JP2008257502A - Vehicle periphery monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device which hardly catch a person walking in the periphery of a vehicle and can display peripheral circumstances comprehensibly in a wide range. <P>SOLUTION: A photographing device support body 24 is installed so as to jut out of a vehicle main body to a slanting external back part at the rear end left angle of the periphery of a vehicle ceiling, and a photographing device 20 is mounted on the photographing device support body 24 so as not to stick out of the silhouette of the vehicle 10 when the vehicle 10 is viewed from the right above, and that an optical axis can face downward, and a video photographed by the photographing device 20 is displayed on a display 30 with the forward direction of the vehicle 10 as the upward direction of a screen, and the inside functional face of a lens 25 at the most external side of the optical system of the photographing device 20 is shaped so that the cross-sectional shape of the directions of 45 degrees and 135 degrees can be extended outward. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device that assists the driver's vision and assists in grasping the situation in the vicinity of the host vehicle in scenes where accurate driving operation is required, such as when a car is parked or when a lane is passing each other. .

  In order to make it easier to grasp the situation around the host vehicle when parked, the vicinity of the host vehicle is photographed using a wide-angle camera, and the road surface around the host vehicle is displayed on the display using digital image processing or a special optical system. There is a system that displays video as seen from above. This image is called a top view image.

For example, Japanese Patent Application Laid-Open No. H10-228707 has a photographing device fixed to the left corner of the rear end of the vehicle. The photographing device includes a convex mirror, a transparent pipe, a photographing module, and a photographing device support.
In Patent Document 1, an object around the vehicle, such as a parking frame, is reflected by a convex mirror provided in the photographing apparatus and photographed by a photographing module. Since the convex mirror has a special optical shape, it has the function of converting the road surface around the vehicle to an image seen from the sky, so among the images displayed on the display, the image of the pole or the vehicle with a height Appears to be distorted, but a non-height object such as a parking frame drawn on the road surface is an undistorted top view image, so that the driver can easily grasp the surrounding situation.

JP-A-9-118178 (pages 4-8, FIG. 7)

Since the conventional periphery monitoring device can reduce the shadowed part of the own vehicle as far as possible from the vehicle body, and can monitor the rear and the side at the same time, the vehicle as described above. At the rear corner, the body was installed at the position where it swelled to the outermost side. For this reason, there is a problem that people walking around the vehicle are likely to get caught.
In addition, since the photographing apparatus is installed at a low position, the nearby road surface is accurately viewed from the top, but there is also a problem that the distortion increases when it is separated a little.
In addition, when a normal wide-angle camera is used, there is a problem that only a very close range is within the field of view.
Moreover, even if a wide-angle camera with a wide field of view obtains a wide range of top view images, the field of view is limited to the inside of the line connecting the imaging device and the left end of the road surface field of view. The upper part of the object entered the blind spot and could not be seen. For this reason, there is a problem that it is not possible to proceed with aiming at a target at a distant place.

Further, in the conventional example of Patent Document 1, an optical system using a convex mirror is used to obtain a top view image. However, when the optical axis of the fisheye lens is used directly below, a distant height is obtained over the entire circumference. It is known that it is possible to see even a certain object.
Due to the characteristics of the fisheye lens, the angle of view is 180 degrees in the image obtained when shooting with a general equidistant projection fisheye lens with an angle of view of 180 degrees, so the horizontal line around 360 degrees appears in a circle and the black part on the outside There will be a blind spot above the horizon. Although it is possible to see an object with a distant height like the top of the pole, the image becomes circular as described above, so it is difficult to say that it is easy to understand as an image to show to the driver was there.
In addition, since the projection is equidistant, the relationship between the image height y, the incident angle θ, and the focal length f is
y = fθ
In addition, there is a problem in that the image of the object appears to be crushed in the peripheral portion of the image where the incident angle θ is large, and the far object looks even smaller.

  The present invention has been made to solve the above-described problems, and provides a vehicle periphery monitoring device that is less likely to be caught by people walking around the vehicle and that can easily display a wide range of surrounding conditions. With the goal.

  In the vehicle periphery monitoring device according to the present invention, a range that does not protrude from the vehicle silhouette when viewed from directly above the vehicle, in the vicinity of one or both of the rear left corner and the rear right corner around the vehicle ceiling. An imaging device support provided so as to project obliquely outward and rearward from the vehicle body, an imaging device attached to the imaging device support so that the optical axis faces downward, and an image captured by the imaging device A display that displays the vehicle front direction as the upper direction of the screen is provided.

  As described above, the present invention is within a range that does not protrude from the silhouette of the vehicle when viewed from directly above the vehicle, in the vicinity of one or both of the rear left corner and the rear right corner of the vehicle ceiling. An imaging device support provided so as to project obliquely outward and rearward from the vehicle body, an imaging device attached to the imaging device support so that the optical axis faces downward, and an image captured by the imaging device, Since the display that displays the front direction of the vehicle as the upper direction of the screen is provided, it is difficult for a person walking around the vehicle to catch the photographing apparatus, and the surrounding situation can be displayed in a wide range in an easy-to-understand manner.

Embodiment 1 FIG.
1 is a perspective view showing a state in which a vehicle periphery monitoring device according to Embodiment 1 of the present invention is attached to a one-box car.
In FIG. 1, an imaging device support 24 equipped with a tiltable mechanism is attached to the vehicle 10 so as to project obliquely outward and rearward from the vehicle body at the rear left corner of the vehicle periphery. The imaging device 20 is fixed to the tip of the imaging device support 24 so that the optical axis is directly downward within a range that does not protrude from the silhouette of the vehicle 10 when viewed from directly above, and is approximately 180 degrees. With the angle of view. A display 30 is provided in the passenger compartment of the vehicle 10, and an image captured by the imaging device 20 or an image obtained by processing the image is displayed.
Note that the imaging device may be provided at the rear right corner of the vehicle ceiling or at both the rear left corner and the rear right corner of the vehicle ceiling.

FIG. 2 is a cross-sectional perspective view showing the outermost lens of the optical system used in the photographing device of the vehicle periphery monitoring device according to Embodiment 1 of the present invention.
In FIG. 2, a lens 25 is the outermost lens among a plurality of lenses of the optical system (conversion device) used in the photographing apparatus 20. The first surface 26 is a functional surface outside the lens 25, and the second surface 27 is a functional surface inside the lens 25.
The second surface 27 of the lens 25 has a slightly square shape, with the cross-sectional shapes in the 45-degree direction and the 135-degree direction extending outward as compared to the cross-sectional shapes in the vehicle front-rear direction and the left-right direction. . Further, the curvature in the vicinity of the center portion of the second surface 27 is set to be slightly larger than that of a fish-eye lens having an angle of view of 100 degrees or more and a general equidistant projection.

FIG. 3 is a diagram showing a scene set by arranging the photographing device alone of the vehicle periphery monitoring device according to Embodiment 1 of the present invention.
In FIG. 3, the photographing device is installed directly above a black disk 55 having a diameter of 1 m and facing straight down. The installation height is set to, for example, 1.6 m assuming a general ceiling height of a one box car or a two box car. On the road surface, 20 × 20 paving stones 53 are placed at a pitch of 1 m to indicate the approximate position, and poles 52 each having a height of 1 m are spaced at a distance of 50 cm at positions 5 m forward and backward of the photographing apparatus. In addition, 21 pole rows are arranged perpendicular to the road surface.

FIG. 4 is a diagram showing a screen imaged by the imaging device alone of the vehicle periphery monitoring device according to Embodiment 1 of the present invention.
FIG. 4 shows a screen when an image obtained when the photographing apparatus 20 is used alone and the scene shown in FIG. 3 is photographed is displayed on the display 30. The pole 52 ′, paving stone 53 ′, and disc 55 ′ are images of the pole 52, paving stone 53, and disc 55, respectively.

FIG. 5 is a panoramic view showing an example of a scene when a vehicle including the vehicle periphery monitoring device according to Embodiment 1 of the present invention is parked in a parking frame sandwiched between two other vehicles.
In FIG. 5, 10, 20, and 24 are the same as those in FIG. A vehicle 10 equipped with a vehicle periphery monitoring device is parked in a parking frame 51 sandwiched between two other vehicles 54. A row of poles 52 having a height of 1 m is provided at intervals of 50 Cm at the rear end of the parking frame 51 on which paving stones 53 are laid.

FIG. 6 is a diagram showing an example of an image captured by the imaging device of the vehicle periphery monitoring device according to Embodiment 1 of the present invention and displayed on the display.
In FIG. 6, 52 ′ and 53 ′ are the same as those in FIG. The display 30 shows an image of a pole 52 ′, a paving stone 53 ′, an other vehicle 54 ′, a vehicle sketch 41 showing the vehicle position, and a wheel sketch 42 showing the vehicle wheel, and a blind spot. An area image 40 is shown. The blind spot area image 40 is an image for masking a blind spot area that occupies the upper right quarter of the screen and cannot be seen in the shadow of the own vehicle.

Next, the operation will be described.
As shown in FIG. 1, it is fixed to the front end of the photographing device support 24 so that the optical axis is directly downward within a range that does not protrude from the silhouette of the vehicle 10 when viewed from directly above the vehicle 10, and is approximately 180. The video imaged by the imaging device 20 having the angle of view or the video image obtained by processing the video image is displayed on the display 30 in the passenger compartment.
As shown in FIG. 2, the second surface 27 of the outermost lens 25 of the optical system of the photographing apparatus 20 has cross-sectional shapes in the 45-degree direction and 135-degree direction as compared to the cross-sectional shapes in the vehicle front-rear direction and the left-right direction. It is extended outward and has a slightly square shape. In addition, the curvature near the center of the second surface 27 is set to be slightly larger than that of a fish-eye lens having an angle of view of 100 degrees or more and a general equidistant projection, and the concave lens effect is stronger near the center than in the vicinity. Since it works, the area near the center of the video is reduced and the area near the periphery is enlarged.
The incident light scattered by surrounding objects and incident on the lens 25 is refracted by the first surface 26 and the second surface 27 of the lens 25 and then enters the photographing apparatus 20.

For example, the screen obtained when the image capturing apparatus 20 is used alone and the image obtained when the scene shown in FIG. 3 is imaged is displayed on the display 30, as shown in FIG. 4, a general equidistant projection fisheye lens is used. Compared to the screen used, the paving stone 53 ′ near the center of the screen looks small, but the pole 52 ′ at a distant location looks large, so there are obstacles in applications where the optical axis is directly below and the surroundings of the vehicle are monitored. Easy to recognize and advantageous.
Also, due to the effect of the lens 25 deformed into a square shape, the image of the entire field of view, which was circular with the conventional fisheye lens, is enlarged in the directions of the four corners and deformed into a square shape. Near the center in the front-rear direction, it looks close to a straight line. For this reason, there is an effect that it is easy to intuitively grasp the relationship between the surroundings and oneself.

In addition, as shown in FIG. 5, the vehicle 10 equipped with the vehicle periphery monitoring device parks in the parking frame 51 sandwiched between two other vehicles 54, and at the rear end of the parking frame 51 on which the paving stone 53 is laid. Even if a row of poles 52 having a height of 1 m is provided at intervals of 50 Cm, the screen where this is taken, as shown in FIG. An object with a nearby height appears to be greatly distorted, but it appears that there is little distortion on the nearby road surface and near the center of the pole row before and after the vehicle, which is important information for determining the amount of steering operation. The effect is easy to steer.
Since the optical axis of the photographing device 20 is directed downward, a straight line passing directly under the photographing device 20 among the lines drawn on the road surface is reflected straight on the display 30. For this reason, the straight line that extends the left side of the vehicle and the straight line that extends the rear end face appear straight as far as shown in FIG. By this action, it is possible to obtain a very easy-to-understand image not only when parking, but also when widening while driving forward on a general road.

In FIG. 6, the vehicle sketch 41 and the wheel sketch 42 are displayed on the display 30 so that the driver can easily understand the situation. The own vehicle sketch 41 is a virtual image of the top view of the host vehicle drawn on the blind spot area image 40 projected onto the road surface at the same position, as if it were virtually shot using the photographing device 20. It shows the shape of the vehicle, distorted in the same way as the road surface. Since the photographing device 20 is provided in a range that does not protrude from the silhouette of the vehicle, the line of sight of the road surface by grazing the left side surface and the rear end surface of the host vehicle from the photographing device 20 always faces the outside. For this reason, the projection of the top view of the host vehicle projected on the road surface at the same magnification will be slightly inside the blind spot area, but in order to grasp the size of the original vehicle by comparison with the road surface Is valid. Further, since the own vehicle sketch 41 is distorted in the same manner as the road surface at the position, there is an effect that it is easy to grasp the relationship between the own vehicle and the surrounding road surface.
The wheel sketch 42 is a sketch of four wheels drawn on the own vehicle sketch 41 in the same manner as the own vehicle sketch, and the direction changes according to the steering angle. Yes. This direction of the wheel outline 42 has an effect of easily grasping the future movement of the vehicle.

According to the first embodiment, the photographing device is generally provided near the ceiling whose size when viewed from directly above is smaller than the outer shape of the vehicle, and is separated from the vehicle main body as much as possible by the photographing device support. Since the image is taken from a certain place, it is possible to obtain a vehicle periphery monitoring device having a small blind spot area in which a person walking around the vehicle is not easily caught and is relatively invisible as a shadow of the own vehicle. This effect is particularly effective in a vehicle whose ceiling extends to the vicinity of the rear end of the vehicle, such as a one-box car or a two-box car.
In addition, since the wide-angle camera is installed downward at the upper left and right corners at the rear end of the vehicle, the side and rear of the host vehicle can be monitored with one camera.
In addition, it has optical means that expands the captured image in the direction of 45 degrees and 135 degrees obliquely with respect to the front and rear, left and right directions around the optical axis, and deforms slightly into a square shape. It can be relaxed and the driver can be presented with easy-to-understand images of the surrounding situation.

  In the first embodiment, the blind spot area image 40 is a quadrangle that occupies 1/4 of the screen. However, the blind spot area image 40 has a rounded shape that more accurately traces the shape of the blind spot area by the own vehicle. Also good.

  In addition, when the mounting position of the photographing device 20 must be greatly inside the silhouette of the vehicle, and the gap between the left side and the lower end of the own vehicle sketch 41 and the blind spot area image 40 becomes wide, The gap may be filled with an image from the image capturing means, or an image at the position that has been captured in the past and stored as a road map.

  Since the photographing device support 24 is provided with a tilting mechanism, even if one person or an object hits the photographing device 20, there is an effect that power can be released by the tilting mechanism and damage can be reduced.

Embodiment 2. FIG.
On the display 30, the image of the vehicle's outer shape or the expected trajectory of the wheel projected on the road surface at the same position according to the current steering angle is virtually captured using the imaging device. The predicted trajectory of the vehicle body or the wheel drawn with distortion similar to the road surface of the position may be overlaid.
In addition, regardless of the current steering angle, when the vehicle is steered left or right to the maximum, an image of the vehicle's external shape or the expected trajectory of the wheel projected on the road surface at the same magnification is virtually captured. You may overlay the image | video which was image | photographed using the apparatus.

FIG. 7 is a diagram illustrating an example of an image captured by the imaging device of the vehicle periphery monitoring device according to the second embodiment of the present invention and displayed on the display.
In FIG. 7, reference numerals 30, 40 and 41 are the same as those in FIG. The predicted trajectory sketch 43a virtually uses the imaging device to project an image obtained by projecting the predicted trajectory of the left front corner of the host vehicle on the road surface at the same position when the vehicle is steered rightward to the maximum and moves backward. This shows the shape photographed. The predicted locus schematic drawing 43b shows a similar locus on the right side of the body. The predicted locus outline 43c shows a similar locus on the left side of the body. The predicted trajectory sketch 43d virtually uses the imaging device to project an image of the predicted trajectory of the right front corner of the host vehicle projected on the road surface at the same position when the vehicle is steered to the maximum and moved backward. This shows the shape photographed. The predicted locus outline 43e shows a similar locus on the right side of the body. The predicted locus outline 43f shows a similar locus on the left side of the body.

FIG. 8 is a diagram showing an example of an image displayed on the display of the vehicle periphery monitoring device according to Embodiment 2 of the present invention.
In FIG. 8, an expected outline outline 44a is an expected outline outline drawing that shows an expected position when the steering wheel is fully steered from the current position and then moves backward and turns 45 degrees. The expected outline sketch 44b is an expected outline sketch that indicates the expected position when bent 90 degrees.

Next, the operation will be described.
FIG. 7 shows an image taken by the photographing device 20 in a scene where the vehicle 10 is about to park in the parking frame 51 sandwiched between two other vehicles 54 from the previous stage to the scene of FIG. The example of a screen projected on the display 30 with which the room was equipped is shown.
In general, a beginner driver is often not good at determining whether or not parking is possible if the parking operation is started from the current state. Even in this case, looking at the screen of FIG. 7, even if the vehicle is fully steered to the right from the state at this time and moves backward, the predicted trajectory sketch 43e hits another vehicle behind and cannot park normally. It can be clearly understood that the vehicle has to be advanced once and at least the outside of the predicted approximate locus 43e outside the vehicle fits within the parking frame and then reverses again.
In this way, by overlaying the projected image of the vehicle's outer shape or the expected trajectory of the wheel on the road surface at the same magnification, there is an effect that it is not necessary to perform a wasteful turning operation.
In addition, in the case of a very beginner, it is possible to move forward to a state where both of the predicted trajectory sketches 43e and 43f are within the parking frame, and then move backward from the fully steered state.

  Moreover, you may use the outline sketch which shows the estimated position of the own vehicle instead of an estimated locus | trajectory. That is, in FIG. 8, if the predicted outline 44b showing the predicted position when the vehicle is bent 90 degrees after moving forward is fully steered when the vehicle is retracted at the entrance of the parking frame, it is the same as when the predicted trajectory is drawn. Can be parked in. At the same time, how far the right front corner protrudes to the right from the predicted outline 44a showing the predicted position when the vehicle is fully steered from the current position and is bent 45 degrees, the left side of the body and the obstacle It is possible to grasp the degree of clearance more accurately on a cleaner screen than when drawing an expected trajectory.

  However, since a general driver with a high level of skill does not often need an expected trajectory, a means for turning on and off the drawing of the expected trajectory and the predicted outline outline may be provided.

  According to the second embodiment, on the display, the outline of the wheel according to the current steering angle, the external shape of the host vehicle or the expected trajectory of the wheel according to the current steering angle, or a combination thereof, etc. As the image projected on the road surface at that position is virtually taken using the camera device, the image drawn with the same distortion as the road surface at that position is overlaid, so the driver's future course There is an effect that it is possible to present an image that can be easily grasped.

Embodiment 3 FIG.
In the first and second embodiments, the image is deformed into a square due to the effect of the lens deformed into a square, but in the third embodiment, the image obtained with a general axial target optical system is digitally converted. The image is deformed into a square shape using an image transformation means.
If the digital video transformation means is used, the video can be transformed in any way depending on the parameters, so that the degree of freedom of transformation is increased.

FIG. 9 is a block diagram showing a vehicle periphery monitoring apparatus according to Embodiment 3 of the present invention.
In FIG. 9, the photographing apparatus 21 has a general optical system that is a target of an axis, and an output thereof is input to a digital video transformation means 60 (conversion means), where it is digitally transformed and displayed on the display 30. The A parameter 61 for deforming the image is input to the digital image deforming means 60. The parameter 61 includes a range to be displayed on the display 30, the tilt of the photographing device 21, lens characteristics, and deformation conditions such as a slight square shape.
FIG. 10 is a diagram showing a screen imaged by the imaging device alone of the vehicle periphery monitoring device according to Embodiment 3 of the present invention.
10, 30, 52 ′, 53 ′ and 55 ′ are the same as those in FIG.

FIG. 11 is a diagram showing an example of an image captured by the imaging device of the vehicle periphery monitoring device according to Embodiment 3 of the present invention and displayed on the display.
11, 30, 40 to 42, 52 ′, 53 ′, and 54 ′ are the same as those in FIG.

Next, the operation will be described.
In the third embodiment, the vicinity of the center of the image obtained when the scene shown in FIG. Deforms to become a top view image by projection. This deformed image is shown in FIG. In the image of FIG. 4, the paving stone near the center of the screen is also slightly distorted in a round shape, but in the image of FIG. 10, the distortion is small and it appears close to a square.
Here, the perspective projection means that when a point at a distance h from the optical axis on the surface perpendicular to the optical axis at the distance D is reflected in the image height y in the optical system at the focal length f.
y = h · f / D
The projection is a distortion-free projection in which a figure on a plane orthogonal to the optical axis is photographed in a similar manner as in a normal photographic camera.
As shown in FIG. 11, the display 30 in the passenger compartment displays an image obtained by deforming the scene of FIG. 5 using the digital image deformation means 60 of the third embodiment. Since the distortion of the road surface near the host vehicle is small, there is an effect of easily grasping the surrounding situation.
The digital image transformation means 60 may be incorporated in the photographing apparatus or may be another apparatus. In short, it may be arranged between the photographing apparatus and the display input.
Further, by changing the parameter 61, it is possible to control the deformation of the image of the digital image deformation means 60.

  According to the third embodiment, when the surroundings are monitored by the digital image transformation means with the optical axis being directly below, obstacles appearing in the periphery of the image can be photographed greatly, and the driver can understand the necessary information. There is an effect that can be presented easily.

  In the above description of Embodiments 1 to 3, a dedicated imaging device support is used, but it is provided around the rear end of the ceiling of the vehicle body, such as aero parts, and is viewed from directly above the vehicle. In this case, a part that protrudes obliquely outward and rearward from the vehicle main body within a range that does not protrude from the vehicle silhouette may be used as the imaging device support.

  In the description of the first to third embodiments, the photographing device support is extended horizontally. However, the photographing device support may be extended upward or obliquely upward, and the photographing device may be slightly separated from the vehicle and other parts. In the same manner, it is possible to obtain an effect of preventing an area that becomes a blind spot from becoming too large due to the vehicle body of the own vehicle.

  In the description of the first to third embodiments, the photographic device support is provided with a retractable mechanism so as to release a force when a person or an object collides with the photographic device support. It may be possible to reduce harm to humans by making the shape round and round.

FIG. 12 is a diagram showing an example of another video image taken by the imaging device of the vehicle periphery monitoring device according to the third embodiment of the present invention and shown on the display.
12, 30, 40 to 42, 52 ′, 53 ′, and 54 ′ are the same as those in FIG.
Further, in the description of Embodiments 1 to 3 above, in order to be able to see an object with a distant height, it is sacrificed to obtain an accurate top view image. As shown in FIG. 12, the entire screen may be a top view image. In the top view image, for example, a distant object such as a front pole cannot be seen. However, since the road surface image in the visible range is not distorted, the surroundings can be accurately grasped.

  In addition, there are cases where you want to see a wide distance, such as when passing or narrowing a narrow road, and when you want to see the vicinity accurately, such as during low-speed parking operations. Depending on the situation such as the vehicle speed, as shown in FIG. 12, an image obtained by making the entire screen a top view image and an image according to the first to third embodiments may be switched.

It is a perspective view which shows the state which attached the vehicle periphery monitoring apparatus by Embodiment 1 of this invention to the one box car. It is a cross-sectional perspective view which shows the outermost lens of the optical system used for the imaging | photography apparatus of the vehicle periphery monitoring apparatus by Embodiment 1 of this invention. It is a figure which shows the scene which has arrange | positioned and set the imaging | photography apparatus single-piece | unit of the vehicle periphery monitoring apparatus by Embodiment 1 of this invention. It is a figure which shows the screen image | photographed with the imaging device single-piece | unit of the vehicle periphery monitoring apparatus by Embodiment 1 of this invention. It is a full view figure which shows the example of a scene when the vehicle provided with the vehicle periphery monitoring apparatus by Embodiment 1 of this invention parks in the parking frame pinched | interposed into two other vehicles. It is a figure which shows the example of the image | video image | photographed by the imaging device of the vehicle periphery monitoring apparatus by Embodiment 1 of this invention, and being shown on a display. It is a figure which shows the example of the image | video image | photographed by the imaging device of the vehicle periphery monitoring apparatus by Embodiment 2 of this invention, and being shown on a display. It is a figure which shows the example of an image projected on the display of the vehicle periphery monitoring apparatus by Embodiment 2 of this invention. It is a block diagram which shows the vehicle periphery monitoring apparatus by Embodiment 3 of this invention. It is a figure which shows the screen image | photographed with the imaging device single-piece | unit of the vehicle periphery monitoring apparatus by Embodiment 3 of this invention. It is a figure which shows the example of the image | video image | photographed by the imaging device of the vehicle periphery monitoring apparatus by Embodiment 3 of this invention, and being shown on a display. It is a figure which shows the example of the other image | video image | photographed by the imaging device of the vehicle periphery monitoring apparatus by Embodiment 3 of this invention, and being shown on a display.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle 20 Image pick-up device 24 Image pick-up device support body 25 Lens 26 1st surface 27 2nd surface 30 Display 40 Blind spot area image 41 Own vehicle sketch 42 Wheel sketch 43 Expected outline sketch 44 Expected outline sketch 51 Parking frame 52 Pole 53 Paving stone 54 Other vehicle 55 Disc 60 Digital image transformation means 61 Parameters

Claims (12)

  In the vicinity of one or both of the rear left corner and the rear right corner around the ceiling of the vehicle, diagonally outward and rearward from the vehicle body within a range that does not protrude from the vehicle silhouette when viewed from directly above the vehicle. An imaging device support provided so as to project, an imaging device attached to the imaging device support so that the optical axis is directed downward, and images captured by the imaging device are displayed in the vehicle front direction on the screen. A vehicle periphery monitoring device comprising a display for displaying a direction.   2. The vehicle periphery monitoring device according to claim 1, further comprising conversion means for converting an image photographed by the photographing device into a top view image.   2. The vehicle periphery monitoring device according to claim 1, further comprising conversion means for converting an image captured by the imaging device so that a peripheral area is larger than an image captured by a fisheye lens of equidistant projection. .   The image photographed by the photographing device is converted so as to be enlarged in the direction of about 45 degrees and about 135 degrees obliquely with respect to the front direction of the vehicle as compared with the front-rear and left-right directions of the host vehicle with the optical axis of the photographing device as the center. The vehicle periphery monitoring apparatus according to claim 1, further comprising conversion means.   It is provided with conversion means for converting the video imaged by the imaging device so that the vicinity is larger than the video imaged by the equi-distance projection fisheye lens and the central area is substantially a top view image by the perspective projection. The vehicle periphery monitoring device according to claim 1.   The conversion means is provided in the photographing apparatus, and has an optical function surface having an optical functional surface that is different from a cross-sectional shape in the front-rear and left-right directions of the host vehicle and a cross-sectional shape in directions of about 45 degrees and about 135 degrees obliquely with respect to the front direction The vehicle periphery monitoring device according to claim 4, comprising:   6. The vehicle periphery monitoring device according to claim 2, wherein the conversion means is constituted by a digital image transformation means. 6. The vehicle periphery monitoring device according to claim 2, wherein the conversion means is constituted by an optical system.   The area displayed on the display is masked by the blind spot area image, and the top view of the host vehicle is virtually captured on the blind spot area image using the imaging device. The vehicle periphery monitoring device according to any one of claims 1 to 8, wherein the vehicle periphery monitoring device is overlaid.   A virtual image of the wheel displayed in accordance with the current steering angle and the outline of the vehicle or the predicted trajectory of the wheel in accordance with the current steering angle are displayed on the video displayed on the display using the imaging device. The vehicle periphery monitoring apparatus according to claim 1, wherein the vehicle periphery monitoring apparatus is overlaid as photographed.   The image displayed on the display is overlaid as if the image of the vehicle or the expected trajectory of the wheel when the vehicle is steered leftward or rightward to the maximum is photographed virtually using the photographing device. The vehicle periphery monitoring device according to any one of claims 1 to 10.   The vehicle periphery monitoring device according to any one of claims 1 to 11, wherein the photographing device support has a tiltable mechanism.