JP2006199161A - Rear monitoring device - Google Patents

Rear monitoring device Download PDF

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JP2006199161A
JP2006199161A JP2005013363A JP2005013363A JP2006199161A JP 2006199161 A JP2006199161 A JP 2006199161A JP 2005013363 A JP2005013363 A JP 2005013363A JP 2005013363 A JP2005013363 A JP 2005013363A JP 2006199161 A JP2006199161 A JP 2006199161A
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vehicle
infrared light
distance
obstacle
imaging camera
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JP4741847B2 (en
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Isao Nishimura
勲 西村
Shoichi Yamashita
章一 山下
Hiroshi Takagi
博 高木
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ATOMU GIKEN KK
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ATOMU GIKEN KK
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Abstract

<P>PROBLEM TO BE SOLVED: To improve visual recognition performance of a driver at the time of confirming rear view of a vehicle. <P>SOLUTION: An infrared radiation is emitted in the horizontal direction from an infrared light source arranged at a predetermined height at the rear of the vehicle, therefore an object placed below the infrared light source is not irradiated as an obstacle. When an obstacle is placed above the infrared light source at the rear part of the vehicle where an image is picked up by an imaging camera, the obstacle is irradiated, its image is picked up by the imaging camera, and a predetermined color is given to the image when a prescribed infrared reflection image signal or higher is recognized, so that the position of the obstacle can be accurately displayed on the monitor against the driver. Moreover, a distance from the vehicle to an infrared irradiated obstacle can be obtained based on the position of the image, thus the distance to the obstacle displayed on the monitor can be obtained. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、車両の後方確認のために撮像画像をテレビモニタに表示する装置に関するものである。   The present invention relates to an apparatus for displaying a captured image on a television monitor for confirming the rear of a vehicle.

従来、車両の後退動作時にドライバーからの死角を少なくして後方確認をし易くするため、車両後方に撮像カメラを搭載し、この撮像カメラで車両後方の視界を撮像し、車両後退時にモニタ画面により後方確認させ、さらに、距離検出手段を用いて、障害物までの超音波又は赤外線の反射往復時間を測定することにより距離検出してこれをドライバーに音声通知するものがある。   Conventionally, in order to make it easier to check the rear by reducing the blind spot from the driver when the vehicle is moving backward, an imaging camera is mounted on the rear of the vehicle, and the field of view behind the vehicle is imaged by this imaging camera. In some cases, the distance is detected by detecting the distance by measuring the ultrasonic or infrared reflection reciprocation time to the obstacle using the distance detection means, and notifying the driver of this by voice.

しかし、ドライバーがモニタ画面上で認めた障害物と、距離検出手段により検出された障害物とは必ずしも一致しない場合があり、また、距離検出手段が検出する障害物は直接車両に接触するほどの高さにないものまでも対象とされ、障害物検知の信頼性を不明朗にしてしまうおそれがあった。
特開２００４−２８２４９６号公報 However, the obstacle recognized by the driver on the monitor screen may not always match the obstacle detected by the distance detecting means, and the obstacle detected by the distance detecting means is in direct contact with the vehicle. Even objects that were not high were targeted, and there was a risk of obscure the reliability of obstacle detection.
Japanese Patent Laid-Open No. 2004-28296

本発明が解決しようとする課題は、ドライバーの目視による認識性を向上させることである。   The problem to be solved by the present invention is to improve the driver's visual recognition.

請求項１に係る後方監視装置は、車両後方の所定範囲を赤外光を感知して撮像する撮像カメラと、車両後方の所定高さに設置して前記撮像カメラの撮像範囲の一部と重なるように赤外光を車両の水平方向に所定の広がりで拡散する赤外光源と、前記撮像カメラの映像信号により画像を表示するとともに前記撮像カメラが感知した所定以上の赤外光反射映像の画像部分に所定の色を与えて表示するテレビモニタと、前記所定以上の赤外光反射映像の画像部分の位置に基づいて車両から赤外光照射対象物までの距離を得る距離計算部とからなることを特徴とするものである。   The rear monitoring apparatus according to claim 1 is installed at a predetermined height behind the vehicle and an imaging camera that senses and captures a predetermined range behind the vehicle, and overlaps a part of the imaging range of the imaging camera. In this way, an infrared light source that diffuses infrared light with a predetermined spread in the horizontal direction of the vehicle, and an image of an infrared reflected image that is greater than or equal to a predetermined value that is detected by the imaging camera while displaying an image by the video signal of the imaging camera A television monitor that displays a predetermined color on the portion and a distance calculation unit that obtains a distance from the vehicle to the infrared irradiation object based on the position of the image portion of the infrared light reflection image that is greater than or equal to the predetermined amount It is characterized by this.

請求項２に係る後方監視装置は、請求項１において、テレビモニタが、距離計算部により得られた車両から赤外光照射対象物までの距離が所定以内の時に、検出された反射光の画像部分に与えられた色を変化させることを特徴とするものである。   The rear monitoring apparatus according to claim 2 is an image of reflected light detected when the distance from the vehicle to the infrared light irradiation object obtained by the distance calculation unit is within a predetermined range. It is characterized in that the color given to the part is changed.

請求項３に係る後方監視装置は、請求項１又は請求項２のいずれかにおいて、距離計算部により得られた車両から赤外光照射対象物までの距離に応じた警報音を発生する警報音発生手段を備えたことを特徴とするものである。   The rear monitoring apparatus according to claim 3 is the alarm sound for generating the alarm sound according to the distance from the vehicle to the infrared light irradiation object obtained by the distance calculation unit according to any of claim 1 or claim 2. The generation means is provided.

請求項４に係る後方監視装置は、請求項３において、警報音発生手段からの警報音が、音声メッセージであることを特徴とするものである。   The rear monitoring apparatus according to claim 4 is characterized in that, in claim 3, the warning sound from the warning sound generating means is a voice message.

請求項１に係る後方監視装置によれば、車両後方の所定の高さにある赤外光源から赤外光が車両の水平方向に拡散されるから、赤外光源より低い物について障害物として照射せず、撮像カメラで撮像する車両後方に赤外光源の位置より高い障害物があると、赤外光が照射され、これを撮像カメラで撮像して、所定以上の赤外反射映像信号がある場合にその画像部分に所定の色を与えるから、ドライバーに対して障害物の位置を明確にモニタ上に示すことができ、さらに、その画像部分の位置に基づいて車両から赤外光照射対象物までの距離を得るから、モニタに表示された障害物までの距離を知ることができ、ドライバーに目視による認識性を向上させることができるという利点がある。   According to the rear monitoring apparatus of the first aspect, since infrared light is diffused in the horizontal direction of the vehicle from an infrared light source at a predetermined height behind the vehicle, an object lower than the infrared light source is irradiated as an obstacle. Otherwise, if there is an obstacle higher than the position of the infrared light source behind the vehicle imaged by the imaging camera, infrared light is emitted, and this is imaged by the imaging camera, and there is an infrared reflected video signal that exceeds a predetermined level. In this case, a predetermined color is given to the image portion, so that the position of the obstacle can be clearly shown on the monitor to the driver, and further, the object irradiated with infrared light from the vehicle based on the position of the image portion. Therefore, the distance to the obstacle displayed on the monitor can be known, and the driver can improve the visual recognition.

図１は、本発明に係る後方監視装置の一実施例を説明する図であり、図１（ａ）は車両と撮像範囲を説明する図、図１（ｂ）は一実施例の機能ブロック図である。図１において、１０１は車両、１０２は前記車両１０１の後方の所定高さに設置して、後方の所定範囲を撮像範囲１０２ａとして撮像する撮像カメラ、１０３は前記車両１０１の後方の所定高さ、例えば、車体の最下部にあるリアバンパあるいはナンバープレートの底部に設置して赤外光を車両１０１の水平方向に所定の広がりで拡散する赤外光源、１０４は前記車両１０１の室内のドライバーから見やすい場所に配置されるテレビモニタ、１０４ａは撮像カメラ１０２からの映像信号データの１画面分をテレビモニタ１０４の画面位置の１画素部分と１対１に対応して一時的に記憶するフレームメモリ、１０５は距離計算部、１０６は前記車両１０１の室内に設置されるスピーカ、１０７は警報音発生手段、１０８は装置全体を制御する演算処理装置である。   FIG. 1 is a diagram for explaining an embodiment of a rear monitoring apparatus according to the present invention, FIG. 1 (a) is a diagram for explaining a vehicle and an imaging range, and FIG. 1 (b) is a functional block diagram of the embodiment. It is. In FIG. 1, 101 is a vehicle, 102 is installed at a predetermined height behind the vehicle 101, an imaging camera that captures an image of a predetermined rear range as an imaging range 102 a, 103 is a predetermined height behind the vehicle 101, For example, an infrared light source that is installed at the bottom of a rear bumper or license plate at the bottom of the vehicle body and diffuses infrared light with a predetermined spread in the horizontal direction of the vehicle 101; 104a is a frame memory for temporarily storing one screen of video signal data from the imaging camera 102 in a one-to-one correspondence with one pixel portion of the screen position of the television monitor 104; A distance calculation unit 106 is a speaker installed in the room of the vehicle 101, 107 is an alarm sound generating means, and 108 is an operation for controlling the entire apparatus. It is a processing apparatus.

撮像カメラ１０２は、例えばＣＣＤカメラを用い、赤外光を感知するものを用いる。撮像範囲は、左右は撮像カメラ１０２が搭載される車両１０１の車幅あるいはそれより若干広くとり、下側は車両１０１の最後尾、上側は車両１０１より例えば約２ｍとする。
赤外光源１０３は、赤外レーザを用い、円柱レンズを用いて所定の広がりで赤外光を拡散する（図２参照）。図３（ａ）に示すように、赤外光３０１の拡散方向は、車両１０１についての水平方向であり、すなわち、車両１０１が水平面にあるときは、地表面３０２と平行に拡散し、撮像カメラ１０２の撮像範囲１０２ａと重なり、図３（ｂ）に示すように、車両１０１が斜面にあるときにも、地表斜面３０３と平行に拡散する、このような方向を水平方向とする。
距離計算部１０５は、演算部１０５ａ、角度テーブル１０５ａあるいは距離テーブル１０５ｂを備える。
警報音発生手段１０７は音声合成手段により構成される。 As the imaging camera 102, for example, a CCD camera is used, which detects infrared light. The left and right imaging ranges are set to be slightly wider than the vehicle width of the vehicle 101 on which the imaging camera 102 is mounted, the lower side is the tail of the vehicle 101, and the upper side is about 2 m from the vehicle 101, for example.
The infrared light source 103 uses an infrared laser and diffuses infrared light with a predetermined spread using a cylindrical lens (see FIG. 2). As shown in FIG. 3A, the diffusion direction of the infrared light 301 is the horizontal direction with respect to the vehicle 101. That is, when the vehicle 101 is on a horizontal plane, it is diffused in parallel with the ground surface 302, and the imaging camera. As shown in FIG. 3B, the horizontal direction is defined as such a direction that spreads in parallel with the ground slope 303 even when the vehicle 101 is on the slope.
The distance calculation unit 105 includes a calculation unit 105a, an angle table 105a, or a distance table 105b.
The alarm sound generation means 107 is constituted by a voice synthesis means.

次に、この後方監視装置の動作を説明する。
車両１０１の例えばギアがリバースに入ると演算処理装置１０８は、赤外光源１０３を作動して赤外光を発生させるとともに撮像カメラ１０２を作動して所定の撮像範囲１０２ａを撮影させる。テレビモニタ１０４は常に動作又はギアがリバースに入ると演算処理装置１０８の制御により後方監視装置として動作する。
車両１０１の後方に障害物が存在しない場合は、赤外光は反射されず、撮像カメラ１０２は障害物を撮影せず、テレビモニタ１０４に障害物は映し出されない。石のように地面から突出している場合であっても、赤外光源１０３が設置される位置より低いものであれば、赤外光を反射せず、車両１０１の車体に衝突しないから、障害物が存在しないものとする。車両１０１が走行する面が斜面の場合であっても、赤外光の拡散方向は、上述のような車両についての水平方向であるから、障害物として赤外光が照射される物の高さ基準は変化しない。
障害物が存在する場合は、赤外光源１０３からの赤外光は障害物で反射し、撮像範囲内にある障害物を撮影した撮像カメラ１０２により感知される。撮像カメラ１０２の映像信号データは、フレームメモリ１０４ａに送られるとともにテレビモニタ１０４に送られる。フレームメモリ１０４ａの映像信号データは、演算処理装置１０８により所定レベル以上の部分があるかを検出され、その部分について例えば赤色を与えられて、テレビモニタ１０４に表示される。このとき、距離計算部１０５はフレームメモリ１０４ａについて前記所定レベル以上の映像信号データが格納されている個所を検索し、その個所に対応する画面上の位置に基づいて車両１０１から障害物すなわち赤外光照射対象物までの距離を得る。
テレビモニタ１０４の画面は、１／３０秒に１画面更新することができるから、距離測定も、この画面変化に同期して順次測定される。得られた距離が所定以内となった場合は、テレビモニタ１０４の画面上の障害物の赤外光が照射されている部分の色を赤と白を交互に変化させ、距離が近づくに従いその変化を速くする。
警報音発生手段１０７は、前記距離テーブル１０５ａからの距離データにより、合成音声を読み出し、例えば「障害物です。２ｍ後方にあります。」、「障害物です。１ｍ半の後方にあります。注意してください。」、「障害物です。１ｍ後方にあります。危険です。」とのメッセージと、距離に応じたメッセージに応じた警報音を電子音によりスピーカから出力させる。 Next, operation | movement of this back monitoring apparatus is demonstrated.
For example, when the gear of the vehicle 101 enters reverse, the arithmetic processing unit 108 operates the infrared light source 103 to generate infrared light, and operates the imaging camera 102 to photograph a predetermined imaging range 102a. The TV monitor 104 always operates as a rear monitoring device under the control of the arithmetic processing unit 108 when the operation or gear enters reverse.
When there is no obstacle behind the vehicle 101, infrared light is not reflected, the imaging camera 102 does not photograph the obstacle, and the obstacle is not displayed on the television monitor 104. Even if it protrudes from the ground like a stone, if it is lower than the position where the infrared light source 103 is installed, it will not reflect infrared light and will not collide with the vehicle body of the vehicle 101. Shall not exist. Even if the surface on which the vehicle 101 travels is a slope, the diffusion direction of infrared light is the horizontal direction of the vehicle as described above, and thus the height of the object irradiated with infrared light as an obstacle. The standard does not change.
When there is an obstacle, the infrared light from the infrared light source 103 is reflected by the obstacle and is sensed by the imaging camera 102 that images the obstacle within the imaging range. The video signal data of the imaging camera 102 is sent to the frame memory 104a and to the television monitor 104. The video signal data in the frame memory 104a is detected by the arithmetic processing unit 108 as to whether or not there is a part of a predetermined level or higher, and the part is given red, for example, and displayed on the television monitor 104. At this time, the distance calculation unit 105 searches the frame memory 104a for a location where the video signal data of the predetermined level or higher is stored, and from the vehicle 101 based on the position on the screen corresponding to that location, that is, infrared. The distance to the light irradiation object is obtained.
Since the screen of the television monitor 104 can be updated by one screen every 1/30 seconds, the distance measurement is also sequentially measured in synchronization with this screen change. When the obtained distance is within the predetermined range, the color of the portion of the obstacle on the screen of the TV monitor 104 that is irradiated with infrared light is alternately changed between red and white. To speed up.
The alarm sound generation means 107 reads out the synthesized voice based on the distance data from the distance table 105a, for example, “It is an obstacle. It is 2m behind.”, “It is an obstacle. It is behind 1m and a half. Please send a warning sound according to the message “Depending on the distance”.

車両１０１から障害物までの距離データの取得について説明する。
（１．角度テーブル）
図４のように、障害物４０１が、撮像カメラ１０２からの垂線から角度θに位置あるものとすると、車両１０１から障害物４０１までの距離Ｌは、撮像カメラ１０２の地面からの取付位置の高さをＨ、赤外光源１０３の地面からの取付位置の高さをｄとすると、
Ｌ＝（Ｈ−ｄ）ｔａｎθ （１）
である。従って、角度θが分かれば式（１）より距離Ｌが分かる。
そして、撮像カメラ１０２から角度θで延ばした線が赤外光と交わる個所と、その個所を映した図１におけるテレビモニタ１０４の画面上の個所は、対応するから、テレビモニタ１０４の画面上の個所は角度θに対応付けることができる。そこで、予めサンプル点についてその点が表示される画面位置と角度θとを求め、さらにサンプル点以外についてはサンプル点を参考にして例えば補間法により角度θを計算して、それらの点に対応する画面位置のフレームメモリをアドレスとして角度θを角度テーブルに記録しておく（図５（ａ）参照）。前述のように、演算処理装置１０８が検出した所定レベル以上の映像信号データの部分の画面位置をフレームメモリ１０４ａから得て、そのフレームメモリ１０４ａのアドレスから角度テーブルを引いて対応する角度θを得て、その角度θに基づいて上記式（１）の計算により距離を得る。
（２．距離テーブル）
あるいは、角度テーブルに代えてあるいは角度テーブルとともに次のように距離テーブルを作成して、直接、距離データを得ても良い。
（２．１角度テーブルに代わる距離テーブル）
距離テーブル１０５ａの距離データについて説明する。
フレームメモリ１０４ａはテレビモニタ１０４の画素毎に対応したアドレスに映像信号データが記録され、距離テーブル１０５ａは、フレームメモリ１０４ａの各アドレスに対応して距離データが予め記録されている。
図４のように、車両１０１の所定高さに設置された撮像カメラ１０２の撮像範囲について、車両１０１から障害物に照射する赤外光までの距離は、画面位置によって異なり、撮像範囲と赤外光が拡散する高さが一定であるから、画面位置が同じならば被写体である背景（地面、道路等）が異なっても同じである。そこで、予めサンプル点についてその点が表示される画面位置と距離とを求め、さらにサンプル点以外についてはサンプル点を参考にして例えば補間法により距離を計算して、それらの点に対応する画面位置のフレームメモリをアドレスとして距離を記録しておく（図５（ｂ）参照）。前述のように、演算処理装置１０８が検出した所定レベル以上の映像信号データの部分の画面位置をフレームメモリ１０４ａから得て、そのフレームメモリ１０４ａのアドレスから距離テーブルを引いて対応する距離を得る。
（２．２角度テーブルとともに用いる距離テーブル）
距離テーブルには、前記（１）式により予め角度θに応じて計算された距離のデータが格納され、角度θをアドレスとして参照することができるようにする（図５（ｃ）参照）。前述のように、演算処理装置１０８が検出した所定レベル以上の映像信号データの部分の画面位置をフレームメモリ１０４ａから得て、そのフレームメモリ１０４ａのアドレスから角度テーブルを引いて対応する角度θを得て、さらにこの角度θをアドレスとする距離テーブルを引いて対応する距離を得る。 Acquisition of distance data from the vehicle 101 to the obstacle will be described.
(1. Angle table)
As shown in FIG. 4, when the obstacle 401 is located at an angle θ from the perpendicular from the imaging camera 102, the distance L from the vehicle 101 to the obstacle 401 is the height of the mounting position of the imaging camera 102 from the ground. If the height is H and the height of the mounting position of the infrared light source 103 from the ground is d,
L = (H−d) tan θ (1)
It is. Therefore, if the angle θ is known, the distance L can be found from the equation (1).
1 corresponds to the portion where the line extending from the imaging camera 102 at an angle θ intersects with the infrared light and the portion on the screen of the TV monitor 104 in FIG. The location can be associated with the angle θ. Therefore, the screen position at which the point is displayed and the angle θ are obtained for the sample points in advance, and for other than the sample points, the angle θ is calculated by, for example, an interpolation method with reference to the sample points, and corresponding to these points. The angle θ is recorded in the angle table using the frame memory at the screen position as an address (see FIG. 5A). As described above, the screen position of the portion of the video signal data of the predetermined level or higher detected by the arithmetic processing unit 108 is obtained from the frame memory 104a, and the angle θ is subtracted from the address of the frame memory 104a to obtain the corresponding angle θ. Then, the distance is obtained by the calculation of the above formula (1) based on the angle θ.
(2. Distance table)
Alternatively, instead of the angle table or together with the angle table, a distance table may be created as follows to directly obtain the distance data.
(2.1 Distance table instead of angle table)
The distance data of the distance table 105a will be described.
In the frame memory 104a, video signal data is recorded at an address corresponding to each pixel of the television monitor 104, and in the distance table 105a, distance data is recorded in advance corresponding to each address of the frame memory 104a.
As shown in FIG. 4, in the imaging range of the imaging camera 102 installed at a predetermined height of the vehicle 101, the distance from the vehicle 101 to the infrared light that irradiates the obstacle varies depending on the screen position. Since the light diffusion height is constant, if the screen position is the same, the same is true even if the subject background (ground, road, etc.) is different. Therefore, the screen position and distance at which the point is displayed for the sample points are obtained in advance, and for other than the sample points, the distance is calculated by, for example, an interpolation method with reference to the sample points, and the screen positions corresponding to those points. The distance is recorded using the frame memory as an address (see FIG. 5B). As described above, the screen position of the portion of the video signal data of a predetermined level or higher detected by the arithmetic processing unit 108 is obtained from the frame memory 104a, and the corresponding distance is obtained by subtracting the distance table from the address of the frame memory 104a.
(2.2 Distance table used with angle table)
The distance table stores distance data calculated in advance according to the angle θ according to the equation (1) so that the angle θ can be referred to as an address (see FIG. 5C). As described above, the screen position of the portion of the video signal data of the predetermined level or higher detected by the arithmetic processing unit 108 is obtained from the frame memory 104a, and the angle θ is subtracted from the address of the frame memory 104a to obtain the corresponding angle θ. Further, a distance table having this angle θ as an address is subtracted to obtain a corresponding distance.

上述例では、フレームメモリ１０４ａの映像信号データに、所定レベル以上の部分がある場合、その部分について赤色を与えて、テレビモニタ１０４に表示したが、赤色を与えられた障害物相当個所は、赤と青の交互に変化するようにしても良く、さらには、色を与えるほかに予め作成した障害物を表示するマークをデータ格納装置から読み出し障害物が位置する画面部分に貼り付けるようにしても良い。   In the above example, when the video signal data of the frame memory 104a has a portion of a predetermined level or higher, the portion is displayed in red and displayed on the television monitor 104. However, the obstacle-corresponding portion given red is red. In addition to giving a color, a mark for displaying an obstacle created in advance may be read from the data storage device and pasted on the screen portion where the obstacle is located. good.

また、赤外光源１０３をリアバンパに１個設置するものを説明したが、たとえば２個の赤外光を同一の高さで適当な間隔を開けて設置して、拡散範囲を互いに補うようにしても良い。   In addition, although one infrared light source 103 is installed in the rear bumper, for example, two infrared lights are installed at the same height and at an appropriate interval so as to supplement the diffusion range. Also good.

後方監視装置の一実施例の機能ブロック図である。It is a functional block diagram of one Example of a back monitoring apparatus. 本発明に用いる赤外光源の構成を説明する図である。It is a figure explaining the structure of the infrared light source used for this invention. 本発明に用いる赤外光源の拡散を説明する図である。It is a figure explaining the spreading | diffusion of the infrared light source used for this invention. 撮影画面と距離との関係を説明する図である。It is a figure explaining the relationship between an imaging | photography screen and distance. 本発明に用いる距離取得のための角度テーブル、距離テーブルを説明する図である。It is a figure explaining the angle table and distance table for distance acquisition used for this invention.

符号の説明Explanation of symbols

１０１…車両、１０１ａ…リアバンパ、１０２…撮像カメラ、１０２ａ…撮像範囲、１０３…赤外光源、１０４…テレビモニタ、１０５…距離計算部、１０６…スピーカ、１０７…警報音発生手段、１０８…演算処理装置。
DESCRIPTION OF SYMBOLS 101 ... Vehicle, 101a ... Rear bumper, 102 ... Imaging camera, 102a ... Imaging range, 103 ... Infrared light source, 104 ... Television monitor, 105 ... Distance calculation part, 106 ... Speaker, 107 ... Alarm sound generation means, 108 ... Calculation processing apparatus.

Claims (4)

車両後方の所定範囲を赤外光を感知して撮像する撮像カメラと、
車両後方の所定高さに設置して前記撮像カメラの撮像範囲の一部と重なるように赤外光を車両の水平方向に所定の広がりで拡散する赤外光源と、
前記撮像カメラの映像信号により画像を表示するとともに前記撮像カメラが感知した所定以上の赤外光反射映像の画像部分に所定の色を与えて表示するテレビモニタと、
前記所定以上の赤外光反射映像の画像部分の位置に基づいて車両から赤外光照射対象物までの距離を得る距離計算部
とからなることを特徴とする後方監視装置。 An imaging camera that senses infrared light and captures a predetermined range behind the vehicle;
An infrared light source that diffuses infrared light with a predetermined spread in the horizontal direction of the vehicle so as to overlap a part of the imaging range of the imaging camera installed at a predetermined height behind the vehicle;
A television monitor that displays an image according to a video signal of the imaging camera and displays a predetermined color on an image portion of an infrared light reflected video that is detected by the imaging camera, and a predetermined color or more;
A rear monitoring apparatus comprising: a distance calculation unit that obtains a distance from the vehicle to an infrared light irradiation object based on a position of an image portion of the infrared light reflection image that is greater than or equal to the predetermined value. テレビモニタが、距離計算部により得られた車両から赤外光照射対象物までの距離が所定以内の時に、検出された反射光の画像部分に与えられた色を変化させることを特徴とする請求項１に記載の後方監視装置。   The television monitor changes the color given to the image portion of the detected reflected light when the distance from the vehicle to the infrared light irradiation object obtained by the distance calculation unit is within a predetermined range. Item 2. The rear monitoring apparatus according to item 1. 距離計算部により得られた車両から赤外光照射対象物までの距離に応じた警報音を発生する警報音発生手段を備えたことを特徴とする請求項１又は請求項２のいずれかに記載の後方監視装置。   The alarm sound generating means for generating an alarm sound according to the distance from the vehicle to the infrared light irradiation object obtained by the distance calculation unit is provided. Rearward monitoring device. 警報音発生手段からの警報音が、音声メッセージであることを特徴とする請求項３に記載の後方監視装置。
4. The rear monitoring apparatus according to claim 3, wherein the warning sound from the warning sound generating means is a voice message.
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EP2150437A1 (en) * 2007-04-30 2010-02-10 MobilEye Technologies, Ltd. Rear obstruction detection
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CN102233852B (en) * 2010-04-26 2014-03-12 本田技研工业株式会社 Installation part construction of rear view mirror and rear view mirror

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