JP2006224927A - Device for visual recognition around vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To virtually recognize mutual positional relativity and continuity of respective images easily regarding a plurality of the images taken by a plurality of cameras with the usage of a lens having a wide viewing angle. <P>SOLUTION: A predetermined point of a plurality of images 43 and 45 is displayed on a display part 17 so that the positional relationship having the plane coordinates of the ground as the reference is consistent. A coordinate of at least one of the different images 43 and 45 is transformed (deformed) and the image is displayed so that the adjacent parts of the different images 43 and 45 are consistent with each other to a vector B along the advancing direction of a vehicle 11. Compared to the case where the plurality of the images 43 and 45 are put side by side and are displayed as they are, a driver can easily recognize the circumstances around the vehicle. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle periphery visual recognition device that is mounted on a vehicle and displays a captured image of the periphery of the vehicle in a vehicle interior.

  Conventionally, a mirror, a prism, or the like is provided in front of the camera, and images of the surroundings of the vehicle including a visual field range that is a blind spot for the driver are shown in a parking lot or an intersection with poor visibility, as shown in FIGS. Things have been proposed.

  For example, in the example shown in FIG. 12, the visual field range 4 in front of the vehicle 1 is imaged with the camera 3 attached to the front end of the vehicle 1, and the captured video is image-processed, as shown in FIG. The image is displayed on a predetermined display device 5 in the passenger compartment.

  In the example shown in FIG. 14, the visual field range 8 in the front-rear direction on the side of the vehicle 1 is imaged with the camera 7 attached to the side of the vehicle 1, and the captured video is image-processed. As shown at 15, it is displayed on a predetermined display device 9 in the passenger compartment.

  In these conventional examples, when images are displayed on the display devices 5 and 9, the left and right and front and rear directions of the vehicle 1 are matched with the left and right and front and rear directions of the images displayed on the display devices 5 and 9. As a result, an image close to that of an actual vehicle is displayed for a passenger such as a driver.

  13 and 15 show examples of images obtained by imaging the wide visual field ranges 4 and 8 by using a wide viewing angle lens such as a fisheye lens in each of the cameras 3 and 7.

  Here, as an apparatus for imaging the periphery of the vehicle 1, for example, Patent Literature 1 and Patent Literature 2 are disclosed.

JP 2001-294085 A JP 2001-294086 A

  In the example shown in FIGS. 12 to 15, the images captured by the single cameras 3 and 7 are displayed on the display devices 5 and 9. However, in recent years, a plurality of cameras installed in the vehicle are used. Attempts are being made to simultaneously capture peripheral images in different directions and lay out and display these images on a single display device.

  In this way, when images from a plurality of cameras are laid out and displayed on a single display device, the individual images displayed on the screen of the display device are laid out in an easy-to-understand manner as to where the captured images are. There is a need.

  By the way, when trying to widen the visual field range 4 and 8 of the image captured by each camera as much as possible as shown in FIGS. 13 and 15, for example, as described above, a wide viewing angle lens such as a fisheye lens is used. It is effective to use.

  However, if the wide viewing angle lens is used in each of the plurality of cameras to widen the viewing range 4, 8, the images (FIGS. 13 and 15) captured by each camera are laid out and displayed on a single display device. In doing so, it becomes difficult to understand the positional relationship between individual videos and the continuity between images. Specifically, in the layout in which the video shown in FIG. 13 and the video shown in FIG. 15 are juxtaposed as they are, which position in the video shown in FIG. 13 and which position in the video shown in FIG. It is difficult to understand whether are related and continuous.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle periphery visual recognition device that makes it easy to visually recognize the mutual positional relationship and continuity of each video for a plurality of videos captured by a plurality of cameras.

  In order to solve the above-mentioned problem, the invention according to claim 1 is a vehicle periphery visualizing device that is mounted on a vehicle and displays a captured image of the vehicle periphery in the vehicle interior, and a plurality of cameras mounted on the vehicle, A display unit installed in the passenger compartment and capable of simultaneously displaying a plurality of images captured by the camera, and a plurality of images stored in advance in a predetermined storage device and based on plane coordinates of the ground Based on the information on the correspondence between the coordinates of the images, a plurality of the corresponding points on the plane coordinates of the images are matched with each other in at least the traveling direction of the plane coordinates. And an electronic control unit for a camera that sets an arrangement position of the video and performs composite display on the display unit.

  A second aspect of the present invention is the vehicle periphery visual recognition device according to the first aspect, wherein the camera electronic control unit enlarges / reduces at least one of images captured by the plurality of cameras. In addition to performing at least one of image processing among movement, rotation, and deformation, the image is displayed on the display unit, and a plurality of videos from the plurality of cameras are combined and displayed on the display unit.

  A third aspect of the present invention is the vehicle periphery visual recognition device according to the first or second aspect, wherein the camera electronic control unit stores the correspondence relationship information stored in advance in the storage device. Based on the two coordinate axes of the plane coordinates, the arrangement positions of the plurality of videos are set and combined with the display unit so that predetermined points corresponding to the plane coordinates of the plurality of videos match on the two coordinate axes. To display.

  The invention according to claim 4 is the vehicle periphery visual recognition device according to claim 3, wherein the electronic control unit for the camera is based on the correspondence information stored in advance in the storage device. At least one of the video images is transformed so that the traveling directions of the video images coincide with each other at a position where the video images displayed on the display unit are adjacent to each other, and the video image is synthesized with the display unit. To display.

  Invention of Claim 5 is a vehicle periphery visual recognition apparatus in any one of Claim 1 to 4, Comprising: The said electronic control unit for cameras modeled the said vehicle on the said display part. The images are combined so that the image is displayed, and the imaging direction of the camera with respect to the picture display is also displayed.

  Invention of Claim 6 is a vehicle periphery visual recognition apparatus of Claim 5, Comprising: In the direction where the said electronic control unit for cameras is further extended in the imaging direction of the said camera from the position of the picture display of the said vehicle, Each of the images corresponding to the camera is displayed.

  In the vehicle periphery visual recognition device according to the first and second aspects of the present invention, for example, when another vehicle such as a bicycle approaches in a direction crossing the traveling direction of the vehicle at an intersection or the like, the image is displayed as one image. Conveniently, it is possible to visually recognize the position of the traveling direction of the own vehicle with respect to the other vehicle approaching in the other image with respect to the front end of the reflected own vehicle.

  In the vehicle periphery visual recognition device according to the third aspect of the present invention, the arrangement positions of the plurality of images are set so that the corresponding points on the plane coordinates of the plurality of images coincide on the two coordinate axes of the plane coordinates. Thus, since the combined display is performed on the display unit, the positional relationship between the plurality of videos can be easily visually recognized as compared with the case where the plurality of videos are simply displayed side by side.

  In the vehicle periphery visual recognition device according to the fourth aspect of the present invention, coordinate conversion of at least one of the images is performed so that the traveling directions of the plurality of images coincide with each other at a position where the plurality of images are adjacent to each other. Since it is synthesized and displayed on the display unit, for example, when there are moving objects (such as other vehicles and pedestrians) around the vehicle, the moving direction and position move between a plurality of images, or When the image of the entire surroundings changes due to the movement of the vehicle itself, it is possible to display the images in the plurality of images displayed on the display unit so that the flowing directions of the images match. Therefore, it is possible for the driver or the like to easily recognize the surrounding situation as compared with a case where a plurality of videos are simply displayed side by side.

  In the vehicle periphery visual recognition device according to the fifth aspect of the present invention, the display unit synthesizes an image so as to display a picture schematically representing the vehicle, and the relative position in the imaging direction of the camera with respect to the picture display is represented by a picture display color. Since the picture is displayed, the imaging range of each video is clarified, and the driver or the like can easily recognize the surrounding situation.

  In the vehicle periphery visually recognizing device according to the sixth aspect of the present invention, each video is laid out in a direction further extending in the direction of each relative position from the position of the picture display of the vehicle. A person or the like can easily recognize the surrounding situation.

<Configuration>
FIG. 1 is a schematic diagram showing an example of a vehicle equipped with a vehicle periphery visual recognition device according to an embodiment of the present invention, and FIG. 2 is a block diagram showing the vehicle periphery visual recognition device.

  This vehicle periphery visualizing device captures the surroundings of the vehicle 11 including a visual field range that is a blind spot for a driver at a parking lot, an intersection with poor visibility, and the like, as shown in FIGS. 1 and 2. A plurality of cameras 13a to 13c attached to image the outside, a camera electronic control unit 15 that receives video signals from the cameras 13a to 13c and performs predetermined signal processing such as image processing, and camera electronic control The display unit 17 displays the video signal-processed by the unit 15 and the input unit 19 inputs a signal for selecting video from the plurality of cameras 13a to 13c.

  Each of the cameras 13a to 13c has a configuration as shown in FIG. 3, for example, and is installed at the front center or side of the vehicle 11 as shown in FIG. A system 21, an image sensor 23, and a case 25 for housing them are provided. In the embodiment shown in FIG. 1, the cameras 13a to 13c are installed at the center or side of the front end of the vehicle 11, but, for example, a parking lot installed at the rear end of the vehicle 11, for example. Of course, it may be possible to take an image of the rear of the vehicle 11 in a place where it is difficult to look around and to make it easier to start and park in the back.

  The lens system 21 is housed in the case 25 in a state of being housed in the lens case 27 except for the front end portion thereof, and a plurality of lenses 35a, 35b, 37a, 37b such as a cylindrical lens and a rotationally symmetric condenser lens. , 39a, 39b, and 39c are sequentially arranged in the light beam direction so that images of a wide visual field range required by each of the cameras 13a to 13c can be taken.

  For example, in the first camera 13a (FIG. 1) at the center of the front end of the vehicle 11 that requires a wider viewing range in the horizontal direction than in the vertical direction, the horizontal viewing angle by the lens system 21 is, for example, 180 ° or more and It is set to 270 ° or less (for example, about 190 °), and the vertical viewing angle is set to about 71 °, for example.

  In the second and third cameras 13b and 13c (FIG. 1) on the side of the vehicle 11 that requires a wider viewing range in the vertical direction than in the horizontal direction, the horizontal viewing angle by the lens system 21 is, for example, 71. The vertical viewing angle is set to, for example, 180 ° or more and 270 ° or less (eg, about 190 °).

  As shown in FIG. 3, the image pickup device 23 is configured by, for example, a CCD (Charge Coupled Device), and is mounted on the circuit board 29 and installed behind the lens system 21 in the case 25. Yes.

  Note that reference numeral 31 in FIG. 3 denotes a cable for supplying power to each of the cameras 13a to 13c, supplying control signals, taking out image signals, and the like, and reference numeral 32 denotes a waterproof connector.

  As shown in FIG. 2, the camera electronic control unit 15 is connected to the cameras 13 a to 13 c by, for example, wire harnesses 19 a to 19 c as video transmission paths, and includes a switching control unit 31 and a video processing unit 33. From the cameras 13a to 13c based on various input signals input from the input unit 19 (for example, signals corresponding to operation inputs by the driver or the like and signals indicating various situations such as the vehicle speed and traveling direction of the vehicle 11). Control of display timing for displaying the transmitted video on the display unit 17, selection of a display range to be displayed on the display unit 17 within the visual field range of the cameras 13a to 13c, and an image to be performed on the video displayed on the display unit 17 The contents of processing are selected.

  The switching control unit 31 selects an image transmitted from one or a plurality of the cameras 13a to 13c. Specifically, for example, an operation signal reflecting an operation state of a predetermined operation means (not shown) such as a push button or a touch panel by an operator, a vehicle speed signal obtained from a vehicle speed sensor (not shown), and a shift position. Shift position signal, ignition signal for detecting the state of the ignition switch, obstacle detection signal provided from an obstacle detection sensor (not shown) for detecting the presence or absence of obstacles around the vehicle 11, direction indicator A direction indicator signal indicating an operation state (not shown) and a steering rotation angle signal provided from a steering sensor (not shown) for detecting a rotation angle of a steering (not shown) are input from the input unit 19. Based on various signals, transmitted from one or a plurality of cameras 13a to 13c Select the image that has been, so that the pass to the video processor 33.

  The video processing unit 33 performs image processing of the content determined by the switching control unit 31 on the video of the cameras 13 a to 13 c and causes the display unit 17 to display the video. As the image processing performed by the video processing unit 33, for example, a predetermined range of video from the cameras 13a to 13c selected by the switching control unit 31 is cut out, and the video in the range is enlarged, reduced, or moved. , Rotation, deformation (coordinate transformation), layout arrangement, and image composition are displayed on the display unit 17, and a predetermined superimposed image is synthesized and superimposed on the image-processed video and displayed on the display unit 17. Processing is performed.

  In particular, in the video processing unit 33, when video from the plurality of cameras 13a to 13c is selected by the input unit 19, the positional relationship and the continuous points of the plurality of videos are aligned, and The left and right directions are made to correspond at the continuous points between the videos.

  Here, the video processing unit 33 incorporates a rewritable nonvolatile storage device (not shown) such as a flash ROM. And in this non-volatile memory | storage device, when the ground is assumed to be a plane, the plane coordinate (XY plane coordinate) 51 (FIG. 4) of the said ground, and each lens system 21 of each camera 13a-13c The information (FIGS. 5 and 6) indicating the correspondence relationship with the plane coordinates in the video reflecting the image distortion caused by the above is stored in advance. For example, the curve coordinates 53 indicated by a solid line in FIG. 5 is the first camera 13a installed at the center of the front end of the vehicle 11 in the ground plane coordinates (XY plane coordinates) 51 shown in FIG. Corresponds to the portion of the visual field range 54 to be imaged. In addition, the curve coordinates 55 indicated by a solid line in FIG. 6 are the coordinates of the second camera 13b installed on the left side of the vehicle 11 in the ground plane coordinates (XY plane coordinates) 51 shown in FIG. This corresponds to the portion of the visual field range 56 to be imaged. (Hereinafter, the curve coordinates 53 shown in FIG. 5 and the curve coordinates 55 shown in FIG. 6 are both referred to as “ground coordinates” in the respective images.) In FIG. A vector B at the indicated point P is a vector that represents the traveling direction of the vehicle 11, and corresponds to the vector B that represents the traveling direction of the vehicle 11 at the point P illustrated in FIGS. 5 and 6, respectively. Yes. 4 to 6 show only the first and second cameras 13a and 13b, but the coordinates of the image captured by the third camera 13c and the plane coordinates (XY) shown in FIG. The correspondence relationship with the (planar coordinates) 51 is also stored in advance in the nonvolatile storage device.

  Then, when a plurality of videos are given from the switching control unit 31, the video processing unit 33, for each pixel in each video, the ground plane coordinates (XY plane coordinates) 51 shown in FIG. And, based on the result, coordinate conversion is performed on at least one of the videos so that the positional relationship and the vertical and horizontal directions of each video correspond to each other at continuous points between the videos, and the images are synthesized. It has become.

  FIG. 7 is a diagram illustrating an example of the display screen 41 in the display unit 17 as a result of image processing performed by the video processing unit 33. In the example shown in FIG. 7, a relatively lower portion 43 a (FIG. 5) of the image provided from the first camera 13 a (FIG. 1) installed at the center of the front end of the vehicle 11, that is, A video 43 having a field of view that is long in the left-right direction around the position immediately below the front side of the vehicle 11 is trimmed (cut out) and laid out in a region 43a in the upper half of the display screen 41 of the display unit 17. it's shown.

  At the same time, the upper half of the image given from the second camera 13b (FIG. 1) installed on the left side of the vehicle 11, that is, the visual field in front of the vehicle 11 from the substantially center position in the front-rear direction. The video 45 in the range 45a (FIG. 6) is trimmed (cut out), laid out and displayed in the leftmost region 45a of the lower half of the display screen 41 of the display unit 17.

  FIG. 7 shows a state where the third camera 13c is not selected. However, when the third camera 13c is selected, the right end of the lower half portion of the display screen 41 of the display unit 17 is displayed. A layout is displayed in the area 45b.

  In this case, in the example shown in FIG. 7, the video 43 given from the first camera 13a is not deformed (coordinate conversion), and the video 45 given from the second camera 13b is converted into the first camera. The coordinates are converted so as to correspond to the ground coordinates 53 (FIG. 5) of the video 43 given from 13a.

  Further, as shown in FIG. 7, the video processing unit 33 displays a picture display 63 of the vehicle 11 schematically in plan view on the surplus area 61 in the center of the display screen 41 of the display unit 17. The relative positions 65 and 66 of the images 43 and 45 with respect to the display 63 are displayed in a picture that is easy to visually recognize such as yellow. Then, the images 43 and 45 are laid out in a direction extending further from the position of the picture display 63 of the vehicle 11 in the direction of the relative positions 65 and 66.

  The display unit 17 is configured by a liquid crystal display device or the like and is installed in the vehicle interior, and displays the images of the cameras 13 a to 13 c under the control of the camera electronic control unit 15.

  The input unit 19 includes predetermined operation means (not shown) such as a push button or a touch panel by an operator (not shown), a vehicle speed sensor (not shown), a shift lever position detector (not shown), an ignition switch (not shown), and obstacle detection. It is connected to a sensor (not shown), a direction indicator (not shown), a steering sensor (not shown), etc., receives various signals from these, and converts them into input signals to the camera electronic control unit 15. is there.

<Operation>
The operation of the vehicle periphery visual recognition device having the above configuration will be described.

  First, each camera 13a-13c images the circumference | surroundings of the vehicle 11 like FIG. 1, and transmits the image | photographed image | video to the switching control part 31 of the electronic control unit 15 for cameras through the wire harnesses 19a-19c.

  In FIG. 2, for example, a signal corresponding to an operation input by a driver or the like and an input signal indicating various situations such as the vehicle speed and traveling direction of the vehicle 11 are input to the camera electronic control unit 15 through the input unit 19. The input signal is given from the video processing unit 33 to the switching control unit 31. The switching control unit 31 controls the display timing for displaying the video transmitted from each of the cameras 13a to 13c on the display unit 17 based on the given input signal, and the display unit within the visual field range of the cameras 13a to 13c. The selection of the display range to be displayed on the screen 17 and the selection of the content of the image processing performed on the video displayed on the display unit 17 are performed.

  Then, the video selected by the switching control unit 31 is output to the video processing unit 33.

  Here, when only a single video is selected by the switching control unit 31, the video processing unit 33 displays the video as it is on the display unit 17 as in the conventional case shown in FIGS. indicate. However, preferably, the relative position 65 of each of the images 43 and 45 with respect to the picture display 63 of the vehicle 11 as shown in FIG. 7 indicates which direction the image is displayed when viewed from the vehicle 11. , 66 in the surplus area 61 of the display unit 17.

  On the other hand, when the video from the plurality of cameras 13 a to 13 c is selected by the switching control unit 31, the video processing unit 33 aligns the positional relationship and the continuous points between the videos, and vertically, horizontally, and horizontally of each video. Are made to correspond to each other at continuous points between the videos. For example, when the respective images from the first camera 13a and the second camera 13b are selected, the image 43 given from the first camera 13a is transformed (coordinate conversion) as shown in FIG. First, the image 45 given from the second camera 13b is coordinate-transformed so as to correspond to the ground coordinates 53 (FIG. 5) of the image 43 given from the first camera 13a, and both these images are in the direction of the image. In addition, the images are combined and displayed on the predetermined screen areas 43a and 45a so as to relatively correspond to each other.

  Further, as shown in FIG. 7, the video processing unit 33 displays a picture display 63 of the vehicle 11 schematically in plan view on the surplus area 61 in the center of the display screen 41 of the display unit 17. The relative positions 65 and 66 of the images 43 and 45 with respect to the display 63 are displayed in a picture that is easy to visually recognize such as yellow. At this time, the images 43 and 45 are laid out in a direction extending further in the direction of the relative positions 65 and 66 from the position of the picture display 63 of the vehicle 11.

  In this way, coordinate conversion (deformation) of at least one of the images (only the image 45 given from the second camera 13b in the example of FIG. 7) is performed so that the positional relationship between the plurality of images 43 and 45 matches. Thus, for example, as shown in FIG. 8, a passenger such as a driver easily recognizes the positional relationship between the plurality of images 43 and 45 compared to a case where the plurality of images 43 and 45 are simply displayed side by side. It becomes possible.

  In addition, for example, when a moving body (another vehicle, pedestrian, etc.) is present in the surroundings, the moving direction and position of the moving object moves between a plurality of images 43 and 45, or the vehicle 11 itself When the image of the entire surroundings changes due to movement, at least one of them matches not only the positional relationship of the plurality of images 43 and 45 but also the corresponding vector B (FIGS. 4 to 6). 7 (only the video 45 given from the second camera 13b in the example of FIG. 7) is displayed after coordinate conversion (deformation), and thus in the plurality of videos 43 and 45 displayed on the display unit 17, It is possible to display so that the direction in which the flows of the two matches. Therefore, for example, as shown in FIG. 8, it is possible for the driver or the like to easily recognize the surrounding situation as compared with the case where the plurality of images 43 and 45 are simply displayed side by side.

  Further, as shown in FIG. 7, an image 43 from the first camera (front wide viewing angle camera) 13 a installed at the center of the front end of the vehicle 11 is displayed in a region 43 a in the substantially upper half of the display screen 41 of the display unit 17. The images 45 and the like from the second and third cameras (side wide viewing angle cameras) 13b and 13c installed on both sides of the vehicle 11 are laid out, and regions 45a at the left and right lower ends of the display screen 41 of the display unit 17 are arranged. The layout of the images 45 and 45 displayed on the display screen 41 of the display unit 17 corresponds to the layout around the vehicle corresponding to each of the images 43 and 45. However, it is possible to easily recognize the surrounding situation.

  In particular, as shown in FIG. 7, a picture display 63 of the vehicle 11 schematically showing the vehicle 11 in a plan view is displayed on the surplus area 61 in the center of the display screen 41 of the display unit 17, and each video 43 corresponding to the picture display 63 is displayed. , 45 are displayed in a color that is easy to see, such as yellow, and the images 43, 45 extend in a direction further extending from the position of the picture display 63 of the vehicle 11 in the direction of the relative positions 65, 66. Is laid out, the imaging range of each of the images 43 and 45 becomes clear, and the driver and the like can easily recognize the surrounding situation.

  In the above embodiment, not only the positional relationship between the plurality of images 43 and 45 but also the direction of the vector B of each image 43 and 45 are matched. For example, as shown in FIGS. Only the positional relationship between the plurality of images 43 and 45 may be matched. 9 and 11 show the case where the third camera 13c is omitted from the plurality of cameras 13a to 13c shown in FIG. 1 and only the first camera 13a and the second camera 13b are installed. A display example on the display unit 17 is shown. 10 is different from the display example shown in FIG. 7 in the shapes of the display areas 43a, 45a, and 45b of the videos 43 and 45.

  In the example of FIGS. 9 and 11, both the images are displayed so that the front end of the vehicle 11 displayed in the image 45 on the side of the vehicle 11 is relatively matched with the front end of the vehicle 11 in the front image 43. 43 and 45 are displayed in a layout. That is, both the images 43 and 45 are matched only in the Y direction among the ground plane coordinates (XY plane coordinates) 51 shown in FIG. As a result, there is a discrepancy in the X direction (left-right direction as viewed from the vehicle 11) in the ground plane coordinates (XY plane coordinates) 51, but the traveling direction of the vehicle 11 (the ground plane coordinates (X Since the images 43 and 45 are associated with each other with respect to the Y direction of the -Y plane coordinate 51), for example, the traveling direction of the vehicle 11 at the intersection or the like (the plane coordinate (X of the ground shown in FIG. 4) -Y plane coordinates) When another vehicle (for example, a bicycle) approaches in a direction crossing the Y direction of 51), the front end of the host vehicle 11 reflected in the side image 45 is Viewing the positioning of the other vehicle approaching in the forward image 43 in the traveling direction of the host vehicle 11 (the Y direction of the plane coordinate (XY plane coordinate) 51 shown in FIG. 4). Can be convenient.

  9 and 10, the point where the positional relationship between the plurality of images 43 and 45 is matched, and the picture display 63 of the vehicle 11 schematically showing the vehicle 11 in plan view are displayed, and the picture display 63 is displayed. The relative positions 65 and 66 of the images 43 and 45 are displayed, and the images 43 and 45 are laid out in a direction extending further from the position of the picture display 63 of the vehicle 11 in the direction of the relative positions 65 and 66. This is the same as the above embodiment.

  In the example of FIG. 11, a figure 63 p corresponding to the front bumper of the vehicle 11 is displayed on the display screen 41, and the image 43 in front of the vehicle corresponds to the actual positional relationship with respect to the figure 63 p corresponding to the bumper. It is arranged to let you.

  Even in this case, for example, as shown in FIG. 8, it is possible for the driver or the like to easily recognize the surrounding situation as compared with the case where the plurality of videos 43 and 45 are simply displayed side by side.

  In the above embodiment, the video from the plurality of cameras 13a to 13c is selected by the switching control unit 31 based on the input signal from the input unit 19, but the video from the plurality of cameras 13a to 13c is selected. Is always displayed on the display unit 17, and even in this case, the effects of the above-described embodiment can be sufficiently obtained.

  Further, in the example shown in FIG. 7, the image 43 given from the first camera 13a is not transformed (coordinate conversion), and the image 45 given from the second camera 13b is sent from the first camera 13a. Although the coordinate conversion is performed so as to correspond to the ground coordinates 53 (FIG. 5) of the given image 43, all the images 43 and 45 may be coordinate-converted. Also in this case, the coordinate conversion is performed so that the vector B in the traveling direction of the vehicle 11 coincides in an adjacent portion between the different images 43 and 45 as in the above embodiment.

It is a mimetic diagram showing a vehicle carrying a vehicle periphery visual recognition device concerning one embodiment of the present invention. It is a block diagram which shows the vehicle periphery visual recognition apparatus which concerns on one embodiment of this invention. It is sectional drawing which shows each camera of the vehicle periphery visual recognition apparatus which concerns on one embodiment of this invention. It is a figure which shows the plane coordinate of the ground centering on a vehicle. It is a figure which shows the coordinate of the ground corresponding to FIG. 4 at the time of imaging the front of a vehicle in the vehicle periphery visual recognition apparatus which concerns on one embodiment of this invention. It is a figure which shows the coordinate of the ground corresponding to FIG. 4 at the time of imaging the side of a vehicle in the vehicle periphery visual recognition apparatus which concerns on one embodiment of this invention. It is a figure which shows the example of a display in the vehicle periphery visual recognition apparatus which concerns on one embodiment of this invention. It is a figure which shows the example of a display when a some image | video is juxtaposed as it is. It is a figure which shows the example of a display in the vehicle periphery visual recognition apparatus which concerns on a modification. It is a figure which shows the example of a display in the vehicle periphery visual recognition apparatus which concerns on a modification. It is a figure which shows the example of a display in the vehicle periphery visual recognition apparatus which concerns on a modification. It is a side view of the said vehicle which shows the state in which the camera was installed in the front-end part of the vehicle. It is a figure which shows an example of the image | video imaged with the camera of FIG. It is a side view of the said vehicle which shows the state in which the camera was installed in the side part of the vehicle. It is a figure which shows an example of the image | video imaged with the camera of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Vehicle 13a-13c Camera 15 Electronic control unit for cameras 17 Display part 19 Input part 19a-19c Wire harness 21 Lens system 23 Image pick-up element 31 Switching control part 33 Image | video process part 35a, 35b, 37a, 37b, 39a, 39b, 39c Lens 51 Plane coordinates of the ground 63 Picture display 65, 66 Relative position B Vector

Claims (6)

A vehicle periphery visual device that is mounted on a vehicle and displays an image of the periphery of the captured vehicle in a vehicle interior,
A plurality of cameras mounted on the vehicle;
A display unit installed in a passenger compartment and capable of simultaneously displaying a plurality of images captured by the camera;
Predetermined points that are stored in advance in a predetermined storage device and that correspond on the plane coordinates of the plurality of images based on the information on the correspondence between the coordinates of the plurality of images based on the plane coordinates of the ground And a camera electronic control unit that sets and arranges a plurality of video positions so that the plane coordinates coincide with each other in at least the traveling direction of the vehicle. The vehicle periphery visual recognition device according to claim 1,
The electronic control unit for camera performs at least one image processing of enlargement, reduction, movement, rotation, and deformation on at least one of the images captured by the plurality of cameras and displays the processed image on the display unit And a vehicle periphery visual recognition device characterized in that a plurality of images from the plurality of cameras are combined and displayed on the display unit. It is a vehicle periphery visual recognition device according to claim 1 or 2,
The electronic control unit for the camera, based on the correspondence information stored in advance in the storage device, sets a predetermined point corresponding on the plane coordinates of the plurality of images to the two coordinate axes of the plane coordinates. An apparatus for visually recognizing a vehicle periphery, wherein a plurality of arrangement positions of the video are set and displayed on the display unit so as to match with each other. The vehicle periphery visual recognition device according to claim 3,
The camera electronic control unit is configured to store the plurality of videos at a position where the plurality of videos displayed on the display unit are adjacent to each other based on the correspondence information stored in advance in the storage device. A vehicle periphery visual recognition device characterized by performing coordinate conversion of at least one of the videos so that the respective traveling directions coincide with each other, and performing composite display on the display unit. It is a vehicle periphery visual recognition apparatus in any one of Claims 1-4,
The camera electronic control unit synthesizes an image so as to display a picture schematically representing the vehicle on the display unit, and also displays the imaging direction of the camera with respect to the picture display. apparatus. The vehicle periphery visual recognition device according to claim 5,
The vehicle surroundings visual recognition device, wherein the electronic control unit for the camera displays each of the images corresponding to the camera in a direction further extending in the imaging direction of the camera from the position of the picture display of the vehicle.

Images