JP2010018102A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the visibility of a guide line by changing the luminance of the guide line in a driving support device which superimposes the guide line, which becomes a standard of driving actions including a lane change, on photographed images of the periphery of an own vehicle, and displays the images with the guide line. <P>SOLUTION: The driving support device includes a photographing means (10), which photographs the periphery of the own vehicle (60); a display means (30), which displays a source images (12) photographed by the photographing means (10); a generation means (40), which generates the guide line (GL) that supplements the discrimination of road situation around the own vehicle (60) displayed in the source images (12); and a superimposing means (20), which displays on the display means (30) the guide line (GL) superimposed on the source images (12). The generation means (40) makes the luminance (L) of the guide line (GL) different from luminance (L) of at least a part of the images in the periphery of the guide line (GL). <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support device, and more specifically, changes and displays the luminance (color) of a guide line that complements identification of road conditions around the vehicle superimposed on an image of the rear side of the vehicle. It is related with the apparatus to do.

  For safe driving of the vehicle, the driver visually checks not only the front but also the rear and the side with the door mirror and the rearview mirror of the vehicle according to the driving situation.

  However, the field of view behind or behind the vehicle is limited only by the door mirror or the rearview mirror. Furthermore, in order for the driver to look at the rear-view mirror located at the center front and above in the passenger compartment and the door mirrors located at the left and right front doors, the direction of line of sight must be changed significantly, Was necessary.

  In view of this, a technique has been developed in which the field of view of the vehicle is photographed with a photographing means such as a camera and the photographed image is displayed on the display in the vehicle interior so that the field of view is widened and the line of sight is not greatly moved. .

  Among these techniques, a technique is disclosed in which a plurality of images around the host vehicle are simultaneously displayed and a boundary line for distinguishing the plurality of images is provided (for example, see Patent Document 1).

In addition, when the driver tries to change the lane of his / her vehicle, the guide index that is a guideline for the distance from the own vehicle and lane information can be set in the rear or rear A technique for superimposing images on captured images is disclosed. In addition, a technology is disclosed that displays an image behind the host vehicle when the host vehicle is parked backward and superimposes a guide index that draws an expected trajectory of the host vehicle according to the steering angle of the host vehicle on the image. (For example, refer to Patent Document 2).
JP-A-11-59270 Japanese Patent No. 3183284

  It is preferable that the driver can clearly identify the boundary line and the guide index that are superimposed on the captured image.

  The technique disclosed in Patent Document 1 or Patent Document 2 generates boundary lines and guide indices (both are collectively referred to as “guide lines” hereinafter) and superimposes them on a captured image. It is not described whether these are easily visible.

  For example, when the vehicle is traveling on a road with a small amount of ambient light, such as at night or in a tunnel, an image taken with a normal visible light vehicle-mounted camera becomes dark. When a black guide line is superimposed on this image, the contrast between the original image and the guide line is small, making it difficult to recognize the guide line. On the other hand, if the amount of light incident on the camera is large, such as when the light from the headlight of another vehicle traveling behind the vehicle is strongly incident on the camera or sunlight is incident, It becomes brighter. Even when a white guide line is superimposed on this image, the contrast with the original image is small and it is difficult to recognize the guide line.

  As described above, in the configuration in which the guide line of the same color is superimposed on the captured image, the guide line is visible depending on the environment related to the brightness and color around the vehicle, in other words, depending on the image displayed on the display. Sometimes it becomes difficult. On the other hand, if the contrast with the original image is too large, the guide line may become extremely conspicuous, making it difficult to see the image around the vehicle that needs to be viewed, and the driver feels annoying the guide line. Cases can also arise.

  The present invention relates to a driving assistance device that displays a guide line that is a guideline for driving behavior such as lane change on an image of the periphery of a host vehicle, and changes the brightness of the guide line to improve the visibility of the guide line. The purpose is to improve.

  In order to solve the above-described problem, an embodiment of the present invention is a driving support device that displays an image of the periphery of the own vehicle so that the driver can visually recognize the image. Display means for displaying the original image taken by the photographing means, generation means for generating a guide line that complements identification of road conditions around the vehicle displayed in the original image, and the original image Superimposing means for superimposing the guide lines on the display means, and the generating means makes the luminance of the guide lines different from the luminance of at least a part of the image around the guide lines. It is said.

  According to the above-described configuration, in the present embodiment, at least a part of the superimposed image is provided with a portion where the luminance of the guide line and the luminance of the image obtained by photographing the periphery of the host vehicle are different. It becomes easy to recognize the position of.

  In another embodiment of the present invention, the guide line is included in the original image, and the same image as a rear side map of the own vehicle that the driver can visually recognize through a door mirror, and a map of the door mirror, It is a boundary line that separates an image of a blind spot area on the rear side of the own vehicle that cannot be visually recognized by the adjacent driver through a door mirror.

  According to the above configuration, by superimposing the boundary line on one continuous image, the driver can easily grasp the relationship between the position of the other vehicle shown in the image and the position where the other vehicle actually exists. It is possible to instantly determine whether a vehicle is present in the blind spot of the door mirror. In addition, for example, even when an image around the host vehicle is displayed on the display of the car navigation system and an image different from this image is superimposed on the display, a boundary with a luminance different from both these images is displayed. It is also possible to display lines and make it easy to distinguish both images.

  Another embodiment of the present invention is characterized in that the boundary line is connected to a plurality of boundary lines having different luminances.

  Images taken from the back side of the vehicle include distant views such as the horizon and mountains. The land and the sky often have a part where the luminance of the image is largely different due to the influence of sunlight or the like. In such a state, if a vertical boundary line is superimposed, a situation may occur in which it is easy to recognize in one part but cannot be recognized in another part.

  According to the above configuration, in the present embodiment, a plurality of connected boundary lines have a strong contrast on each background (captured image), so that the boundary line becomes a background (captured image). Can be easily identified without being buried.

  Another embodiment of the present invention is characterized in that the boundary line is a striped line or a broken line having alternately different luminances.

  According to the configuration, the present embodiment can display an easily distinguishable boundary line even when the luminance of an image on which the boundary line is superimposed frequently changes.

  Another embodiment of the present invention is characterized in that the guide line is a guide index indicating a predetermined distance from the host vehicle to the rear.

  The luminance of the rear and rear side images of the host vehicle changes greatly due to the influence of the headlights of other vehicles that travel behind the host vehicle at night or on the road with less lighting equipment.

  According to the configuration, in the present embodiment, the brightness of the guide index can be set according to the brightness of the image.

  In another embodiment of the present invention, the generating unit generates a plurality of the guide lines having different luminances, and the superimposing unit displays the plurality of the guide lines having different luminances in parallel on the display unit. It is characterized by that.

  In the present embodiment, a plurality of guide lines having a difference in luminance value are generated in advance, and these guide lines are displayed side by side. According to such a configuration, even if the vehicle does not have a function (such as an arithmetic device provided in the generation unit) that calculates the luminance of the guide line superimposed on the captured image according to the captured image, the luminance At least one of the plurality of guide lines having a difference in value becomes relatively easy to see with respect to the luminance of the superimposed image, and the driver can easily identify the guide line.

  According to the present invention, in a driving assistance device that displays a guide line that is a guideline for driving behavior such as lane change on an image obtained by photographing the periphery of the host vehicle, the brightness of the guide line is changed, and the guide line is visually recognized. Can be improved.

[First Embodiment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a configuration of the driving support apparatus according to the present embodiment.

  In the present embodiment, as shown in FIG. 1, an imaging device (imaging means) 10 that captures the rear side of the host vehicle, and a display device (display means) 30 that displays an original image 12 captured by the imaging device 10. A generating device (generating means) 40 that generates a guide line GL that serves as a guideline for driving behavior such as lane change, and a superimposing device that displays the superimposed image 42 on the display device 30 by superimposing the guide line GL on the original image 12. (Superimposing means) 20.

  The imaging device 10 is, for example, a camera 11 that is disposed at a lower part of a door mirror (not shown) in a direction in which the rear side of the vehicle can be captured. The original image 12 captured by the imaging device 10 at the rear side of the host vehicle is once sent to the superimposing device 20 and displayed by the display device 30. The camera 11 is a camera having a wide-angle lens in order to widely shoot the rear side, but is not limited thereto.

  The superimposing device 20 sends the sent original image 12 to the generating device 40 together with the display device 30.

  As the generation device 40, for example, an arithmetic device (computer, not shown) provided in a car navigation system is applied. Hereinafter, the luminance processed by the generation device 40 will be described.

  The original image 12 is displayed on the display 31 as pixels of red, green and blue (RGB) brightness (for example, a predetermined value according to “sRGB” determined by the International Electrotechnical Commission (IEC)) processed by the computer. Composed. More specifically, the brightness value is appropriately corrected (gamma correction), converted into luminance so as to be displayed on the display 31 with the hue and brightness desired by the operator, and adjusted. As described above, it is a known technique that various colors can be expressed by combinations of RGB luminances.

  The original image 12 does not always have the same contrast in one image depending on the shooting situation, shooting location, function of the shooting device, settings, and the like.

  When contrast is increased, the difference between light and dark becomes large, and bright and dark portions become clear, but intermediate colors are difficult to distinguish. On the other hand, when the contrast is lowered, the difference between light and dark is reduced and the number of intermediate colors is increased, so that bright and dark portions are not clear.

  That is, the contrast in an image means the brightness ratio between the brightest part and the darkest part of a video / image, and in a broad sense, the contrast of light and dark as a whole. Usually, when an object is superimposed on a background, it is often said whether or not the object can be visually distinguished from other backgrounds. The contrast can be expressed as a difference in luminance.

  The generation device 40 determines the luminance of the sent original image 12. Then, the luminance of a guide line, which will be described later, superimposed on the original image is appropriately set on the assumption of the contrast ratio described above. Specifically, the luminance near the position on the original image 12 on which the guide line is drawn is obtained, the difference ΔL from the luminance of the guide line is taken, and the difference in luminance between the camera image and the guide line is equal to or greater than a certain value L_min. The luminance L of the guide line is changed so as to be equal to or less than the value L_max.

  Here, L is a unit of luminance representing luminance. For example, according to the definition of RGB color space proposed by Adobe Systems (registered trademark) AdobeRGB, L = (0.298912 * r + 0.586611 * g + 0.114478). * B). The brightness L is determined by the weighted average of RGB values as described above, so that evaluation of brightness and color close to human vision can be handled numerically.

  Furthermore, when setting the luminance L of the guide line, a color distribution map in the vicinity of the position on the image on which the guide line is drawn may be obtained, and the color may be changed so that the color difference becomes a certain value E_min or more.

  Here, the color difference is a color difference to be compared with a standard color. When the CIElab system of the International Commission on Illumination (CIE) is used for color difference evaluation, the value calculated using each value of the L *, a *, b * color system is expressed as color difference (ΔE). . In order to know the color difference between one color and another color, the square root of the sum of the squares of the differences of the L * axis, a * axis, and b * axis is obtained (ie, the distance between the two coordinates) (JIS Z 8729 “Color Display Method—L * a * b * Color System and L * u * v * Color System”).

  As an evaluation standard for the value of color difference, the US National Bureau of Standards (NBS unit) is set as follows. The color difference can be set as appropriate by considering the following criteria.

  When ΔE = 0 to 0.5, there is a slight (same color) difference. There is a slight difference when ΔE = 0.5 to 1.5. When ΔE = 1.5 to 3.0, there is a considerable (different color) difference. When ΔE = 3.0 to 6.0, there is a noticeable difference. There is a large difference when ΔE = 6.0-12. There is a very large difference when ΔE = 12.

  As described above, the constant value E_min can be set to an appropriate value ΔE in consideration of the ease of identification of the driver.

  An example of setting the luminance L and the color difference ΔE will be described.

  When the drawing area includes a plurality of sufficiently large partial areas having greatly different luminances, for example, when the drawing area includes both an empty area and a road surface area as illustrated in FIG. Rather than comparing the overall average luminance with the luminance of the guide line, the luminance of each partial area is compared and the luminance of the guide line is adjusted for each drawing partial area.

  When the portion of the original image 12 on which the guide line is superimposed is a unit of a small area A, when the guide line is superimposed on an image (a mottled pattern object, gravel road, etc.) having a large luminance difference or color difference within this unit. Draw guide lines with multiple brightness or multiple colors.

  The generation device 40 generates the guide line GL as described above, and sends the generated guide line GL to the superposition device 20.

  The superimposing device 20 superimposes the guide line GL on the original image 12, and the superimposed image 42 having an appropriate luminance difference or color difference is displayed on the display 31.

  Next, examples of the present embodiment will be described with reference to FIGS. 2 and 3 are explanatory diagrams of the display screen of the display 31. FIG. 2 shows the case where the rear side and the rear side of the own vehicle are dark. FIG. 3 shows the headlight of the other vehicle on the rear side and the rear side. It explains the case where it is bright due to the influence of the above.

  For example, the display device 30 can also be used as the display 31 of the car navigation system. The superimposed image 42 is an image in which the guide line GL is superimposed on the original image 12.

  The original image 12 is, for example, an image taken by the camera 11 (see FIG. 1) disposed at the lower part of the left door mirror (not shown) in the vehicle traveling direction, and the lower right corner of FIG. There is a traveling lane 73 and an adjacent lane 70 in which the host vehicle is traveling in order from the right in the figure, and corresponds to a white line or a yellow line that partitions the traveling lane 73 and the adjacent lane 70. A second partition line 72 arranged in parallel on the side facing the partition line 71 across the partition line 71 and the adjacent lane 70 is shown. FIG. 2 shows a scene in which another vehicle 61 is traveling in the adjacent lane 70 and behind the host vehicle 60.

  As shown in FIG. 2, the original image 12 obtained by photographing the rear side of the own vehicle 60 is traveling on a road where the own vehicle 60 is nighttime and has no lighting equipment. It is too dark to see 71 etc.

  In such a situation, even if the black-type guide line GL is superimposed on the original image 12 (not shown), it is difficult for the driver to visually recognize the guide line GL.

  Therefore, in the present embodiment, the luminance of the guide line GL is set as described below. In the following description, it is assumed that the guide line GL in the present embodiment is drawn at a fixed coordinate (position shown in FIG. 2) of the display 31 as the boundary line BL1. The boundary line BL1 is a line that divides the area where the door mirror is visible and the blind area where it is impossible, and can be uniquely determined by the curvature of the door mirror, the direction (angle) of the door mirror, and the driver's eye point. Therefore, since the position of the boundary line does not vary greatly depending on the direction of the door mirror or the eye point, the coordinates of the boundary line may be set in advance.

  In FIG. 2, the superimposed image 42 is an area MA where the right side is visible through the boundary line BL <b> 1 and a blind spot area MB where the left side is not visible. Thus, the boundary line BL1 divides the visual recognition area MA and the blind spot area MB.

  First, the luminance values of a drawing area (not shown) including N pixels near the coordinates of the fixed boundary line BL1 are integrated. Then, the difference between the luminance value L_back per pixel and the luminance value L_guide of the boundary line BL1 is taken. When the difference value is equal to or smaller than the predetermined threshold L_min appropriately selected as described above, the boundary value is set so that the luminance value of the original image near the drawing area and the luminance value of the boundary line BL1 have a difference equal to or larger than L_min. Increase or decrease the luminance value of the line BL1. Further, when the difference value exceeds L_max, the luminance value of the boundary line BL1 is increased or decreased so that the difference is equal to or less than L_max.

  The boundary line BL1 which has been subjected to such processing and has a luminance value set is displayed so as to stand out from the dark original image 12, as shown in FIG.

When strong external light such as a headlight of another vehicle traveling behind the vehicle is incident, the rear side original image 12 becomes an image that is very difficult to see due to the influence of halation or the like. At this time, even if the white guide line GL is superimposed on the original image 12 and displayed, it is difficult for the driver to visually recognize the guide line GL.
In such a case, the same processing as that described with reference to FIG. 2 is performed to set the luminance value of the boundary line BL2. The boundary line BL2 in which the luminance value is set is displayed so as to stand out from the bright original image 12, as shown in FIG.

  In the present embodiment, as described above, since the brightness of the guide lines GL (BL1, BL2) is set in consideration of the situation that the host vehicle actually encounters, the guide lines are independent of the brightness state of the surrounding environment. GL visibility can be maintained.

  In order to obtain the same effect, a color distribution map in the vicinity of the drawing area of the guide line may be obtained, and the color may be changed so that the color difference becomes a certain value E_min or more.

  The guide line in the above description can be applied not only to the boundary line but also to the guide index shown in FIG. FIG. 4 is an example of a screen displayed on the display 31 according to the present embodiment.

  The guide indicator 41 is a virtual line drawn in the direction of the designated distance from the vehicle to the rear instructed in advance in the direction crossing the adjacent lane 70 from the partition line 71 to the second partition line. It is a guide for distance and lane position.

  Setting of the brightness | luminance etc. of the guide parameter | index 41 can be performed similarly to the above-mentioned boundary line. In other words, the generation device 40 (see FIG. 1) generates a guide index 41 having a luminance that is easy to identify based on a neighborhood area (not shown) of the original image 12 on which the guide index 41 is superimposed. Then, the generated guide index 41 is superimposed on the original image 12 as shown in FIG.

  In the present embodiment, the luminance of the guide line is changed by the luminance near the guide line drawing position on the screen. Such a configuration prevents a black guide line from being obscured on a dark road surface, or a white guide line from being obscured even if halation is caused by strong external light, and the driver can easily visually recognize the guide line. be able to. Furthermore, it is possible to prevent the guide line from becoming extremely noticeable and annoying.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to the drawings. Note that portions that are the same as those in the first embodiment are omitted, and the differences will be mainly described. FIG. 5 is an example of a screen displayed on the display 31 according to the present embodiment.

  The example of this embodiment relates to drawing of a boundary line, and the basic configuration is the same as that of the first embodiment.

  In the original image 12 shown in FIG. 5, the horizon 15 and the sky 16 that is distinguished from the ground portion (the adjacent lane 70 and the like) by the horizon 15 are shown. The hatched ground portion (such as the adjacent lane 70) and the sky 16 are greatly different in luminance and color. The monochromatic guide line GL may be difficult to see in one region even though it is easy to see in one region. Therefore, the luminance or color is changed for each area between the ground part and the sky 16, for example, by arranging the white line boundary line BL 1 on the ground part and the black line boundary line BL 2 on the sky 16 part. As shown in FIG. 5, a guide line GL that is easy to see in the entire region can be realized.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to the drawings. Note that portions that are the same as those in the first embodiment are omitted, and the differences will be mainly described. 6 to 10 are examples of screens displayed on the display 31 according to the present embodiment. FIG. 6 is an explanatory diagram of a parallel boundary line in a situation where the rear side is dark, and FIG. FIG. 8 is an explanatory diagram of a broken boundary line in a situation where the rear side is dark, and FIG. 9 is a rear side of a headlight of another vehicle. FIG. 10 is an explanatory diagram of a guide index, and FIG. 10 is an explanatory diagram of a broken line boundary line in a bright situation.

  Unlike the first embodiment, the example of the present embodiment does not send the original image 12 from the superimposing device 20 in FIG. 1 to the generating device 40. The generation device 40 independently generates a plurality of guide lines GL with greatly different luminances independently of the brightness and color of the original image 12. The generated guide line GL is sent from the generating device 40 to the superimposing device 20, and the superimposing device 20 superimposes the guide line GL on the original image 12. Then, the superimposed image 42 is displayed on the display 31 of the display device 30.

  The generated guide lines GL are, for example, a white line boundary line BL1 and a black line boundary line BL2 as shown in FIG. 6, and these boundary lines BL1 and BL2 are displayed side by side. As shown in FIG. 6, when the original image 12 taken from the rear side is dark, the black line boundary line BL2 is difficult to visually recognize, but the white line boundary line BL1 is easy to visually recognize because of a large difference in luminance from the surroundings.

  In this way, even when the generation device 40 does not have a calculation device necessary for calculating the amount of increase / decrease in the luminance value of the guide line GL, a plurality of lines with large luminance value differences are drawn in advance. , At least one of several can be recognized.

  FIG. 7 is an example in which the boundary line BL1 and the boundary line BL2 are arranged side by side in a situation where the rear side is bright under the influence of the headlights of other vehicles. In FIG. 7, the black line boundary line BL2 is easily visible.

  In FIG. 8, the generation device 40 generates a boundary line BL <b> 3 displaying a black line boundary line from above the white line boundary line and superimposes it on the original image 12. The boundary line BL3 can be easily visually recognized by the combination of the boundary lines.

  FIG. 9 is an example in which a broken boundary line BL3 is superimposed on the original image 12 in a situation where the rear side is bright due to the influence of the headlights of other vehicles. The black line portion of the boundary line BL3 is easily visible.

  In FIG. 10, such a combination of boundary lines is applied to the guide index 43, and a similar effect can be obtained. Although not shown, a broken-line guide index may be applied.

  The combination of a plurality of guide lines having different luminances and the display with broken lines are operations necessary for the generation device 40 to calculate the amount of increase / decrease in luminance values as described in the first or second embodiment. Needless to say, the present invention can be applied to the case where the apparatus is provided. For example, as shown in FIG. 5, when an area having a large brightness difference between the ground part and the sky exists in the original image, a guide line having brightness corresponding to the ground part and a guide having brightness corresponding to the sky part are used. The driver can easily identify the guide line by arranging the lines side by side or by using the broken line as described above.

  In addition, such a combination of guide lines with different luminance levels is more visible than the other guide lines indicating the position on the road surface, with one auxiliary guide line having different luminance or color serving as a shadow. It is possible to give a feeling of grounding that the guide line is not on the air but on the road surface.

  The preferred embodiments of the present invention have been described above. The present invention is not limited to the one described in the drawings, and design changes can be made without departing from the spirit of the present invention. For example, the above-described guide line can be applied to a technique of displaying a plurality of images around the own vehicle at the same time and providing boundary lines in the plurality of images (for example, see Patent Document 1). Needless to say.

It is a block diagram which shows the structure of the driving assistance device which concerns on 1st Embodiment. It is explanatory drawing of the display screen of a display, and demonstrates the case where the back and back side of the own vehicle are dark. It is explanatory drawing of the display screen of a display, and demonstrates the case where the back and the back side of the own vehicle are bright under the influence of the headlight etc. of another vehicle. It is one Example of the screen displayed on a display. It is an example of the screen displayed on the display which concerns on 2nd Embodiment. It is an example of the screen displayed on the display which concerns on 3rd Embodiment, and is explanatory drawing of the juxtaposed boundary line in the condition where the back side is dark. It is an example of the screen displayed on the display which concerns on 3rd Embodiment, and is an explanatory view of the juxtaposed boundary line in the situation where the rear side is bright under the influence of the headlights of other vehicles. It is an example of the screen displayed on the display which concerns on 3rd Embodiment, and is explanatory drawing of the broken-line boundary line in the condition where a back side is dark. It is an Example of the screen displayed on the display which concerns on 3rd Embodiment, and is an explanatory view of the broken-line boundary line in the situation where the back side is bright under the influence of the headlight etc. of another vehicle. It is an Example of the screen displayed on the display which concerns on 3rd Embodiment, and is explanatory drawing of the guide parameter | index arranged in parallel.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Image pick-up device 11 Camera 12 Original image 15 Horizon 16 Sky 20 Superimposing device 30 Display device 31 Display 40 Generating device 41, 43 Guide index 42 Superimposed image 60 Own vehicle 61 Other vehicle 70 Neighboring lane 71 Dividing line 72 Second dividing line 73 Running Lane GL Guide line BL1, BL2, BL3 Boundary line

Claims (6)

A driving support device that displays an image of the periphery of the vehicle in a visible manner to the driver,
Photographing means for photographing the periphery of the vehicle;
Display means for displaying an original image taken by the photographing means;
Generating means for generating a guide line that complements identification of road conditions around the vehicle displayed in the original image;
Superimposing means for superimposing the guide line on the original image and displaying it on a display means,
The driving means according to claim 1, wherein the generation means makes the luminance of the guide line different from the luminance of at least a part of the image around the guide line.   The guide line is included in the original image, the same image as the rear side map of the host vehicle that the driver can visually recognize through the door mirror, and the driver adjacent to the door mirror map through the door mirror. The driving support device according to claim 1, wherein the driving assistance device is a boundary line that separates an image of a blind spot area behind the host vehicle that cannot be visually recognized.   The driving support device according to claim 2, wherein the boundary line is connected to a plurality of boundary lines having different luminances.   The driving support device according to claim 2 or 3, wherein the boundary line is a striped line or a broken line with alternately different luminances.   The driving support device according to claim 1, wherein the guide line is a guide index that indicates a predetermined distance from the host vehicle to the rear. The generation means generates a plurality of the guide lines having different luminances,
6. The driving support device according to claim 1, wherein the superimposing unit displays the plurality of guide lines having different luminances side by side on a display unit.

Images