JP2008195258A - Image change determination device, vehicle periphery monitoring device, and image change determination method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image change determination device, a vehicle periphery monitoring device, and a vehicle periphery monitoring method capable of rapidly determining the presence/absence of the adequate change of a monitoring screen, preventing in advance the display of any inappropriate monitoring screen against the intention of a user, and displaying any adequate monitoring screen in a state in which the change of the image suitable for the assist of the driving operation is smooth. <P>SOLUTION: It is determined whether or not monitoring screens 12, 20, 30 stored in a frame memory 37 after the screen change is instructed based on presence/absence of the change of the pixel data corresponding the specified pixel position associated with the change of the frame on the monitoring screens 12, 20, 30 which are actually stored in the frame memory 37 after the screen change is instructed. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a screen switching determination device, a vehicle periphery monitoring device, and a screen switching determination method, and more particularly to selectively displaying a plurality of types of monitoring screens including a vehicle periphery monitoring image for monitoring the periphery of the vehicle. In particular, the present invention relates to a screen switching determination device, a vehicle periphery monitoring device, and a screen switching determination method suitable for determining whether or not the displayed monitoring screen has been appropriately switched.

  In recent years, with the development of camera technology and image processing technology, as a system that supports safe and smooth driving operation of a vehicle, by using a video image of the road surface around the vehicle by a camera attached to the vehicle, A vehicle periphery monitoring device that displays a vehicle periphery monitoring image for monitoring the vehicle on a display inside the vehicle has been adopted.

  As a vehicle periphery monitoring image displayed by such a vehicle periphery monitoring device, for example, a side view image that is a vehicle periphery monitoring image for monitoring a side of the vehicle (for example, the front side), a rear of the vehicle is monitored. A rear view image that is a vehicle periphery monitoring image for monitoring, a top view image that is a vehicle periphery monitoring image for monitoring the entire circumference of the vehicle, and the like are known. The top view image is known as an image in which the vehicle and its surroundings are looked down from a virtual viewpoint above the vehicle. The side view image includes a left side view image for monitoring the left side or the left front side of the vehicle and a right side view image for monitoring the right side or the right front side of the vehicle.

  Conventionally, in the vehicle periphery monitoring device, a plurality of types of screens (hereinafter referred to as monitoring screens) including at least one type of vehicle periphery monitoring image and having different screen configurations are displayed in accordance with a user operation or the like. Some were selectively displayed.

  According to such a vehicle periphery monitoring device, for example, as a plurality of types of monitoring screens, a first monitoring screen including a left side view image and a right side view image, a rear view image, and a top view image It is also possible to selectively display the second monitoring screen including the image and the third monitoring screen including only the left side view image.

  Such a monitoring screen has been generated using a mapping table (in other words, a lookup table) in which the correspondence between the video captured by the camera and the monitoring screen is described.

  More specifically, when generating a monitoring screen, a mapping table specific to the generated monitoring screen is read from an external memory, and the read mapping table is written to a dedicated table memory. Using the written mapping table, coordinate conversion of the captured image and composition (for example, a top view image) as necessary are performed.

  By the way, conventionally, in such a vehicle periphery monitoring device that selectively displays a plurality of types of monitoring screens, the effectiveness is low for supporting driving operations such as monitoring screens that are not intended by the user. It was important to prevent the display of a monitoring screen.

  So far, in this type of vehicle periphery monitoring device, for example, the displayed monitoring screen is changed from one type of monitoring screen currently displayed in accordance with a user operation or the like to another type of monitoring. When switching the monitoring screen to be switched to the screen, it has been determined whether or not the switching of the monitoring screen has been appropriately performed.

  Specifically, in the related art, an appropriate monitoring screen is determined based on whether or not the mapping table stored in the table memory is switched to the mapping table corresponding to the monitoring screen after switching. Judgment was made on whether or not to switch. Further, conventionally, the monitoring screen generated using the mapping table is temporarily stored in the frame memory one frame at a time before being displayed on the display. The monitoring screen is read out, and whether or not the monitoring screen is appropriately switched is determined by using whether or not the read monitoring screen is the one after switching as a further determination factor.

  As a result of such a determination, if it is confirmed that the monitoring screen has not been properly switched, the monitoring screen display may be inappropriate, for example, by canceling the monitoring screen display. It was designed to prevent it.

Japanese Patent Laid-Open No. 2004-064440

  However, as in the conventional case, the determination using the monitoring screen for one frame read from the frame memory is difficult to execute unless the frame rate is reduced to some extent because the processing for the determination becomes heavy. there were.

  Therefore, conventionally, since it has not been possible to quickly determine whether or not the monitoring screen is properly switched, it is not possible to cope with a somewhat high frame rate such as 30 frames per second, and the change in the image is smooth. There has been a problem that it is difficult to display a good monitoring screen.

  Therefore, the present invention has been made in view of such a problem, and by reducing the processing required for determining whether or not there is an appropriate switching of the monitoring screen, the determination can be performed quickly, and as a result, While preventing an inappropriate monitoring screen that does not follow the user's intention and the driving state of the vehicle, the appropriate monitoring screen displays a smooth image change suitable for driving operation support. It is an object of the present invention to provide a screen switching determination device, a vehicle periphery monitoring device, and a vehicle periphery monitoring method that can be performed.

  In order to achieve the above-described object, a screen switching determination device according to the present invention is for monitoring the periphery of a vehicle based on an image captured by at least one imaging device that captures the periphery of the vehicle attached to the vehicle. A monitoring screen including at least one type of vehicle periphery monitoring image is generated using a mapping table in which a correspondence relationship between the monitoring screen and the captured video is described and displayed on the display unit. And a vehicle periphery monitoring device comprising a display processing device configured to selectively generate and display a plurality of types of monitoring screens having different screen configurations as the monitoring screen. The monitor screen mounted on the display processing unit is switched from one type of currently displayed monitor screen to another type of monitor screen. A screen switching determination device that determines whether or not the switching of the monitoring screen has been appropriately performed when switching of the monitoring screen is instructed, and includes: A mapping table storage device that temporarily stores a mapping table used for generating one type of monitoring screen displayed on the display unit, and the display processing using the mapping table stored in the mapping table storage device A monitoring screen storage device that temporarily stores the monitoring screen generated by a device in a frame unit before display on the display unit, and the monitoring screen stored in the monitoring screen storage device Information indicating characteristics of changes in pixel data corresponding to at least one specific pixel position associated with a change in the frame, Pixel data in which pixel data change characteristic information, which is known information indicating different characteristics for each type of the monitor screen, is stored in advance as a state corresponding to the type of the monitor screen. When switching of the monitoring screen is instructed to the change characteristic storage device and the display processing device, the mapping table stored in the mapping table storage device after the switching of the monitoring screen is instructed A first determination device that determines whether or not the mapping table corresponds to the other type of monitoring screen; and when the display processing device is instructed to switch the monitoring screen, The pixel data change characteristic information corresponding to the other type of monitor screen is read from the pixel data change characteristic storage device, and the read image Element data change characteristic information and pixel data corresponding to the specific pixel position due to a frame change of the monitoring screen that is actually stored in the monitoring screen storage device after switching of the monitoring screen is instructed Whether the monitoring screen actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed is the other type of monitoring screen by comparing with the change characteristics of A second determination device for determining whether or not the mapping table stored in the mapping table storage device after the first determination device is instructed to switch the monitoring screen. It is determined that the mapping table corresponds to the type of monitoring screen, and the switching of the monitoring screen is instructed by the second determination device If it is determined that the monitoring screen actually stored in the monitoring screen storage device is the other type of monitoring screen, the monitoring screen is switched appropriately. It is characterized in that it is formed so as to determine whether it has been broken.

  In another screen switching determination device according to the present invention, the pixel data change characteristic information may change the pixel data corresponding to at least one of the specific pixel positions if the type of the monitor screen is different. It is characterized in that the information has different characteristics.

  Furthermore, another screen switching determination device according to the present invention is characterized in that the pixel data change characteristic indicated by the pixel data change characteristic information and the monitoring screen that is actually stored in the monitoring screen storage device. The characteristic of the change of pixel data is a characteristic of presence / absence of a change of pixel data corresponding to the specific pixel position with a change of a frame stored in the monitoring screen storage device.

  Furthermore, another screen switching determination device according to the present invention is characterized in that the specific pixel position is constant regardless of the type of the monitoring screen displayed on the display unit.

  In another screen switching determination device according to the present invention, at least one of the plurality of types of the monitoring screens may display a variable image in which an image may change with a frame change. And a fixed image display area where the image does not change regardless of a change in the frame, and there are a plurality of the specific pixel positions, and each pixel position is a display area of the variable image, It is characterized by being selected as a state distributed to both the display area of the fixed image.

  Furthermore, in another screen switching determination device according to the present invention, at least one type of the monitoring screen of the plurality of types of monitoring screens displays a variable image in which an image can change as a frame changes. And a fixed image display area in which the image does not change regardless of a change in the frame, and at least one of the specific pixel positions is the variable image on the at least one type of monitoring screen. A pixel position that exists on the display area of the fixed image on at least one other type of monitoring screen that is present on the display area and is different from the at least one type of monitoring screen is selected. It is said.

  Furthermore, the vehicle periphery monitoring device according to the present invention is a vehicle periphery monitoring device for monitoring the periphery of a vehicle mounted on the vehicle, and includes at least one camera that captures the periphery of the vehicle attached to the vehicle. A mapping table in which a monitoring screen including at least one type of vehicle periphery monitoring image for monitoring the periphery of the vehicle based on a captured image by the imaging device is described, and a correspondence relationship between the monitoring screen and the captured image is described. A process of selectively generating and displaying a plurality of types of monitoring screens having different screen configurations as the monitoring screens, which are formed to perform processing to be generated and displayed on a display unit. A display processing device formed to perform the display processing device, and the monitor screen displayed on the display unit for the display processing device from one type of monitoring screen currently displayed to another type A switching instruction device for instructing switching of the monitoring screen to be switched to the monitoring screen; and a screen switching determination device for determining whether or not the switching of the monitoring screen has been appropriately performed. A mapping table storage device for temporarily storing a mapping table used for generating one type of monitoring screen displayed on the display unit among the plurality of types of monitoring screens, and the mapping table storage device A monitoring screen storage device for temporarily storing the monitoring screen generated by the display processing device using the mapping table stored in the display unit in units of frames before display on the display unit; and At least one specific pixel associated with a change in the frame of the monitoring screen stored in the monitoring screen storage device Pixel data change characteristic information, which is information indicating a change characteristic of pixel data corresponding to a position, and is known information indicating a characteristic different for each type of the monitoring screen as a change characteristic of the pixel data. When the switching of the monitoring screen is instructed to the display processing device by the pixel data change characteristic storage device stored in advance as a state corresponding to the type of the monitoring screen and the switching instruction device, A first determination is made as to whether or not the mapping table stored in the mapping table storage device after an instruction to switch the monitoring screen is a mapping table corresponding to the other type of monitoring screen. When the determination device and the switching instruction device instruct the display processing device to switch the monitoring screen, the pixel After reading out the pixel data change characteristic information corresponding to the other type of monitoring screen from the data change characteristic storage device, and after switching the pixel data change characteristic information and the monitoring screen are instructed The monitoring screen can be switched by comparing the change characteristics of the pixel data corresponding to the specific pixel position with the change of the frame for the monitoring screen actually stored in the monitoring screen storage device. A second determination device that determines whether the monitoring screen that is actually stored in the monitoring screen storage device after being instructed is the other type of monitoring screen; The mapping table stored in the mapping table storage device after the determination device is instructed to switch the monitoring screen displays the other type of monitoring image. The monitoring table that is actually stored in the monitoring screen storage device after the second determination device is instructed to switch the monitoring screen is determined that the mapping table corresponds to When it is determined that the screen is the other type of monitoring screen, the screen is configured to determine that the switching of the monitoring screen has been appropriately performed. .

  In another vehicle periphery monitoring device according to the present invention, the pixel data change characteristic information may change the pixel data corresponding to at least one of the specific pixel positions if the type of the monitor screen is different. It is characterized in that the information has different characteristics.

  Furthermore, another vehicle periphery monitoring device according to the present invention is characterized in that the pixel data change characteristic indicated by the pixel data change characteristic information and the monitoring screen that is actually stored in the monitoring screen storage device. The characteristic of the change of pixel data is a characteristic of presence / absence of a change of pixel data corresponding to the specific pixel position with a change of a frame stored in the monitoring screen storage device.

  Furthermore, another vehicle periphery monitoring device according to the present invention is characterized in that the specific pixel position is constant regardless of the type of the monitoring screen displayed on the display unit.

  In another vehicle periphery monitoring apparatus according to the present invention, at least one of the plurality of types of the monitoring screens may display a variable image in which an image may change with a frame change. And a fixed image display area where the image does not change regardless of a change in the frame, and there are a plurality of the specific pixel positions, and each pixel position is a display area of the variable image, It is characterized by being selected as a state distributed to both the display area of the fixed image.

  Furthermore, in another vehicle periphery monitoring apparatus according to the present invention, at least one of the plurality of types of monitoring screens is a variable image display in which an image can change with a frame change. And a fixed image display area in which the image does not change regardless of a change in the frame, and at least one of the specific pixel positions is the variable image on the at least one type of monitoring screen. A pixel position that exists on the display area of the fixed image on at least one other type of monitoring screen that is present on the display area and is different from the at least one type of monitoring screen is selected. It is said.

  Furthermore, another vehicle periphery monitoring device according to the present invention is characterized in that the switching instruction device is configured to instruct switching of the monitoring screen in accordance with a user operation or a traveling state of the vehicle. It is said.

  Furthermore, in the other vehicle periphery monitoring device according to the present invention, when the screen switching determination device determines that the switching of the monitoring screen has not been properly performed, It is configured to perform at least one of display stop and warning message display.

  In addition, the screen switching determination method according to the present invention includes at least one type of vehicle periphery for monitoring the periphery of the vehicle based on a video image taken by at least one imaging device that captures the periphery of the vehicle attached to the vehicle. A monitoring screen including a monitoring image is formed using a mapping table in which a correspondence relationship between the monitoring screen and the captured video is described, and is displayed on the display unit. For the display processing device in the vehicle periphery monitoring device provided with a display processing device configured to selectively generate and display a plurality of types of the monitoring screens having different screen configurations as screens Switching the monitoring screen displayed on the display unit from one type of monitoring screen currently displayed to another type of monitoring screen A screen switching determination method for determining whether or not switching of the monitoring screen is properly performed when instructed, and is displayed on the display unit of the plurality of types of the monitoring screens. A mapping table used to generate one type of monitoring screen is temporarily stored in a mapping table storage device for storing the mapping table, and is stored in the mapping table storage device. The monitoring screen generated by the display processing device using the mapping table is sequentially temporarily displayed in units of frames in a monitoring screen storage device for storing the monitoring screen before being displayed on the display unit. In addition to the change in the frame for the monitoring screen stored in the monitoring screen storage device. Information indicating a change characteristic of pixel data corresponding to at least one specific pixel position, and a known characteristic indicating a different characteristic for each type of the monitoring screen as the change characteristic of the pixel data Pixel data change characteristic information, which is information, is stored in advance in a state corresponding to the type of the monitor screen in a pixel data change characteristic storage device for storing the pixel data change characteristic information, and the display processing device When the switching of the monitoring screen is instructed, the mapping table stored in the mapping table storage device after the switching of the monitoring screen is instructed is changed to the other type of monitoring screen. A first determination is made as to whether or not the corresponding mapping table is used, and further, the other data type is stored from the pixel data change characteristic storage device. Read out the pixel data change characteristic information corresponding to the type of monitoring screen, and actually store the read out pixel data change characteristic information and the monitoring screen storage device after instructing switching of the monitoring screen The monitoring screen storage device after the switching of the monitoring screen is instructed by comparing the change characteristics of the pixel data corresponding to the specific pixel position with the change of the frame for the monitoring screen to be performed A second determination is made as to whether or not the monitoring screen that is actually stored is the other type of monitoring screen. As a result of the first determination, the monitoring screen is switched. The mapping table stored in the mapping table storage device after being instructed is a mapping table corresponding to the other type of monitoring screen, and As a result of the determination, if the monitoring screen actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed is the other type of monitoring screen, the monitoring screen It is characterized in that it is determined that the switching has been properly performed.

  Furthermore, in another screen switching determination method according to the present invention, as the pixel data change characteristic information, if the type of the monitoring screen is different, the change in the pixel data corresponding to at least one of the specific pixel positions. It is characterized in that it is determined whether or not the monitoring screen has been appropriately switched using information with different characteristics.

  Furthermore, another screen switching determination method according to the present invention relates to a change characteristic of the pixel data indicated by the pixel data change characteristic information and the monitoring screen actually stored in the monitoring screen storage device. The characteristic of the change of the pixel data is a characteristic of presence / absence of the change of the pixel data corresponding to the specific pixel position with the change of the frame stored in the monitoring screen storage device.

  In addition, another screen switching determination method according to the present invention is characterized in that the specific pixel position is constant regardless of the type of the monitoring screen displayed on the display unit.

  Furthermore, in another screen switching determination method according to the present invention, at least one of the plurality of types of the monitoring screens is a variable image display in which an image can change as the frame changes. And a fixed image display area in which the image does not change regardless of a change in the frame, and a plurality of the specific pixel positions are selected, and each pixel position is set as the display area of the variable image, It is characterized in that it is selected as a state distributed to both the display area of the fixed image.

  Furthermore, in another screen switching determination method according to the present invention, at least one of the plurality of types of the monitoring screens is a variable image whose image can change as the frame changes. A display region and a fixed image display region in which an image does not change regardless of a frame change, and the variable image on at least one type of monitoring screen as at least one of the specific pixel positions. A pixel position that exists on the display area of the fixed image on at least one other type of monitoring screen that is different from the at least one type of monitoring screen and that is present on the display area Yes.

  According to the screen switching determination device according to the present invention, it corresponds to a specific pixel position associated with a change in the frame of the monitoring screen that is actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed. Whether or not the monitoring screen stored in the monitoring screen storage device after the switching of the monitoring screen is instructed based on the characteristics of the change of the pixel data is another type of monitoring screen after switching. By making the determination, the target for determining whether or not the monitoring screen is appropriately switched is narrowed down to pixel data corresponding to a specific pixel position in the monitoring screen stored in the monitoring screen storage device. Can do. As a result, since it is possible to reduce the processing required for determining whether or not to appropriately switch the monitoring screen, the determination can be performed quickly, and the vehicle periphery monitoring device can detect the user's intention and the running state of the vehicle. On the other hand, it is possible to prevent the display of an inappropriate monitoring screen that does not conform to the above, and the appropriate monitoring screen can be displayed in a smooth state in which the image change suitable for driving operation support is smooth. In addition, the burden on the CPU can be reduced.

  In addition, according to another screen switching determination device according to the present invention, by using pixel data change characteristic information suitable for determining the presence or absence of appropriate switching of the monitoring screen, appropriate switching of the monitoring screen is performed. The presence / absence determination can be made more accurately.

  Furthermore, according to another screen switching determination device according to the present invention, for example, pixel data of a fixed image in which an image does not change regardless of a frame change is displayed at a specific pixel position on the screen before switching, In the screen after switching, when the pixel data of the vehicle periphery monitoring image whose image changes with the change of the frame is displayed, the change of the pixel data corresponding to the specific pixel position with the change of the frame Based on the presence / absence, the presence / absence of appropriate switching of the monitoring screen can be determined more easily and reliably.

  Furthermore, according to another screen switching determination device according to the present invention, by unifying the specific pixel positions used for determination in all types of monitoring screens, the number of specific pixel positions does not increase too much. Therefore, it is possible to further reduce the amount of processing required for the determination, and it is possible to more easily and quickly determine whether or not to appropriately switch the monitoring screen.

  In addition, according to another screen switching determination device according to the present invention, the specific pixel position is distributed to the display area of the variable image and the display area of the fixed image, so that the specific pixel position according to the change of the frame is obtained. Since the change characteristics of the corresponding pixel data can be easily changed according to the type of the monitoring screen, it is possible to more reliably determine whether or not the monitoring screen is appropriately switched.

  Furthermore, according to another screen switching determination device according to the present invention, a pixel position in which a characteristic of a change in image data due to a change in a frame according to switching of a monitoring screen is surely different as a specific pixel position. By selecting, it is possible to more reliably determine whether or not the monitoring screen is appropriately switched.

  Furthermore, according to the vehicle periphery monitoring apparatus according to the present invention, it is possible to reduce the processing required for determining whether or not to appropriately switch the monitoring screen, so that the determination can be performed quickly, and consequently the user's While preventing the display of inappropriate monitoring screens that are not in line with the intention or driving state of the vehicle, the appropriate monitoring screens should be displayed in a smooth state that is suitable for driving support. Can do.

  Further, according to another vehicle periphery monitoring apparatus according to the present invention, by using pixel data change characteristic information suitable for determining whether or not the monitoring screen is appropriately switched, the monitoring screen can be switched appropriately. Since the presence / absence determination can be performed more accurately, inappropriate display of the monitoring screen can be prevented more reliably.

  Furthermore, according to another vehicle periphery monitoring device according to the present invention, it is possible to further easily determine whether or not to appropriately switch the monitoring screen based on whether or not there is a change in image data corresponding to a specific pixel position due to a change in frame. Since the determination can be made reliably, inappropriate display of the monitoring screen can be prevented more easily and reliably.

  Furthermore, according to another vehicle periphery monitoring device according to the present invention, the processing amount required for determination can be further reduced by unifying the specific pixel positions used for determination in all types of monitoring screens, Since it is possible to more quickly determine whether or not the monitoring screen is appropriately switched, it is possible to cope with a better display of the monitoring screen with smoother image changes.

  In addition, according to another vehicle periphery monitoring apparatus according to the present invention, it is possible to easily change the characteristics of changes in pixel data corresponding to a specific pixel position associated with a change in frame depending on the type of the monitor screen. Therefore, it is possible to more reliably determine whether or not the monitoring screen is appropriately switched, and it is possible to more reliably prevent display of an inappropriate monitoring screen.

  Furthermore, according to another vehicle periphery monitoring apparatus according to the present invention, the specific pixel position is a pixel position in which the characteristics of the change in the image data due to the change in the frame according to the switching of the monitor screen are surely different. By selecting, it is possible to more reliably determine whether or not the monitoring screen is appropriately switched.

  Furthermore, according to the other vehicle periphery monitoring device according to the present invention, it is possible to determine whether or not to switch the monitoring screen reflecting the user's intention and the running state of the vehicle.

  In addition, according to another vehicle periphery monitoring device according to the present invention, an inappropriate monitoring screen can be displayed in advance by at least one of stopping the inappropriate monitoring screen display and displaying a warning message. Can be prevented.

  Furthermore, according to the screen switching determination method according to the present invention, it is possible to reduce the processing required for determining whether or not to appropriately switch the monitoring screen, so that the determination can be performed quickly, and the user's intention Inappropriate monitoring screens that do not follow the driving status of the vehicle or the vehicle are prevented in advance. On the other hand, appropriate monitoring screens can be displayed in a smooth state that is suitable for driving operation support. it can.

  Further, according to another screen switching determination method according to the present invention, by using pixel data change characteristic information suitable for determining switching of the monitoring screen, it is determined whether or not the monitoring screen is appropriately switched. It can be done more accurately.

  Furthermore, according to another screen switching determination method according to the present invention, for example, pixel data of a fixed image in which an image does not change regardless of a frame change is displayed at a specific pixel position on the screen before switching, In the screen after switching, when the pixel data of the vehicle periphery monitoring image whose image can change with the change of the frame is displayed, the change of the pixel data corresponding to the specific pixel position with the change of the frame Based on the presence / absence of this, the presence / absence of appropriate switching of the monitoring screen can be determined more easily and reliably.

  Furthermore, according to another screen switching determination method according to the present invention, by unifying the specific pixel positions used for determination in all types of monitoring screens, the number of specific pixel positions does not increase too much. Therefore, it is possible to further reduce the amount of processing required for the determination, and it is possible to more quickly determine whether or not the monitoring screen is appropriately switched.

  Further, according to another screen switching determination method according to the present invention, the specific pixel position is distributed to the display area of the variable image and the display area of the fixed image, so that the specific pixel position according to the change of the frame is obtained. Since the change characteristics of the corresponding pixel data can be easily changed according to the type of the monitoring screen, it is possible to more reliably determine whether or not the monitoring screen is appropriately switched.

  Furthermore, according to another screen switching determination method according to the present invention, a pixel position in which a characteristic of a change in image data due to a change in a frame according to switching of a monitoring screen is surely different as a specific pixel position. By selecting, it is possible to more reliably determine whether or not the monitoring screen is appropriately switched.

  Hereinafter, embodiments of a screen switching determination device and a vehicle periphery monitoring device according to the present invention will be described with reference to FIGS. 1 to 7.

  FIG. 1 shows a vehicle periphery monitoring device provided with a screen switching determination device according to the present embodiment.

  As shown in FIG. 1, the vehicle periphery monitoring apparatus 1 in the present embodiment has a total of four cameras 2, 3, 4, and 5 installed at different locations of the vehicle. One of these four cameras 2, 3, 4, and 5 is installed at the front of the vehicle (for example, the emblem) so that the traveling surface (road surface, etc.) in front of the vehicle is looked down diagonally. The front camera 2 captures an object (such as a road surface) existing in front of the vehicle as the periphery of the vehicle. One of the other three cameras 3, 4, 5 is a left side camera 3 installed on the left door mirror of the vehicle so as to look down on the traveling surface on the left side of the vehicle. The left side camera 3 captures an object (such as a road surface) existing on the left side of the vehicle as the periphery of the vehicle. One of the other two cameras 4 and 5 is a right side camera 4 that is installed on the right door mirror of the vehicle so as to look down on the traveling surface on the right side of the vehicle. The right side camera 4 captures an object (such as a road surface) existing on the right side of the vehicle as the periphery of the vehicle. The remaining one camera 5 is a rear camera 5 installed at a rear portion (for example, a rear hatch) of the vehicle so as to look down on a traveling surface behind the vehicle, and the rear camera 5 is arranged around the vehicle. As described above, an object (road surface or the like) existing behind the vehicle is photographed.

  These cameras 2, 3, 4, and 5 are provided with super wide-angle lenses such as fish-eye lenses, and are cameras that form an image of an object on an imaging surface of a solid-state imaging device such as a CCD.

  A monitoring control unit 7 having a CPU (not shown) is connected to each camera 2, 3, 4, 5. This monitoring control unit 7 generates and displays a monitoring screen and switches the monitoring screen appropriately. Various processes and controls for determining the presence / absence of this are performed.

  A capture memory 8 is connected to the monitoring control unit 7, and images captured by the cameras 2, 3, 4, and 5 are sequentially and temporarily stored in the capture memory 8 under the control of the monitoring control unit 7. It is to be stored.

  An external memory 9 is connected to the monitoring control unit 7, and the external memory 9 has a screen configuration (as a mapping table used for generating a monitoring screen including at least one type of vehicle periphery monitoring image) ( In other words, three types of mapping tables respectively used for generating three types of monitoring screens with different vehicle periphery monitoring image display modes) are stored.

Here, FIG. 2 shows a basic configuration of the mapping table 10. As shown in FIG. 2, the mapping table 10 includes the XY coordinate system of the cameras 2, 3, 4, and 5. 1 (Xc _i , Yc _j ) (i, jεN, where, in the example of FIG. 2, i ≠ 5, j ≠ 2) Pixel data is displayed at coordinate points (Xt _m , Yt _n ) (m, nεN, where m ≠ 4, n ≠ 3 in the example of FIG. 2) in the XY coordinate system of the display 11 to be described later. Is used to generate one pixel data on the monitoring screen. Note that the mapping table 10 may describe that two or more pieces of pixel data in the video captured by the cameras 2, 3, 4, and 5 are used to generate one piece of pixel data for the monitoring screen. In addition, when each camera 2, 3, 4, 5 is equipped with a super-wide-angle lens, the mapping table 10 performs coordinate conversion in consideration of correcting distortion of the captured video due to the effect of the super-wide-angle lens. The contents to be performed may be described.

  One of the three types of mapping tables 10 stored in the external memory 9 is used to generate the first monitoring screen 12 shown in FIG. The first monitoring screen 12 will be described in detail. As shown in FIG. 3, a vehicle periphery monitoring image for monitoring the left front side of the vehicle is displayed in a predetermined range at the upper left of the screen on the first monitoring screen 12. The left side view image 14 is displayed (included), and the left side view image 14 is generated by performing coordinate conversion of a video image taken by the left side camera 3 using the mapping table 10. ing.

  Further, as shown in FIG. 3, a right side view image 15 as a vehicle periphery monitoring image for monitoring the right front side of the vehicle is displayed in a predetermined range area in the upper right of the first monitoring screen 12 ( The right side view image 15 is generated by coordinate-transforming a video image taken by the right side camera 4 using the mapping table 10.

  As shown in FIG. 3, a background image 17 is displayed in an area other than the both side view images 14 and 15 on the first monitoring screen 12. The background image 17 uses the mapping table 10. It is assumed that the image data is generated using dedicated image data. This dedicated image data may be stored in the external memory 9.

  Further, one of the two types of mapping tables 10 other than the mapping table 10 for the first monitoring screen 12 stored in the external memory 9 is used to generate the second monitoring screen 20 shown in FIG. It has come to be used.

  The second monitoring screen 20 will be described in detail. As shown in FIG. 4, a region in a predetermined range at the upper left of the second monitoring screen 20 is a vehicle periphery monitoring image for monitoring the rear of the vehicle. A rear view image 21 is displayed, and the rear view image 21 is generated by performing coordinate conversion on a video image taken by the rear camera 5 using the mapping table 10.

  A top view image 22 as a vehicle periphery monitoring image for monitoring the entire circumference of the vehicle is displayed in an area on the right side of the second monitoring screen 20. The top view image 22 includes a front overhead image 23 that is an image of an object (road surface or the like) in front of the vehicle viewed from above the vehicle. The front overhead image 23 is a video image taken by the front camera 2. It is generated by performing coordinate conversion (viewpoint conversion) using the mapping table 10. The top view image 22 has a left side bird's-eye view image 24 that is an image obtained by bird's-eye view of an object on the left side of the vehicle from above, and the left side bird's-eye view image 24 is captured by the left side camera 3. Is generated by performing coordinate conversion (viewpoint conversion) using the mapping table 10. Furthermore, the top view image 22 has a right side bird's-eye view image 25 that is an image obtained by bird's-eye view of an object on the right side of the vehicle from above the vehicle. Is generated by performing coordinate conversion (viewpoint conversion) using the mapping table 10. Furthermore, the top view image 22 has a rear bird's-eye view image 26 that is an image obtained by bird's-eye view of an object behind the vehicle from above the vehicle. 10 is used for coordinate conversion (viewpoint conversion). The top view image 22 has a vehicle illustration image 27 in the center of each overhead view image 23, 24, 25, 26, and this illustration image 27 is not generated by using the mapping table 10. However, it is generated using dedicated image data. This dedicated image data may be stored in the external memory 9.

  That is, the top view image 22 is a combined image obtained by combining the overhead images 23, 24, 25, 26 and the illustration image 27.

  Further, as shown in FIG. 4, a background image 29 is displayed in an area other than the rear view image 21 and the top view image 22 on the second monitoring screen 20. Such a background image 29 is displayed in the mapping table. 10 is not generated by using the image data 10 but is generated by using dedicated image data. This dedicated image data may be stored in the external memory 9.

  Further, the remaining one type of mapping table 10 stored in the external memory 9 is used for generating the third monitoring screen 30 shown in FIG.

  The third monitoring screen 30 will be described in detail. As shown in FIG. 5, the left side view image larger than the left side view image 14 shown in FIG. 31 is displayed, and the left side view image 31 is generated by performing coordinate conversion of a video image taken by the left side camera 3 using the mapping table 10 in the same manner as shown in FIG. ing.

  Further, a background image 32 is displayed in an area other than the left side view image 31 on the third monitoring screen 30, and such a background image 32 is not generated using the mapping table 10. The image data is generated using dedicated image data. This dedicated image data may be stored in the external memory 9.

  In this way, each of the monitoring screens 12, 20, and 30 has a different screen configuration (display mode of the vehicle periphery monitoring image).

  Returning to FIG. 1, a screen selection operation unit 34 is connected to the monitoring control unit 7, and this screen selection operation unit 34 includes one type of monitoring screens 12, selected by the user in accordance with a user operation. A command to display 20 and 30 is output to the monitoring control unit 7. When the user changes the selection of the monitoring screens 12, 20, and 30, the screen selection operation unit 34 functions as a switching instruction device. That is, when the selection of the monitoring screens 12, 20, 30 is changed, the command output from the screen selection operation unit 34 to the monitoring control unit 7 is currently displayed on the displayed monitoring screens 12, 20, 30. This is an instruction to switch the monitoring screens 12, 20, 30 to switch from one type of monitoring screen 12, 20, 30 to another type of monitoring screen 12, 20, 30.

  Further, the monitoring control unit 7 is connected with a mapping table storage unit 35 as a mapping table storage device, and this mapping table storage unit 35 constitutes a part of the screen switching determination device. The mapping table storage unit 35 generates one type of monitoring screens 12, 20, 30 displayed on the display 11 among the plurality of types of monitoring screens 12, 20, 30 stored in the external memory 9. The mapping table 10 used for the above is temporarily stored.

  The monitoring control unit 7 has a mapping processing unit 36 as a display processing device, and a command output from the screen selection operation unit 34 is input to the mapping processing unit 36.

  Then, the mapping processing unit 36 reads the mapping table 10 corresponding to the input command from the external memory 9 and temporarily stores the read mapping table 10 in the mapping table storage unit 35. . Note that when the image data of the background images 17, 29, and 32 and the image data of the illustration image 27 are stored in the external memory 9, the mapping processing unit 36 selects the background corresponding to the command from the screen selection operation unit 34. The image data of the images 17, 29, 32 and the illustration image 27 are read from the external memory 9 and stored in the mapping table storage unit 35.

  In addition, the mapping processing unit 36 is input with video images taken by the cameras 2, 3, 4, and 5 stored in the capture memory 8.

  Then, the mapping processing unit 36 performs coordinate conversion of the captured images obtained by the cameras 2, 3, 4, and 5 acquired from the capture memory 8 using the mapping table 10 acquired from the mapping table storage unit 35 and the background image 17. , 29, 32 and the image data of the illustration image 27 (in the case of the second monitoring screen 20), one type of monitoring screen 12, 20, 30 selected by the user is generated. It has become.

  A frame memory 37 as a monitoring screen storage device is connected to the monitoring control unit 7, and this frame memory 37 constitutes a part of the screen switching determination device. In the frame memory 37, the monitoring screen generated by the mapping processing unit 36 is temporarily and sequentially stored in units of frames before being displayed on the display 11 under the control of the monitoring control unit 7. Yes.

  A display 11 is connected to the frame memory 37, and the monitoring screen stored in the frame memory 37 is sequentially displayed on the display 11 for each frame under the control of the monitoring control unit 7. ing.

  In this embodiment, the monitoring screens 12, 20, and 30 displayed on the display 11 are displayed on the display 11 from the screen selection operation unit 34 to the mapping processing unit 36. Of the monitoring screens 12, 20, 30 for switching from 20, 30 (hereinafter referred to as monitoring screen before switching) to other types of monitoring screens 12, 20, 30 (hereinafter referred to as monitoring screen after switching). When switching (hereinafter abbreviated as “screen switching”) is instructed, means are provided for determining whether or not appropriate screen switching has been performed.

  That is, the monitoring control unit 7 includes a screen switching determination unit 39. The screen switching determination unit 39 includes a first determination unit 40 as a first determination device and a second determination device as a second determination device. And a determination unit 41. The first determination unit 40 and the second determination unit 41 constitute a part of the screen switching determination device.

  When the screen selection operation unit 34 instructs the mapping processing unit 36 to switch the screen, the first determination unit 40 stores, as a first determination, the mapping table storage unit 35 after the screen switching is instructed. It is determined whether or not the stored mapping table 10 is the mapping table 10 corresponding to the post-switching monitoring screen.

  This first determination is obtained, for example, by acquiring from the frame memory 37 the monitoring screens 12, 20, and 30 generated by the mapping table 10 stored in the mapping table storage unit 35 after the screen switching is instructed. The monitoring screens 12, 20, and 30 may be reversely converted using the mapping table 10 to determine whether the same video as the captured video stored in the capture memory 8 can be generated. .

  In addition to the above configuration, the monitor control unit 7 is further connected to a pixel data change characteristic storage unit 42 as a pixel data change characteristic storage device. The pixel data change characteristic storage unit 42 includes a pixel data change characteristic storage unit 42. Characteristic information is stored in advance.

  This pixel data change characteristic information is known information indicating the change characteristic of the pixel data corresponding to a specific pixel position with the change of the frame for the monitoring screens 12, 20, and 30 stored in the frame memory 37. Thus, the information indicates different characteristics for each type of the monitoring screens 12, 20, and 30 stored in the frame memory 37.

Further, as shown in FIG. 6, the pixel data change characteristic information in the present embodiment includes four fixed positions regardless of the types of monitoring screens 12, 20, and 30 stored in the frame memory 37. This is information about the pixel position. Hereinafter, the four pixel positions are referred to as a first pixel position P ₁ , a second pixel position P ₂ , a third pixel position P _3, and a fourth pixel position P ₄ .

As shown in FIG. 6, the first pixel position P ₁ is a position on the display area of the left side view image 14 on the first monitoring screen 12, and the rear view image 21 on the second monitoring screen 20. And the position on the display area of the left side view image 31 on the third monitoring screen 30 is selected. The left side view image 14 on the first monitoring screen 12, the rear view image 21 on the second monitoring screen 20, and the left side view image 31 on the third monitoring screen 30 are all changed in frame. It is a variable image that can change the image. Accordingly, the first pixel position P ₁ is selected to the position of the display area of the variable image in all of the monitoring screen 12,20,30.

The second pixel position P ₂ is a position of the display area of the background image 17 in the first monitoring screen 12, and the left side bird's-eye view image in the top view image 22 in the second monitoring screen 20 24 on the display area, and further selected as a position on the display area of the left side view image 31 on the third monitoring screen 30. The background image 17 on the first monitoring screen 12 is a fixed image whose image does not change regardless of the change of the frame. On the other hand, the left side bird's-eye view image 24 in the top view image 22 on the second monitoring screen 20 is a variable image. Further, the left side view image 31 on the third monitoring screen 30 is also a variable image as described above. Thus, the second pixel position P ₂ is a position of the display area of the fixed image in the first monitoring screen 12, the display area of the variable image in the second and third monitoring screens 20 and 30 The position is selected.

Further, the third pixel position P ₃ is a position on the display area of the right side view image 15 on the first monitoring screen 12, and the illustration image in the top view image 22 on the second monitoring screen 20. 27 on the display area of the left side view image 31 on the third monitoring screen 30. Note that the right side view image on the first monitoring screen 12 is a variable image, while the illustration image 27 on the second monitoring screen 20 is a fixed image. Further, as described above, the left side view image 31 on the third monitoring screen 30 is a variable image. Therefore, the third pixel position P ₃ is a position on the variable image display area on the first and third monitoring screens 12 and 30, and is on the fixed image display area on the second monitoring screen 20. The position is selected.

Furthermore, the fourth pixel position P ₄ is a position on the display area of the background image 17 on the first monitoring screen 12 and a position on the display area of the background image 29 on the second monitoring screen 20. Furthermore, the position is selected on the display area of the left side view image 31 on the third monitoring screen 30. Note that the background image 29 on the second monitoring screen 20 is a fixed image. Further, as described above, the background image 17 on the first monitoring screen 12 is a fixed image, while the left side view image 31 on the third monitoring screen 30 is a variable image. Therefore, the fourth pixel position P ₄ is a position on the display area of the fixed image on the first and second monitoring screens 12 and 20, and is a position on the display area of the variable image on the third monitoring screen 30. Has been selected.

As shown in FIG. 7, the pixel data change characteristic information 43 in the present embodiment indicates whether or not there is a change in pixel data accompanying a change in the frame as a change characteristic of the pixel data accompanying a change in the frame. The table format information is shown for each of the pixel positions P _{1 to} P ₄ as a state corresponding to the types 12, 20, and 30. Note that the information indicated by the numeral “1” in FIG. 7 indicates that the pixel data corresponding to the corresponding pixel positions P _{1 to} P ₄ for the corresponding monitoring screens 12, 20, and 30 correspond to the change of the frame. It shows changing. On the other hand, the information indicated by the numeral “0” in FIG. 7 indicates that the pixel data corresponding to the corresponding pixel positions P _{1 to} P ₄ for the corresponding monitoring screens 12, 20, and 30 does not change regardless of the frame change. It shows no change.

Note that the pixel data change characteristic information 43 in the present embodiment is information as shown in FIG. 7 because the pixel positions P _{1 to} P ₄ are the monitoring screens 12 and 20 as shown in FIG. , 30 is selected from the variable image display area or the fixed image display area.

  In the present embodiment, when the screen selection operation unit 34 instructs the mapping processing unit 36 to switch the screen, the second determination unit 41 receives the post-switching monitoring screen from the pixel data change characteristic storage unit 42. The pixel data change characteristic information 43 corresponding to is read out.

Further, the second determination unit 41 changes the frame of the read pixel data change characteristic information 43 and the monitoring screens 12, 20, and 30 that are actually stored in the frame memory 37 after the screen switching is instructed. The presence / absence (characteristic) of the change in pixel data corresponding to the pixel positions P _{1 to} P ₄ is compared.

  Then, when the comparison results of the two match, the second determination unit 42 displays the monitoring screens 12, 20, and 30 that are actually stored in the frame memory 37 after the screen switching is instructed. If they do not match, it is determined that the monitoring screens 12, 20, 30 are not monitoring screens after switching.

  In the screen switching determination unit 39, the mapping table 10 stored in the mapping table storage unit 35 after the first determination unit 41 instructs the screen switching is the mapping table 10 corresponding to the post-switching monitoring screen. Further, the monitoring screens 12, 20, and 30 that are actually stored in the frame memory 37 after the second switching unit 41 is instructed to switch the screen are the post-switching monitoring screens. When the determination is made, it is determined that the screen switching has been properly performed.

Accordingly, in the present embodiment, it is possible to narrow the subject of the determination of the presence or absence of a suitable switching of the monitoring screen 12,20,30 to corresponding pixel data to a specific pixel position P ₁ to P _4, the determination Can be reduced, and the determination can be made quickly.

In the present embodiment, the pixel data change characteristic information 43 such that the change characteristics of the pixel data corresponding to the specific pixel positions P _{1 to} P ₄ are different from each other according to the types of the monitoring screens 12, 20, and 30. In this case, by using the pixel data change characteristic information 43 indicating the characteristic of whether or not the pixel data has changed with the change of the frame as the characteristic, it is determined whether or not the monitoring screens 12, 20, and 30 are appropriately switched. Furthermore, it can carry out simply and accurately.

Furthermore, in the present embodiment, the specific pixel positions P _{1 to} P ₄ are unified in all types of monitoring screens 12, 20, and 30 so that the number of locations of the specific pixel positions is not excessively increased. Therefore, it is possible to further reduce the amount of processing required for the determination, and it is possible to quickly determine whether or not the monitoring screen is appropriately switched.

Furthermore, as shown in FIGS. 6A and 6B, each of the pixel positions P _{1 to} P ₄ corresponds to the display area of the variable image on the first monitoring screen 12 and the second monitoring screen 20. The fixed image is selected so as to be distributed to both the display area and the fixed image display area. Thereby, the presence or absence of the change of the pixel data corresponding to each of the pixel positions P _{1 to} P ₄ with the change of the frame can be easily changed according to the type of the monitoring screens 12, 20, 30. It is possible to more reliably determine whether or not the screens 12, 20, and 30 are appropriately switched.

In the present embodiment, among the pixel positions P _{1 to} P ₄ , one type of monitoring screens 12, 20, and 30 are positioned on the display area of the variable image, and other types of monitoring screens are used. in screen 12,20,30 includes a pixel position _P 1 to P ₄ so as to position on the display area of the fixed image. For example, as described above, the second pixel position P ₂ is positioned on the fixed image display area on the first monitoring screen 12, and the variable image display area on the second monitoring screen 20. Located on the top. As described above, by selecting a pixel position as a specific pixel position that reliably changes the presence or absence of a change in image data due to a change in the frame in accordance with the switching of the monitoring screens 12, 20, and 30. It is possible to more reliably determine whether or not the screens 12, 20, and 30 are appropriately switched.

  In addition to the above configuration, in the present embodiment, the monitoring control unit 7 further determines that the screen switching determination unit 39 has determined that appropriate switching of the monitoring screens 12, 20, and 30 is not performed. In addition, the display of the monitoring screens 12, 20, and 30 is stopped, and a warning message is displayed on the display 11 to warn that the screen switching has not been properly performed.

  Thereby, it is possible to prevent the inappropriate monitoring screens 12, 20, and 30 that do not reflect the user's intention from being displayed.

  Next, an embodiment of the screen switching determination method according to the present invention will be described with reference to FIG.

  The screen switching determination method in the present embodiment is performed using the vehicle periphery monitoring device 1 described above.

  In the initial state, the mapping table storage unit 35 stores the mapping table 10 corresponding to the pre-switching monitoring screen, and the pre-switching monitoring screen generated by the mapping processing unit 36 using the mapping table 10. Are displayed on the display 11 through the frame memory 37 at a predetermined frame rate.

  Next, when the screen switching determination process is started from the initial state, first, as shown in step 1 (ST1) of FIG. 8, the screen switching determination unit 39 uses the screen selection operation unit 34 for the mapping processing unit 36. If the screen switching is instructed, the process proceeds to ST2 (ST2). If not, the process returns to step 1 (ST1).

  Next, in step 2 (ST2), the screen switching determination unit 39 detects the type of the post-switching monitoring screen instructed to switch the screen, and the process proceeds to step 3 (ST3).

  Next, in step 3 (ST3), the mapping table 10 stored in the mapping table storage unit 35 after the screen switching is instructed by the first determination unit 40 as the first determination is displayed on the post-switching monitoring screen. It is determined whether or not the mapping table 10 corresponds to.

  As a result of the first determination, if the mapping table 10 stored in the mapping table storage unit 35 after the screen switching is instructed is the mapping table 10 corresponding to the post-switching monitoring screen, step 4 is performed. Proceed to (ST4), otherwise proceed to step 9 (ST9).

  Next, in step 4 (ST4), the second determination unit 41 reads out pixel data change characteristic information corresponding to the post-switching monitoring screen from the pixel data change characteristic storage unit 42, and proceeds to step 5 (ST5).

Next, in step 5 (ST5), specific pixel positions P _{1 to} P in the monitoring screens 12, 20, and 30 that are actually stored in the frame memory 37 after the screen switching is instructed by the second determination unit 41. Pixel data corresponding to ₄ is acquired, and the process proceeds to step 6 (ST6).

Next, in step 6 (ST6), the second determination unit 41 performs the second determination by using the pixel data change characteristic information read in step 4 (ST4) and the specific pixel position acquired in step 5 (ST5). The pixel data corresponding to P _{1 to} P ₄ is compared with the characteristics of whether or not there is a change accompanying a change in the frame, and it is determined whether or not they match. As a result of the second determination, when the pixel data change characteristic information read in step 4 (ST4) matches the characteristic of presence / absence of change in the pixel data acquired in step 5 (ST5), Proceed to step 7 (ST7). If they do not match, proceed to step 9 (ST9).

  Next, in step 7 (ST7), the screen switching determination unit 39 determines that the screen switching has been properly performed, and proceeds to step 8 (ST8).

  Next, in step 8 (ST8), the post-switching monitoring screen is displayed using the mapping table 10 corresponding to the post-switching monitoring screen.

  On the other hand, in step 9 (ST9), the screen switching determination unit 39 determines that the screen switching has not been performed properly, and proceeds to step 10 (ST10).

  In step 10 (ST10), the monitoring control unit 7 stops displaying the monitoring screens 12, 20, and 30 and displays a warning message.

As described above, according to the present embodiment, the specific pixel position P ₁ that accompanies a change in the frame of the monitoring screens 12, 20, and 30 that are actually stored in the frame memory 37 after the screen switching is instructed. based on the presence or absence of a change of the corresponding pixel data to P _4, the monitoring screen 12,20,30 stored in the frame memory 37 after the screen switching is instructed, whether the monitoring screen after switching Can be determined. As a result, it is possible to narrow down the target for determining whether or not there is appropriate screen switching to the pixel data corresponding to the specific pixel positions P _{1 to} P ₄ . As a result, it is possible to reduce the processing required for determining whether or not there is appropriate screen switching, so that the determination can be performed quickly, and consequently, an inappropriate monitoring screen that does not conform to the user's intention is displayed. On the other hand, the appropriate monitoring screen can be displayed in a smooth state with a suitable image change for driving operation support.

  In addition, this invention is not limited to embodiment mentioned above, A various change is possible as needed.

  For example, in the above-described embodiment, the screen switching is instructed in accordance with the user operation. However, the present invention is not limited to such a configuration. For example, the running state of the vehicle Accordingly, a switching instruction device that automatically instructs the mapping processing unit 36 to switch the screen may be provided. However, in that case, it is necessary for the switching instruction device to be in a state where the traveling state of the vehicle such as the position of the shift lever and the vehicle speed pulse can be acquired. In this case, for example, when the shift lever is moved to a shift position for moving the vehicle backward, the screen switching to the second monitoring screen 20 may be automatically instructed.

  Even in such a case, by applying the present invention, it is possible to reduce the processing required for determining whether or not there is appropriate screen switching, so that the determination can be made quickly, and consequently, the vehicle is in a running state. While preventing an inappropriate monitoring screen from being displayed in advance, an appropriate monitoring screen can be displayed in a smooth state with a suitable image change for driving operation support.

  In the above-described embodiment, the presence / absence of the change in the pixel data is treated as the change characteristic of the pixel data corresponding to the specific pixel position due to the change in the frame, but other characteristics are used for the determination. It may be. For example, the pixel value (R, G, B) of pixel data corresponding to a specific pixel position changes greatly with a change in the frame on one type of monitoring screen, and the frame value on the other monitoring screens. In such a case, the amount of change in the pixel value of the pixel data may be used as the characteristic of the change in the pixel data corresponding to the specific pixel position accompanying the change in the frame. In this way, even when a variable image is displayed at the same specific pixel position both before and after switching the monitoring screen, the characteristics of the change in pixel data before switching and the switching Since it is possible to make a difference in the change characteristics of the pixel data, it is possible to surely determine whether or not appropriate screen switching has occurred.

The block diagram which shows embodiment of the screen switching determination apparatus and vehicle periphery monitoring apparatus which concern on this invention The schematic diagram which shows a mapping table in embodiment of the screen switching determination apparatus and vehicle periphery monitoring apparatus which concern on this invention The figure which shows the screen for 1st monitoring in embodiment of the screen switching determination apparatus and vehicle periphery monitoring apparatus which concern on this invention. The figure which shows the 2nd monitoring screen in embodiment of the screen switching determination apparatus and vehicle periphery monitoring apparatus which concern on this invention. The figure which shows the 3rd monitoring screen in embodiment of the screen switching determination apparatus and vehicle periphery monitoring apparatus which concern on this invention. In the embodiment of the screen switching determination device and the vehicle periphery monitoring device according to the present invention, (a) is a diagram showing a correspondence relationship between a specific pixel position and the first monitoring screen, and (b) is a specific It is a figure which shows the correspondence of the pixel position of this, and the 2nd monitoring screen, (c) is a figure which shows the correspondence of a specific pixel position and the 3rd monitoring screen. The figure which shows pixel data change characteristic information in embodiment of the screen switching determination apparatus which concerns on this invention, and a vehicle periphery monitoring apparatus. The flowchart which shows the screen switching determination method which concerns on this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle periphery monitoring apparatus 2 Front camera 3 Left side camera 4 Right side camera 5 Rear camera 34 Screen selection operation part 35 Mapping table storage part 36 Mapping process part 37 Frame memory 40 1st determination part 41 2nd determination part 42 Pixel data change Characteristic storage unit 43 Pixel data change characteristic information

Claims (20)

A monitoring screen including at least one type of vehicle periphery monitoring image for monitoring the periphery of the vehicle based on a video image taken by at least one imaging device that captures the periphery of the vehicle attached to the vehicle. A plurality of types of monitor screens are formed so as to perform processing for generating and displaying on a display unit using a mapping table in which a correspondence relationship between a screen and the captured video is described. It is mounted on a vehicle periphery monitoring device having a display processing device formed so as to selectively generate and display the monitoring screen, and is displayed on the display unit with respect to the display processing device. When switching of the monitoring screen is instructed to switch the monitoring screen from one type of currently displayed monitoring screen to another type of monitoring screen, the monitoring screen is switched off. Instead is a screen switching determination unit for determining whether or not properly performed,
A mapping table storage device that temporarily stores a mapping table used to generate one type of monitoring screen displayed on the display unit among the plurality of types of monitoring screens;
A monitoring screen that temporarily stores the monitoring screen generated by the display processing device using the mapping table stored in the mapping table storage device sequentially in units of frames before being displayed on the display unit. A storage device;
Information indicating a change characteristic of pixel data corresponding to at least one specific pixel position in accordance with a change of a frame for the monitoring screen stored in the monitoring screen storage device, the change of the pixel data Pixel data change characteristic storage device in which pixel data change characteristic information, which is known information indicating different characteristics for each type of the monitoring screen, is stored in advance as a state corresponding to the type of the monitoring screen When,
When the display processing device is instructed to switch the monitoring screen, the mapping table stored in the mapping table storage device after the switching of the monitoring screen is instructed is the other type. A first determination device that determines whether or not the mapping table corresponds to the monitoring screen;
When the display processing device is instructed to switch the monitoring screen, the pixel data change characteristic information corresponding to the other type of monitoring screen is read from the pixel data change characteristic storage device and read. The pixel data change characteristic information that has been issued and the specific pixel position that accompanies a change in the frame of the monitoring screen that is actually stored in the monitoring screen storage device after switching of the monitoring screen is instructed. The monitoring screen actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed by comparing the change characteristics of the corresponding pixel data with the other types of monitoring A second determination device that determines whether the image is a screen,
Determination that the mapping table stored in the mapping table storage device after the first determination device is instructed to switch the monitoring screen is a mapping table corresponding to the other type of monitoring screen And the monitoring screen actually stored in the monitoring screen storage device after the second determination device instructs the switching of the monitoring screen is the other type of monitoring screen. The screen switching determination device is configured to determine that the monitoring screen has been appropriately switched when the determination to the effect is made. The pixel data change characteristic information is information such that a change characteristic of the pixel data corresponding to at least one of the specific pixel positions is different if the type of the monitor screen is different. The screen switching determination device according to claim 1. The pixel data change characteristic indicated by the pixel data change characteristic information and the pixel data change characteristic for the monitoring screen actually stored in the monitoring screen storage device are stored in the monitoring screen. The screen switching determination device according to claim 2, characterized in that the presence or absence of a change in pixel data corresponding to the specific pixel position with a change in a frame stored in the device. 4. The screen switching according to claim 1, wherein the specific pixel position is fixed regardless of a type of the monitoring screen displayed on the display unit. 5. Judgment device. At least one type of the monitoring screens among the plurality of types of monitoring screens is a variable image display area in which an image can change with a change in frame, and a fixed image in which the image does not change regardless of a change in frame. Image display area,
There are a plurality of the specific pixel positions, and each pixel position is selected as being distributed in both the display area of the variable image and the display area of the fixed image. The screen switching determination device according to any one of claims 1 to 4. At least one type of the monitoring screens among the plurality of types of monitoring screens is a variable image display area in which an image can change with a change in frame, and a fixed image in which the image does not change regardless of a change in frame. Image display area,
At least one of the specific pixel positions is present on the display area of the variable image on at least one type of monitoring screen, and at least one other type different from the at least one type of monitoring screen 6. The screen switching determination device according to claim 1, wherein a pixel position existing on a display area of the fixed image on the monitoring screen is selected. A vehicle periphery monitoring device for monitoring the periphery of a vehicle mounted on a vehicle,
The monitoring screen including at least one type of vehicle periphery monitoring image for monitoring the periphery of the vehicle based on a video image taken by at least one imaging device that captures the periphery of the vehicle attached to the vehicle. A plurality of types of screens that are formed so as to perform processing for generating and displaying on a display unit using a mapping table in which a correspondence relationship between a video screen and the captured video is described, and having different screen configurations as the monitoring screen A display processing device formed to perform processing for selectively generating and displaying the monitoring screen of
This display processing device is instructed to switch the monitoring screen displayed on the display unit from one type of monitoring screen currently displayed to another type of monitoring screen. A switching instruction device;
A screen switching determination device that determines whether switching of the monitoring screen has been appropriately performed;
The screen switching determination device is
A mapping table storage device for temporarily storing a mapping table used for generating one type of monitoring screen displayed on the display unit among the plurality of types of monitoring screens;
A monitoring screen that temporarily stores the monitoring screen generated by the display processing device using the mapping table stored in the mapping table storage device sequentially in units of frames before being displayed on the display unit. A storage device;
Information indicating a change characteristic of pixel data corresponding to at least one specific pixel position in accordance with a change in a frame for the monitoring screen stored in the monitoring screen storage device, the change in the pixel data Pixel data change characteristic storage device in which pixel data change characteristic information, which is known information indicating different characteristics for each type of the monitoring screen, is stored in advance as a state corresponding to the type of the monitoring screen When,
When the switching instruction device instructs the display processing device to switch the monitoring screen, the mapping table stored in the mapping table storage device after the switching of the monitoring screen is instructed A first determination device that determines whether or not the mapping table corresponds to the other type of monitoring screen;
When the switching instruction device instructs the display processing device to switch the monitoring screen, the pixel data change corresponding to the other type of monitoring screen is stored from the pixel data change characteristic storage device. According to the change in the frame of the pixel data change characteristic information read out and the monitoring screen actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed. The monitoring screen actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed by comparing the change characteristics of the pixel data corresponding to the specific pixel position. A second determination device for determining whether the screen is for another type of monitoring,
Determination that the mapping table stored in the mapping table storage device after the first determination device is instructed to switch the monitoring screen is a mapping table corresponding to the other type of monitoring screen And the monitoring screen actually stored in the monitoring screen storage device after the second determination device instructs the switching of the monitoring screen is the other type of monitoring screen. The vehicle periphery monitoring device is configured to perform a determination that the switching of the monitoring screen is appropriately performed when the determination is made. The pixel data change characteristic information is information such that a change characteristic of the pixel data corresponding to at least one of the specific pixel positions is different if the type of the monitor screen is different. The vehicle periphery monitoring device according to claim 7. The pixel data change characteristic indicated by the pixel data change characteristic information and the pixel data change characteristic for the monitoring screen actually stored in the monitoring screen storage device are stored in the monitoring screen. 9. The vehicle periphery monitoring device according to claim 8, wherein the vehicle periphery monitoring device is characterized by presence / absence of a change in pixel data corresponding to the specific pixel position accompanying a change in a frame stored in the device. The vehicle periphery according to any one of claims 7 to 9, wherein the specific pixel position is constant regardless of the type of the monitoring screen displayed on the display unit. Monitoring device. At least one type of the monitoring screens among the plurality of types of monitoring screens is a variable image display area in which an image can change with a change in frame, and a fixed image in which the image does not change regardless of a change in frame. Image display area,
There are a plurality of the specific pixel positions, and each pixel position is selected as being distributed in both the display area of the variable image and the display area of the fixed image. The vehicle periphery monitoring apparatus according to any one of claims 7 to 10. At least one type of the monitoring screens among the plurality of types of monitoring screens is a variable image display area in which an image can change with a change in frame, and a fixed image in which the image does not change regardless of a change in frame. Image display area,
At least one of the specific pixel positions is present on the display area of the variable image on at least one type of monitoring screen, and at least one other type different from the at least one type of monitoring screen The vehicle periphery monitoring device according to any one of claims 7 to 11, wherein a pixel position existing on a display area of the fixed image on the monitoring screen is selected. The switching instruction device is configured to instruct switching of the monitoring screen according to a user operation or a running state of the vehicle. The vehicle periphery monitoring device according to claim 1. When the screen switching determination device determines that the monitoring screen has not been properly switched, at least one of stopping the display of the monitoring screen and displaying a warning message is performed. The vehicle periphery monitoring device according to any one of claims 7 to 13, wherein the vehicle periphery monitoring device is formed. A monitoring screen including at least one type of vehicle periphery monitoring image for monitoring the periphery of the vehicle based on a video image taken by at least one imaging device that captures the periphery of the vehicle attached to the vehicle. A plurality of types of monitor screens are formed so as to perform processing for generating and displaying on a display unit using a mapping table in which a correspondence relationship between a screen and the captured video is described. The monitoring unit displayed on the display unit with respect to the display processing unit in a vehicle periphery monitoring device provided with a display processing unit configured to selectively generate and display the monitoring screen. When the switching of the monitoring screen is instructed to switch the screen from one type of monitoring screen currently displayed to another type of monitoring screen, the switching of the monitoring screen is performed. Is a screen switching determination method for determining whether or not properly performed,
A mapping table used to generate one type of monitoring screen displayed on the display unit among the plurality of types of monitoring screens is temporarily stored in a mapping table storage device for storing the mapping table. To be done,
In addition, the monitoring screen generated by the display processing device using the mapping table stored in the mapping table storage device is for storing the monitoring screen before being displayed on the display unit. It is supposed to be temporarily stored in a frame unit in the monitor screen storage device,
Further, the pixel data includes information indicating a change characteristic of pixel data corresponding to at least one specific pixel position in accordance with a frame change for the monitoring screen stored in the monitoring screen storage device. Pixel data change characteristic information, which is known information indicating different characteristics for each type of the monitor screen as a change characteristic of the pixel data change characteristic storage device for storing the pixel data change characteristic information, Store in advance as a state corresponding to the type of the monitor screen,
When the display processing device is instructed to switch the monitoring screen, the mapping table stored in the mapping table storage device after the switching of the monitoring screen is instructed is the other type. A first determination is made as to whether or not the mapping table corresponds to the monitoring screen, and the pixel data change corresponding to the other type of monitoring screen is further received from the pixel data change characteristic storage device. According to the change in the frame of the pixel data change characteristic information read out and the monitoring screen actually stored in the monitoring screen storage device after the switching of the monitoring screen is instructed. After the switching of the monitoring screen is instructed by comparing the change characteristics of the pixel data corresponding to the specific pixel position Wherein said monitoring screen that is actually stored in the monitoring screen enclosure performs second determination is a determination of whether the monitoring screen of said other type,
As a result of the first determination, the mapping table stored in the mapping table storage device after an instruction to switch the monitoring screen is a mapping table corresponding to the other type of monitoring screen, and As a result of the second determination, when the monitoring screen actually stored in the monitoring screen storage device after an instruction to switch the monitoring screen is the other type of monitoring screen, A screen switching determination method characterized by determining that switching of a monitoring screen has been properly performed. As the pixel data change characteristic information, if the type of the monitor screen is different, the monitor screen is used by using information such that the change characteristic of the pixel data corresponding to at least one of the specific pixel positions is different. The screen switching determination method according to claim 15, wherein it is determined whether or not switching has been appropriately performed. The monitoring screen storage stores the pixel data change characteristics indicated by the pixel data change characteristic information and the pixel data change characteristics of the monitoring screen actually stored in the monitoring screen storage device. The screen switching determination method according to claim 16, wherein a characteristic of presence / absence of a change in pixel data corresponding to the specific pixel position according to a change in a frame stored in the apparatus is used. The screen switching determination method according to any one of claims 15 to 17, wherein the specific pixel position is constant regardless of a type of the monitoring screen displayed on the display unit. At least one type of the monitoring screens among the plurality of types of monitoring screens is a variable image display area in which an image can change with a change in frame, and a fixed image in which the image does not change regardless of a change in frame. Image display area,
The plurality of specific pixel positions are selected, and each pixel position is selected as being distributed in both the display area of the variable image and the display area of the fixed image. The screen switching determination method according to any one of claims 18 to 18. At least one type of the monitoring screens among the plurality of types of monitoring screens is a variable image display area in which an image can change with a change in frame, and a fixed image in which the image does not change regardless of a change in frame. Image display area,
At least one of the specific pixel positions is present on the display area of the variable image on at least one type of monitoring screen, and at least one other type different from the at least one type of monitoring screen The screen switching determination method according to any one of claims 15 to 19, wherein a pixel position existing on a display area of the fixed image on the monitoring screen is selected.