims (8)

Imaging means for capturing an image of the surroundings of the host vehicle;
Activation detection means for detecting the activation start point of the image imaged by the imaging means;
An approach direction specifying means for specifying an approach direction of an object based on an image picked up by the image pickup means and detected by the start detection means;
An object detecting means for detecting an object approaching in the direction specified by the approach direction specifying means by image processing of an image captured by the imaging means;
Image processing means for emphasizing and processing the object detected by the object detection means on the image captured by the imaging means;
An approach object notifying device comprising: presentation means for presenting an image processed by the image processing means. A driving state detecting means for detecting the driving state of the host vehicle;
The approach direction specifying means includes
The approaching object according to claim 1, wherein an approaching direction of the object is specified based on an image captured by the imaging unit and the activation detected by the activation detection unit and a traveling state of the host vehicle. Notification device. When it is detected by the running state detecting means that the host vehicle is running while maintaining a lane,
3. The object approaching the lane in which the host vehicle is traveling from the side lane of the host vehicle is highlighted in an image obtained by imaging the rear side of the host vehicle. Approaching object notification device. When it is detected by the traveling state detecting means that the host vehicle is traveling with changing lanes,
The approaching object notification according to claim 2 or 3, wherein an object approaching the own vehicle along the direction of the adjacent lane on the changing side is highlighted in an image obtained by imaging the rear side of the own vehicle. apparatus. If your vehicle is about to enter the road,
5. The approach according to claim 1, wherein an object approaching in an axial direction of a road on which the host vehicle is going to enter is highlighted in an image obtained by imaging the side of the host vehicle. Object notification device. The image processing means includes
6. The approach target object notification device according to claim 1, wherein attributes of the position, direction, and speed of the target object detected by the target object detection unit are expressed.   The approaching object notification device according to any one of claims 1 to 6, further comprising notification means for outputting a notification sound when an object is detected by the object detection means. An imaging step of capturing an image around the host vehicle;
An activation detection step for detecting an activation start point of the image captured by the imaging step;
An approach direction identifying step for identifying an approach direction of an object based on an image captured by the imaging step and detected for activation by the activation detection step;
An object detection step of detecting an object approaching in the direction specified by the approach direction specifying step by image processing of an image captured by the imaging step;
An image processing step of highlighting and processing the object detected by the object detection step on the image captured by the imaging step;
A method of presenting an image processed by the image processing step.

Images