JP2007221200A - Vehicle periphery monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring system with the wireless connection configuration simplified. <P>SOLUTION: The vehicle periphery monitoring system 1 includes a camera 5 installed on a present vehicle 3 and for imaging the present vehicle periphery; an image processing apparatus 7 for processing an image imaged by the camera 5; and a display apparatus 9 for displaying the imaged image processed by the image processing apparatus 7. The image processing apparatus 7 includes a discrimination section 7a for discriminating the driving state of the present vehicle 3, on the basis of the imaged image of the camera 5; and a control section 7b for controlling the display of the display section 9, on the basis of a result of the discrimination by the discrimination section 7a. The wiring connection configuration between the system 1 and an external part is simplified by discriminating the drive state of the present vehicle 2, without using an on-vehicle signal of the present vehicle 3 (external part), in this way. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device that captures an image of the periphery of the host vehicle with a camera installed in the host vehicle and displays the captured image on a display unit installed in the host vehicle.

  As shown in FIG. 14, the conventional vehicle periphery monitoring device 100 includes an in-vehicle camera 105 that images the periphery of the vehicle, an image processing device 107 that processes a captured image of the camera 105 and controls display of a display device 109 described below, A display device 109 that displays a captured image processed by the image processing device 107. The image processing device 107 is based on a vehicle signal (for example, a vehicle speed signal, a shift signal, and a steering angle signal) of the host vehicle. The running state is determined, and the display of the display device 109 is controlled based on the determination result.

  In the conventional vehicle periphery monitoring device 100, in addition to the image signal from the camera 105, it is necessary to input a vehicle signal to the image processing device 107, so that the configuration of the vehicle periphery monitoring device 100 (for example, between the device 100 and the outside) There is a drawback that the wiring connection configuration is complicated.

  Therefore, an object of the present invention is to provide a vehicle periphery monitoring device with a simplified wiring connection configuration.

  In order to solve the above-mentioned problems, the invention according to claim 1 includes a camera that is installed in the host vehicle and captures the periphery of the host vehicle, an image processing unit that processes a captured image of the camera, and the image processing unit. Display means for displaying the processed captured image, wherein the image processing means is a determination means for determining a traveling state of the host vehicle based on the captured image of the camera, and the display based on a determination result of the determination means. Control means for controlling display of the means.

  According to a second aspect of the present invention, the determination means determines the traveling state of the host vehicle based on the movement of the ground in the captured image.

  According to a third aspect of the present invention, the control means enlarges a captured image of the camera and displays it on the display means when the determination means determines that the vehicle is moving backward or is stopped.

  According to a fourth aspect of the present invention, in the case where the camera images the rear of the host vehicle, the control unit determines the traveling lane portion of the host vehicle in the captured image of the camera when the determination unit determines that the vehicle is moving forward. Among these, a mask image is superimposed on at least a portion away from the host vehicle by a predetermined distance and the captured image is displayed on the display means.

  According to a fifth aspect of the present invention, the determination unit detects the vehicle speed of the host vehicle based on the movement of the ground in the image captured by the camera, and the control unit detects that the vehicle speed detected by the determination unit is a predetermined speed. When the vehicle speed exceeds, the captured image of the camera is displayed on the display means, and when the vehicle speed detected by the determination means does not exceed a predetermined speed, the captured image of the camera is not displayed on the display means. .

  According to a sixth aspect of the present invention, a detection unit that detects whether an obstacle exists in the captured image based on a captured image of the camera, and a warning to that effect when the detection unit detects an obstacle. And a warning means.

  According to a seventh aspect of the invention, the image processing means is integrated with the camera.

According to an eighth aspect of the present invention, a plurality of the cameras are installed in the host vehicle, and the control means should display on the display means among the captured images of the plurality of cameras according to the determination result of the determination means. A captured image is selected.

  According to the first aspect of the present invention, since the traveling state of the host vehicle is determined based on the captured image of the camera, and the display of the display unit is controlled based on the determination result, that is, the vehicle signal is not used. It is possible to simplify the wiring connection configuration between and the outside.

  According to the second aspect of the present invention, since the traveling state of the host vehicle is determined based on the movement of the ground in the captured image, the traveling state of the host vehicle can be determined without depending on the background reflected in the captured image.

  According to the third aspect of the present invention, when it is determined that the host vehicle is moving backward or stopped, the captured image of the camera is enlarged and displayed on the display means. When such a captured image is to be enlarged and displayed, the captured image can be appropriately enlarged and displayed.

  According to the fourth aspect of the present invention, the captured image is obtained by superimposing a mask image on at least a portion of the traveling lane portion of the host vehicle in the captured image of the camera that is a predetermined distance away from the host vehicle. (Hereinafter referred to as a forward image) is displayed on the display means, so that the mask image allows the user to visually grasp the positional relationship between the host vehicle, the approaching vehicle in the rearward direction of the host vehicle, and the approaching vehicle running in the left and right lanes. It becomes easy. In addition, since the forward image is displayed when it is determined that the host vehicle is moving forward, it is possible to prevent the forward image from being displayed when unnecessary other than during forward movement.

  According to the fifth aspect of the present invention, since the captured image of the camera is displayed on the display means only when the vehicle speed exceeds the predetermined speed, there is a need for backward confirmation using the display means as in the case where the vehicle speed exceeds the predetermined speed. The captured image of the camera can be displayed on the display means only when the height is high.

  According to the invention described in claim 6, since it is detected whether an obstacle exists in the captured image based on the captured image of the camera, that is, the obstacle detection is performed without using the vehicle signal. Obstacles can be detected by simplifying the wiring connection configuration. In addition, when an obstacle is detected, a warning sound is generated and / or a warning mark is superimposed on the captured image displayed on the display means to warn the user. Can be warned.

  According to the seventh aspect of the present invention, since the image processing means is integrated with the camera, it is not necessary to secure an arrangement place of the image processing means in the own vehicle, and the camera and the display means are connected by wiring. Since the vehicle periphery monitoring device can be assembled only by this, it is possible to simplify the wiring connection configuration between the component devices constituting the device.

  According to the eighth aspect of the present invention, the captured image to be displayed on the display unit is selected from the captured images of the plurality of cameras according to the determination result of the determination unit (that is, the running state of the host vehicle). Even when a plurality of cameras are installed, an image captured by an appropriate camera can be displayed according to the traveling state of the host vehicle.

<Embodiment>
As shown in FIGS. 1 and 2, the vehicle periphery monitoring apparatus 1 according to this embodiment is a camera that is installed in the host vehicle 3 and images the periphery of the host vehicle (here, a wide viewing angle (for example, a horizontal field angle of about 170 degrees). Camera) 5, an image processing device (image processing means) 7 that performs image processing on a captured image of the camera 5, and a display device (display means) that is installed in the host vehicle 3 and that is processed by the image processing device 7. 9).

  For example, as shown in FIG. 2, the camera 5 is installed at the rear portion of the host vehicle 3 and images the rear of the host vehicle. 2 is an example of an imaging range of the camera 5.

  Here, the camera 5 is installed at the rear part of the host vehicle 3 and images the rear of the host vehicle. However, the present invention is not limited to this. For example, the camera 5 is installed at the front part of the host vehicle 3 so that the front of the host vehicle 3 can be seen. You may make it image.

  The image processing device 7 includes a determination unit 7 a that determines the traveling state of the host vehicle 3 based on the captured image of the camera 5, a control unit 7 b that controls display of the display device 9 based on the determination result of the determination unit 7 a, and the camera 5. A detection unit 7c that detects whether an obstacle exists in the captured image based on the captured image of the camera, and a warning unit 7d that warns the driver when the detection unit 7c detects an obstacle. .

  The determination unit 7a determines, for example, whether the host vehicle 3 is stopped, moving forward, or moving backward, and also determines the vehicle speed of the host vehicle 3 based on the movement of the ground reflected in the captured image.

  More specifically, as a method for determining whether the vehicle is stopped, moving forward, or moving backward, as shown in FIGS. 3 and 4, an identification object s (for example, the ground surface) on a predetermined position on the ground g shown in the captured image G is used. If the identification object s moves upward on the captured image G (FIG. 3), focusing on the object on g or the uneven pattern on the surface of the ground g), it is determined that the object is moving forward, while the identification object s Is moving downward on the captured image G (FIG. 4), it is determined that the vehicle is moving backward, and on the other hand, when the identification object s does not move on the captured image G or when it is unknown whether the vehicle is moving forward or backward, the vehicle is stopped. Is determined. 3 and 4 is a part of the host vehicle 3. As a method for determining the vehicle speed, the moving speed of the identified object s on the image G within a predetermined time is measured to determine the moving speed of the identified object s, and the vehicle speed of the host vehicle 3 is determined based on the moving speed. Determine.

  The control unit 7b performs on / off control of the display of the display device 9 according to the determination result of the determination unit 7a, and processes the captured image of the camera 5 into, for example, an image for stopping, moving backward, or moving forward, for example. To display.

  More specifically, when the determination unit 7a determines that the determination unit 7a is moving backward or stopping, the control unit 7b controls to turn on the display of the display device 9, and the captured image of the camera 5 as illustrated in FIGS. G is enlarged (i.e., a normal viewing angle (i.e., a viewing angle similar to that of a general camera having a wide viewing angle of 170 degrees), for example, a horizontal viewing angle of 120 degrees). (About 130 degrees) G1 is cut out and enlarged to the display size), and the enlarged image G2 is displayed on the display device 9 as a reverse image or a stop image.

  In this way, by displaying the captured image G with a wide viewing angle enlarged to the image G2 with the normal viewing angle, it is possible to reduce a sense of incongruity with respect to the driver's visibility (portion relating to the size of the scenery in the image).

  In addition, when the installation position of the camera 5 is low, the captured image may be further converted into a viewpoint from a high place (for example, a viewpoint looking down from the high place) and displayed.

  In addition, when the control unit 7b determines that the determination unit 7a is moving forward and the vehicle speed of the host vehicle 3 at that time exceeds a predetermined speed (for example, medium to high speed: for example, 60 km / h), the control unit 7b While the display is on-controlled, as shown in FIG. 7 and FIG. 8, a portion from the own vehicle traveling lane portion in the captured image G (FIG. 7) of the camera 5 to a place away from the own vehicle 3 by a predetermined distance. The mask images m1 and m2 (FIG. 8) are superimposed on the sky corresponding to the portion, and the captured image G (hereinafter referred to as G3) on which the mask images m1 and m2 are superimposed is advanced with a wide viewing angle. It is displayed on the display device 9 as an image for use. The mask image m2 may not be separately provided.

  By superimposing the mask images m1 and m2 in this way, it becomes easy to grasp the sense of distance between the host vehicle 3 and the following vehicles k1 and k2, and the left and right lanes of the host vehicle 3 can be easily recognized. That is, it becomes easy to sensuously understand whether there is a following vehicle in the left and right lanes and how close the following vehicle k2 running in the left and right lanes is to the host vehicle 3.

  On the other hand, if the control unit 7b determines that the vehicle speed of the host vehicle 3 does not exceed the predetermined speed (for example, low speed) even if the determination unit 7a determines that the vehicle is moving forward, the display on the display device 9 is displayed. Control off.

  That is, here, since the captured image G3 is displayed as a rear confirmation when the lane of the host vehicle 3 that is traveling exceeding a predetermined speed (medium / high speed) is changed, the display device 9 is used as in the case where the predetermined speed is exceeded. The captured image is displayed on the display device 9 only when there is a high need for backward confirmation. It should be noted that the captured image G3 may always be displayed for backward confirmation during forward travel regardless of the vehicle speed.

  The detection unit 7c performs an obstacle detection process (for example, a motion detection process) on the captured image of the camera 5 to detect, for example, a moving object (for example, an object that moves relative to the host vehicle 3) as an obstacle. Obstacles are detected.

  It should be noted that the captured images at two different times near the current time of the camera 3 and the movement amount of the host vehicle between these two time points (this movement amount can be obtained from the movement amount of the identification object s measured by the determination unit 7a. ), An object existing within a predetermined distance from the host vehicle 3 may be detected as an obstacle using a well-known distance measuring technique for measuring the distance between each object reflected in the captured image and the host vehicle. . In this case, an object that is stationary relative to the host vehicle 3 can also be detected as an obstacle.

  When the detecting unit 7c detects an obstacle, the warning unit 7d issues a warning sound and / or warns the warning image by superimposing a warning mark on the captured image displayed on the display device 9.

  More specifically, when the warning mark is displayed in a superimposed manner, when the obstacle is reflected on the captured image displayed on the display device 9, for example, the presence of the obstacle is displayed at the location where the obstacle is reflected. A warning mark to be emphasized may be superimposed. Further, when the image portion G1 of the captured image G is cut out and enlarged as shown in FIG. 9 and the enlarged image G2 is displayed as shown in FIG. 10, the portion where the captured image G is not cut out (for example, the left end of the captured image). When the obstacle P appears in G4 and the obstacle P does not appear in the enlarged image G2, a predetermined portion of the enlarged image G2 (for example, the left end when the obstacle P is reflected at the left end of the captured image G) In addition, a mark (for example, an arrow mark facing the left side) m3 indicating from which direction the obstacle P is approaching may be superimposed as a warning mark.

  Next, the operation of the vehicle periphery monitoring device 1 will be described with reference to FIG. It is assumed that the camera 5 is always operating.

  In step S1, the determination unit 7a determines the traveling state of the host vehicle 3 based on the captured image of the camera 5 as described above. If it is determined in step S2 that the vehicle is moving backward, the process proceeds to step S3, where the display on the display device 9 is turned on by the control unit 7b and the captured image G of the camera 5 is displayed as described above. In this manner, the backward image (enlarged image) G2 is processed and displayed on the display device 9. In this case (when it is determined that the vehicle is moving backward), obstacle detection is not performed by the detection unit 7c. Then, the process returns to step S1.

  On the other hand, if it is determined in step S2 that the vehicle is moving forward, the process proceeds to step S4, and the determination unit 7a determines the vehicle speed of the host vehicle 3 based on the captured image of the camera 5 as described above. In step S5, if the vehicle speed of the host vehicle 3 does not exceed a predetermined speed (for example, 60 km / h) as a result of the determination, the process proceeds to step S6, and the display on the display device 9 is controlled to be off by the control unit 7b. The captured image of the camera 5 is not displayed on the display device 9. Then, the process returns to step S1.

  On the other hand, if it is determined in step S5 that the vehicle speed of the host vehicle 3 exceeds a predetermined speed (for example, 60 km / h), the process proceeds to step S7, and the display on the display device 9 is turned on by the control unit 7b. The captured image G of the camera 5 is processed into the forward image G3 (that is, the captured image G with the mask images m1 and m2 superimposed thereon) and displayed on the display device 9 as described above.

  In step S8, the detection unit 7c detects whether there is an obstacle in the captured image G based on the captured image G of the camera 5 as described above. If no obstacle is detected as a result of the detection in step S9, the process returns to step S1. On the other hand, if an obstacle is detected, the process proceeds to step S10. A warning sound is generated and / or a warning mark is superimposed on the captured image G3 displayed on the display device 9 to give a warning. Then, the process returns to step S1.

  The captured image G3 displayed on the display device 9 in step S7 (ie, moving forward) approaches the rear lane when changing the lane of the host vehicle 3 (ie, approaches the left and right lanes within a predetermined distance of the host vehicle 3). In order to check whether or not there is a following vehicle), the obstacle detection in step S8 excludes the following vehicle k1 (FIG. 7) traveling behind the vehicle in the captured image G from the obstacle. Then, only the following vehicle (for example, k2 (FIG. 7)) running in the left and right lanes may be detected as an obstacle.

  On the other hand, if it is determined in step S2 that the vehicle is stopped, the process proceeds to step S11, and the display of the display device 9 is turned on by the control unit 7b, and the captured image G of the camera 5 is stopped as described above. (Enlarged image) The image is processed into G2 and displayed on the display device 9.

  In step S12, the detection unit 7c detects whether an obstacle exists in the captured image based on the captured image of the camera 5 as described above. If no obstacle is detected as a result of the detection in step S13, the process returns to step S1. On the other hand, if an obstacle is detected, the process proceeds to step S14. A warning sound is generated and / or a warning mark is superimposed on the captured image displayed on the display device 9 to be warned. Then, the process returns to step S1.

  Note that the captured image G2 displayed on the display device 9 in step S11 (that is, when the vehicle is stopped) is displayed for confirmation of the periphery when the host vehicle 3 starts, so that the host vehicle 3 is detected in the obstacle detection in step S12. Obstacles may be detected only as objects that are close to the object.

  According to the vehicle periphery monitoring device 1 configured as described above, the traveling state of the host vehicle 3 is determined based on the captured image of the camera 5, and the display of the display device 9 is controlled based on the determination result. Since no signal is used, the wiring connection configuration between the device 1 and the outside can be simplified.

  Moreover, since the traveling state of the own vehicle 3 is determined based on the movement of the ground in the captured image, the traveling state of the own vehicle 3 can be determined regardless of the background reflected in the captured image.

  Further, when it is determined that the host vehicle 3 is moving backward or stopped, the captured image of the camera 5 is enlarged and displayed on the display device 9, so that the captured image such as when the host vehicle 3 is moving backward or stopped is displayed. When the enlarged display is to be performed, the captured image can be appropriately enlarged and displayed.

  Further, of the traveling lane portion of the host vehicle 3 in the captured image G of the camera 5, the mask image m <b> 1 (here, the sky portion corresponding to that portion further) on at least a portion away from the host vehicle 3 by a predetermined distance backward. Since the captured image G (hereinafter referred to as the forward image G3) is displayed on the display device 9 by superimposing the mask image m2) thereon, the host vehicle 3 and the host vehicle 3 are directly behind by the mask images m1 and m2. It is easy to visually grasp the positional relationship between the approaching vehicle and the approaching vehicle running in the left and right lanes.

  Further, since the forward image G3 is displayed when it is determined that the host vehicle 3 is moving forward, it is possible to prevent the forward image G3 from being displayed when it is unnecessary other than during forward movement.

  Further, since the captured image G3 of the camera 5 is displayed on the display device 9 only when the vehicle speed of the host vehicle 3 exceeds a predetermined speed (for example, 60 km / h), the rear side using the display device 9 is used as in the case of exceeding the predetermined speed. The captured image of the camera 5 can be displayed on the display device 9 only when the necessity for confirmation is high.

  Further, since it is detected based on the captured image of the camera 5 whether an obstacle exists in the captured image, that is, the obstacle detection is performed without using the vehicle signal, the wiring connection configuration between the device 1 and the outside is simplified. Can detect obstacles. In addition, when an obstacle is detected, a warning sound is generated or a warning mark is superimposed on the captured image displayed on the display device 9 to warn the user appropriately. it can.

  In this embodiment, it is determined only whether the host vehicle 3 is moving forward, backward, or stopped as the running state of the host vehicle 3, but in addition to this, whether the host vehicle 3 is turned left or right is also determined. You may judge.

<Modification 1>
In the above embodiment, the camera 5 and the image treatment device 7 are configured as separate units. However, as shown in FIG. 12, for example, the image treatment device 7 is built in the camera 5, and the camera 5, the image treatment device 7, May be integrated.

  In FIG. 12, the camera 5 includes a case 5b having a transmissive window 5a, an image sensor 5c accommodated and disposed behind the transmissive window 5a, and an image sensor 5c accommodated and disposed behind the image sensor 5c. The image processing device 7 is built in the camera 5 so that the image processing device 7 is accommodated and arranged behind the video circuit 5d. The image processing device 7 performs the above-described image processing on the captured image signal-processed by the video circuit 5d.

  In FIG. 12, the camera 5 and the display device 9 include a power line 13 for supplying power from the camera 5 to the display device 9, and a captured image from the camera 5 (that is, an image processed by the image processing device 7. Image) to the display device 9 is connected only by the video line 15. Here, the control unit 7b of the image processing device 7 performs on / off control of the power supply of the display device 9, thereby performing on / off control of the display of the display device 9.

  In this way, since the image processing device 7 is integrated with the camera 5, it is not necessary to secure an arrangement place of the image processing device 7 in the host vehicle 3, and the camera 5 and the display device 9 are connected by wiring. Since the vehicle periphery monitoring device 1 can be assembled only by doing, the wiring connection configuration in each component device of the device 1 can be simplified.

<Modification 2>
In the above embodiment, only one camera is installed, but a plurality of cameras may be installed in each part of the host vehicle (front part, rear part, side part such as door mirror, etc.). When a plurality of cameras are installed, the captured image of each camera may be selectively displayed on the display device according to the traveling state of the host vehicle.

  FIG. 13 is a schematic configuration diagram of a vehicle periphery monitoring device when two cameras are installed. Only the portions different from the above embodiment will be described below.

  In the vehicle periphery monitoring apparatus 1B, the camera 5F is installed at the front part of the host vehicle 3 and images the front of the host vehicle, and the camera 5R is installed at the rear part of the host vehicle 3 and images the front of the host vehicle.

  In addition, the control unit 7e of this embodiment selects a captured image to be displayed on the display device 9 from among the captured images of the plurality of cameras 5F and 5R according to the determination result of the determination unit 7a. The display of the display device 9 is controlled based on the determination result of the determination unit 7a as in the form.

  Here, for example, when the determination unit 7a determines that the determination unit 7a is moving forward, the control unit 7e selects a captured image of the front camera 5F, enlarges the selected captured image, displays the selected captured image on the display device 9, and determines the determination. When it is determined that the unit 7a is moving backward, the captured image of the rear camera 5R is selected, and the same processing (step S3) as that in the above embodiment is performed on the selected captured image, while the determining unit 7a When it is determined that the vehicle is stopped, a captured image of the rear camera 5R is selected, and the same processing (steps S11 to S13) as that of the above-described embodiment is performed on the selected captured image. Note that when displaying a captured image, whether to enlarge the captured image and whether to perform obstacle detection may be appropriately determined according to design convenience.

  According to the vehicle periphery monitoring device 1B configured as described above, in addition to the same effects as those of the above-described embodiment, a plurality of values can be selected according to the determination result of the determination unit 7a (that is, the traveling state of the host vehicle 3). Since the picked-up images to be displayed on the display device 9 are selected from the picked-up images of the cameras 5F and 5R, an appropriate picked-up image of the camera is selected according to the traveling state of the host vehicle 3 even when a plurality of cameras are installed. Can be displayed.

1 is a schematic configuration diagram of a vehicle periphery monitoring device according to an embodiment of the present invention. It is a figure explaining an example of the installation position of a camera. It is the figure which showed an example of the mode of the ground reflected in the picked-up image while the own vehicle is moving forward. It is the figure which showed an example of the mode of the ground reflected in the captured image in the back of the own vehicle. It is an example figure of a captured image. It is an example figure of an enlarged image. It is an example figure of a captured image. It is an example figure at the time of superimposing mask image m1, m2 on a captured image. It is an example figure of a picked-up image when an obstacle appears in a portion where an image image is not cut out. It is an example figure of a warning mark when an obstacle is not reflected in a display image. It is a flowchart explaining operation | movement of the vehicle periphery monitoring apparatus which concerns on this embodiment. FIG. 2 is a schematic configuration diagram of a camera when the camera and the image processing apparatus are integrated. It is a structure schematic diagram of the vehicle periphery monitoring apparatus which concerns on a modification. It is a structure schematic diagram of the conventional vehicle periphery monitoring apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle periphery monitoring apparatus 3 Own vehicle 5 Camera 5a Transmission window 5b Case 5c Image pick-up element 5d Image circuit 7 Image processing device 7a Determination part 7b Control part 7c Detection part 7d Warning part 9 Display apparatus 13 Power supply line 15 Video line

Claims (8)

A camera that is installed in the host vehicle and images the vicinity of the host vehicle;
Image processing means for processing a captured image of the camera;
Display means for displaying the captured image processed by the image processing means,
The image processing means includes
Determining means for determining a running state of the host vehicle based on a captured image of the camera;
Control means for controlling the display of the display means based on the determination result of the determination means;
A vehicle periphery monitoring device comprising:   The vehicle periphery monitoring device according to claim 1, wherein the determination unit determines a traveling state of the host vehicle based on a ground movement in the captured image.   3. The control unit according to claim 1, wherein the control unit enlarges a captured image of the camera and displays the image on the display unit when the determination unit determines that the vehicle is moving backward or is stopped. 4. Vehicle periphery monitoring device. In the case where the camera captures the rear of the vehicle,
When the determination unit determines that the vehicle is moving forward, the control unit superimposes a mask image on at least a portion of the own vehicle travel lane in the captured image that is a predetermined distance away from the host vehicle. The vehicle periphery monitoring device according to claim 1, wherein the captured image is displayed on the display unit. The determination means detects the vehicle speed of the host vehicle based on the movement of the ground in the captured image of the camera,
The control means displays the captured image of the camera on the display means when the vehicle speed detected by the determination means exceeds a predetermined speed, and when the vehicle speed detected by the determination means does not exceed the predetermined speed. The vehicle periphery monitoring apparatus according to claim 1, wherein a captured image of the camera is not displayed on the display unit. Detecting means for detecting whether an obstacle exists in the captured image based on the captured image of the camera;
When the detection means detects an obstacle, warning means for warning that effect,
The vehicle periphery monitoring device according to any one of claims 1 to 5, further comprising:   The vehicle periphery monitoring device according to any one of claims 1 to 6, wherein the image processing means is integrated with the camera. A plurality of the cameras are installed in the vehicle,
The said control means selects the captured image which should be displayed on the said display means among the captured images of these cameras according to the determination result of the said determination means, The Claim 1 or Claim 2 characterized by the above-mentioned. Vehicle periphery monitoring device.

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