JP2010064646A - Device and method for monitoring vehicle periphery - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device and a vehicle periphery monitoring method, enabling a driver to explicitly recognize a series of moving conditions of another vehicle which is about to pass by driver's own vehicle from the rear. <P>SOLUTION: When the presence of another vehicle is detected by another vehicle detecting part 22 based on images photographed by a rear camera 11 and side cameras 12, 13 installed so that photographing areas overlap one another, the images of the photographing areas from which the presence of another vehicle is detected are displayed on a rear monitor 41 and side monitors 42, 43 according to the directions of the photographing areas. According to the relative positional relationship of another vehicle which is about to pass by the own vehicle from the rear to the own vehicle, the photographed images of another vehicle are displayed on the respective monitors 41-43 while being suitably switched in the order of the rear monitor alone → the rear monitor and the side monitor together → the side monitor alone. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device and a vehicle periphery monitoring method, and is particularly suitable for use in an apparatus that monitors other vehicles that are traveling around the vehicle based on an image of the vehicle periphery taken by a camera installed on the vehicle. Is.

  When driving a car, it is necessary to pay sufficient attention not only to the front but also to the side and rear. For example, when changing lanes while a vehicle is traveling on two or more lanes on one side, a vehicle that is traveling behind the adjacent lane to be changed at a higher speed than the host vehicle (a vehicle that is about to pass the host vehicle) If it is overlooked, there is a risk of a major accident. In order to reduce such a risk, conventionally, there has been provided a technique for detecting other vehicles traveling around the host vehicle and notifying the driver (for example, see Patent Documents 1 and 2).

In the invention described in Patent Document 1, the rear and sides of the vehicle are photographed by a camera, and the photographed images are displayed on a monitor so that the driver can recognize other vehicles traveling around the vehicle. ing. Further, in the invention described in Patent Document 2, indicators are provided in front of the driver's seat and at three places in the left-right direction instead of the monitor. Then, by processing the image captured by the camera to determine the direction with a high degree of danger and turning on the indicator of the direction with a high degree of danger, from which direction the other vehicles around the own vehicle are approaching the own vehicle The driver is made aware of whether or not
JP-A-1-189289 Japanese Patent Laid-Open No. 11-42989

  However, in the prior art described in Patent Document 1, the rear and side captured images of the vehicle are displayed while being switched to one monitor. Specifically, when the gear is in the back, the rear captured image is displayed on the monitor, and when the direction indicator is operated, the captured image in that direction is displayed on the monitor. Due to such a configuration, when the host vehicle is traveling forward, the rear captured image is not displayed on the monitor, and the side captured image is also displayed on the monitor unless the direction indicator is operated. There is nothing. For this reason, there has been a problem that the driver cannot easily recognize a series of movement situations of other vehicles trying to pass the host vehicle from behind.

  Such a problem also occurs in the prior art described in Patent Document 2. That is, in the technique described in Patent Document 2, an indicator in a direction in which the degree of risk is determined to be high from a captured image is simply turned on. For this reason, the driver can only recognize from which direction the other vehicle is approaching, and the driver can easily recognize a series of movement situations of the other vehicle trying to pass the host vehicle from behind. There was a problem that I could not.

  The present invention has been made to solve such a problem, so that a driver can easily recognize a series of movement situations of other vehicles trying to pass the host vehicle from behind. The purpose is to do.

  In order to solve the above-described problems, the present invention includes a rear camera and a side camera that are installed so that a part of the photographing region overlaps the rear and side of the host vehicle, and is based on an image photographed by the camera. When the presence of another vehicle is detected in the rear shooting area and the side shooting area, an image of the shooting area in which the presence of the other vehicle is detected is displayed on the rear monitor and the side according to the direction of the shooting area. Display on either or both of the monitors.

  According to the present invention configured as described above, when there is another vehicle in the vicinity of the own vehicle that is about to pass the own vehicle from behind, the captured image of the rear imaging area initially captured by the rear camera is used for the rear. Displayed on the monitor. After that, when the other vehicle approaches the own vehicle and the other vehicle enters the overlapping area of the rear shooting area and the side shooting area, the captured image of the rear shooting area captured by the rear camera is displayed on the rear monitor. At the same time, the captured image of the side imaging area captured by the side camera is displayed on the side monitor. Further, when the other vehicle is approaching and overtaking the host vehicle, a captured image of the side imaging region captured by the side camera is displayed on the side monitor.

  As described above, according to the present invention, both the rear monitor alone, the rear monitor, and the side monitor are selected in accordance with the relative positional relationship of the other vehicle that is about to pass the host vehicle from the rear with respect to the host vehicle. The captured images of the other vehicles are displayed while appropriately switching to a plurality of monitors in the order of the side monitors alone. This makes it possible for the driver to easily recognize a series of movement situations of other vehicles that are about to pass the host vehicle from behind.

(First embodiment)
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration example of a vehicle periphery monitoring system 100 according to the first embodiment in which the vehicle periphery monitoring device of the present invention is implemented. As illustrated in FIG. 1, the vehicle periphery monitoring system 100 according to the first embodiment includes an imaging unit 10, an image processing unit 20, a display control unit 30, and a display unit 40. Among these, the image processing unit 20 and the display control unit 30 correspond to the vehicle periphery monitoring device of the present invention.

  The imaging unit 10 includes a rear camera 11 that captures a rear peripheral region of the host vehicle, a right camera 12 that captures a right peripheral region of the host vehicle, and a left camera 13 that captures a left peripheral region of the host vehicle. ing. Here, the right side camera 12 and the left side camera 13 correspond to the side camera of the present invention. Each of the cameras 11 to 13 includes a super-wide-angle lens such as a fisheye lens, and captures a wide area around the own vehicle. Since a fisheye lens is used, the images captured by the cameras 11 to 13 are rounded and distorted around the imaging range.

  FIG. 2 is a diagram illustrating an arrangement example of each of the cameras 11 to 13 and an example of an imaging region. As shown in FIG. 2, the rear camera 11 is disposed on the rear surface of the host vehicle 500 and photographs a rear peripheral region as a rear photographing region B. The right-side camera 12 is disposed on the right side surface of the host vehicle 500 and photographs the right peripheral region as the right-side photographing region R. The left-side camera 13 is disposed on the left side surface of the host vehicle 500 and photographs the left peripheral area as the left-side imaging area L.

  Here, the rear and rear positions of the rear camera 11 and the right camera 12 in the overlapping area A1 (shown by hatching) overlap in a position and posture. A camera 11 and a right side camera 12 are installed. In addition, the rear camera is in a position and posture such that a part of the rear photographing area B of the rear camera 11 and a part of the left photographing area L of the left camera 13 overlap in the overlapping area A2 (indicated by hatching). 11 and left side camera 13 are installed.

  The display unit 40 includes a rear monitor 41 for displaying an image captured by the rear camera 11 of the imaging unit 10, a right monitor 42 for displaying an image captured by the right camera 12, and a left side. A left side monitor 43 for displaying an image taken by the camera 13 is provided. Here, the right side monitor 42 and the left side monitor 43 correspond to the side monitor of the present invention.

  FIG. 3 is a diagram illustrating an example of installation locations of the monitors 41 to 43. As shown in FIG. 3, the rear monitor 41 is installed, for example, on a center console positioned between a driver's seat and a passenger seat on the dashboard. The right side monitor 42 is installed, for example, near the right end of the dashboard (driver's seat side). The left side monitor 43 is installed, for example, near the left end of the dashboard (passenger seat side). In addition, the installation location shown here is only an example, and is not limited to this. However, the rear monitor 41 is preferably installed near the center, the right monitor 42 is installed on the right side of the center console, and the left monitor 43 is installed on the left side of the center console.

  The image processing unit 20 includes a distortion correction unit 21 and an other vehicle detection unit 22. The distortion correction unit 21 corrects distortion caused by the fisheye lens of the rear shot image taken by the rear camera 11, the right side shot image taken by the right side camera 12, and the left side shot image taken by the left side camera 13. To do. This distortion correction processing is performed using internal parameters prepared in advance, and a known method can be applied.

  The other vehicle detection unit 22 is based on the images captured by the cameras 11 to 13 (distortion corrected by the distortion correction unit 21; the same applies hereinafter). The presence of other vehicles in the region R and the presence of other vehicles in the left photographing region L are detected. Specifically, the other vehicle detection unit 22 detects the presence of the other vehicle depending on whether or not the other vehicle is reflected in the captured image. For example, the other vehicle detection unit 22 performs edge extraction processing on the photographed image, and detects the presence of the other vehicle in the photographed image by pattern matching between the extracted edge shape and the vehicle shape registered in advance. To do. Note that the processing described here is merely an example, and the detection method of other vehicles based on image processing is not limited to this.

  When the presence of another vehicle is detected by the other vehicle detection unit 22 in any one or more of the rear shooting area B, the right shooting area R, and the left shooting area L, the display control unit 30 Any one or more of the rear monitor 41, the right monitor 42, and the left monitor 43 of the display unit 40, which is a captured image whose presence has been detected (distortion corrected by the distortion correction unit 21. Control to display on the screen.

  In this embodiment, when the presence of another vehicle is not detected by the other vehicle detection unit 22, the display control unit 30 does not display the captured image of the imaging unit 10 on the display unit 40, and the other vehicle detection unit 22 Only when the presence of another vehicle is detected from any of the photographed images, control is performed so that the photographed image where the presence of the other vehicle is detected is displayed on the display unit 40.

  Specifically, when the other vehicle detection unit 22 detects the presence of another vehicle only in the rear shooting area B (when it is detected that the other vehicle is reflected in the rear shot image by pattern matching or the like). The display control unit 30 causes the rear monitor 41 to display a photographed image of the rear photographing region B photographed by the rear camera 11. At this time, the display control unit 30 displays nothing on the right side monitor 42 and the left side monitor 43.

  Further, when the other vehicle detection unit 22 detects the presence of another vehicle only in the right-side shooting region R (when it is detected that the other vehicle is reflected in the right-side shooting image by pattern matching or the like) The display control unit 30 causes the right-side monitor 42 to display the captured image of the right-side imaging region R captured by the right-side camera 12. At this time, the display control unit 30 displays nothing on the rear monitor 41 and the left monitor 43.

  Further, when the other vehicle detection unit 22 detects the presence of another vehicle only in the left side shooting region L (when it is detected that the other vehicle is reflected in the left side shooting image by pattern matching or the like), The display control unit 30 causes the left monitor 43 to display the captured image of the left imaging region L captured by the left camera 13. At this time, the display control unit 30 displays nothing on the rear monitor 41 and the right monitor 42.

  Further, when the other vehicle detection unit 22 detects the presence of another vehicle in both the rear photographing area B and the right photographing area R, that is, the overlapping area A1 between the rear photographing area B and the right photographing area R. When the presence of another vehicle is detected, the display control unit 30 displays the photographed image of the rear photographing region B on the rear monitor 41 and the photographed image of the right photographing region R on the right monitor. 42 is displayed. At this time, the display control unit 30 displays nothing on the left side monitor 43.

  Further, when the other vehicle detection unit 22 detects the presence of another vehicle in both the rear photographing area B and the left photographing area L, that is, the overlapping area A2 between the rear photographing area B and the left photographing area L. When the presence of another vehicle is detected, the display control unit 30 displays the photographed image of the rear photographing area B on the rear monitor 41 and displays the photographed image of the left photographing area L on the left side monitor. 43. At this time, the display control unit 30 does not display anything on the right side monitor 42.

  FIG. 4 is a diagram illustrating a positional relationship between the own vehicle and another vehicle and a screen display example of each of the monitors 41 to 43. FIG. 4A shows an example of a screen when the other vehicle is located behind the host vehicle and the other vehicle detection unit 22 detects the presence of the other vehicle only in the rear photographing area B. In this case, the display control unit 30 performs control so that the captured image of the rear imaging region B is displayed on the rear monitor 41 and nothing is displayed on the right side monitor 42 and the left side monitor 43.

  FIG. 4B shows a case where the other vehicle is located obliquely behind the host vehicle and the other vehicle approaches the host vehicle much more than the state of FIG. The example of a screen when the presence of other vehicles is detected in both B and the right-side imaging region R is shown. In this case, the display control unit 30 displays the captured image of the rear imaging region B on the rear monitor 41, displays the captured image of the right imaging region R on the right monitor 42, and displays the captured image on the left monitor 43. Controls not to display anything.

  FIG. 4C shows an example of a screen when the other vehicle is overtaking the host vehicle and positioned obliquely forward, and when the other vehicle detection unit 22 detects the presence of the other vehicle only in the right-side shooting region R. Show. In this case, the display control unit 30 performs control so that the captured image of the right imaging region R is displayed on the right monitor 42 and nothing is displayed on the rear monitor 41 and the left monitor 43.

  Next, the operation of the vehicle periphery monitoring system 100 according to the first embodiment configured as described above will be described. FIG. 5 is a flowchart illustrating an operation example of the vehicle periphery monitoring system 100. Note that the processing of the flowchart shown in FIG. 5 is repeatedly executed at a minute cycle.

  In FIG. 5, first, images of the rear shooting area B, the right shooting area R, and the left shooting area L are taken by the rear camera 11, the right camera 12, and the left camera 13 of the imaging unit 10 (step S1). . The captured image of each area is input to the image processing unit 20. In the image processing unit 20, first, the distortion correction unit 21 performs distortion correction processing on the captured image in each imaging region (step S <b> 2).

  Next, the other vehicle detection unit 22 performs image processing such as pattern matching on the captured images of the cameras 11 to 13 whose distortion has been corrected by the distortion correction unit 21, so that the rear shooting area B and the right shooting area Presence of other vehicles in the R and left-side shooting area L is detected (step S3). Then, the detection result is notified to the display control unit 30.

  The display control unit 30 determines whether or not the presence of another vehicle is detected in any one or a plurality of the rear shooting area B, the right shooting area R, and the left shooting area L (step S4). Here, when it is determined that no other vehicle is detected from any of the captured images in the rear imaging region B, the right imaging region R, and the left imaging region L, the display control unit 30 displays nothing on the display unit 40. The process is terminated without doing so.

  On the other hand, when it is determined that the presence of another vehicle is detected from the captured image of at least one of the rear shooting area B, the right shooting area R, and the left shooting area L, the display control unit 30 detects the other vehicle. The captured image is displayed on one or more of the rear monitor 41, the right side monitor 42, and the left side monitor 43 (step S5). As described above, when the presence of another vehicle is detected only in the rear photographing area B, the display control unit 30 displays the photographed image of the rear photographing area B on the rear monitor 41 (see FIG. 4A). ).

  When the presence of another vehicle is detected in both the rear photographing area B and the right photographing area R, the display control unit 30 displays the photographed image of the rear photographing area B on the rear monitor 41 and the right The captured image in the side imaging region R is displayed on the right side monitor 42 (see FIG. 4B). When the presence of another vehicle is detected only in the right shooting area R, the display control unit 30 displays the captured image of the right shooting area R on the right monitor 42 (see FIG. 4C). ).

  As described above in detail, the first embodiment includes the rear camera 11 and the side cameras 12 and 13 installed so that a part of the imaging region overlaps the rear and side of the host vehicle. The other vehicle detection unit 22 detects the presence of other vehicles in the rear photographing region B, the right photographing region R, and the left photographing region L based on the image photographed by 13. Then, an image of the shooting area in which the presence of another vehicle is detected is displayed on one or more of the rear monitor 41, the right monitor 42, and the left monitor 43 according to the direction of the shooting area. I have to.

  According to the first embodiment configured as described above, when there is another vehicle that is going to pass the host vehicle from behind in the vicinity of the host vehicle, the rear shooting area B first shot by the rear camera 11 is used. The captured image is displayed on the rear monitor 41 (see FIG. 4A). Thereafter, when the other vehicle approaches the own vehicle and the other vehicle enters the overlapping area A1 of the rear photographing area B and the right photographing area R, the photographed image of the rear photographing area B photographed by the rear camera 11 is rearward. At the same time as being displayed on the monitor 41, the captured image of the right imaging region R captured by the right camera 12 is displayed on the right monitor 42 (see FIG. 4B). Further, at the stage where another vehicle is approaching and overtaking the host vehicle and the stage after the overtaking, the captured image of the right-side imaging area R captured by the right-side camera 12 is displayed on the right-side monitor 42. (See FIG. 4 (c)).

  As described above, according to the first embodiment, the rear monitor 41 alone → the rear monitor 41 and the right side according to the relative positional relationship of the other vehicle trying to pass the host vehicle from behind with respect to the host vehicle. The captured images of the other vehicles are displayed on the plurality of monitors 41 to 43 while being appropriately switched in the order of both the direction monitors 42 and the right side monitor 42 alone. This makes it possible for the driver to easily recognize a series of movement situations of other vehicles that are about to pass the host vehicle from behind.

  In addition, although the case where the other vehicle overtakes the own vehicle from the right lane has been described as an example here, even when the other vehicle overtakes the own vehicle from the left lane, let's overtake the own vehicle from behind. This makes it possible for the driver to recognize a series of movement statuses of other vehicles in a way that is easy to understand. In this case, the captured image of the other vehicle is appropriately applied to the plurality of monitors 41 to 43 in the order of the rear monitor 41 alone → both the rear monitor 41 and the left monitor 43 → the left monitor 43 alone. It is displayed while switching.

  Further, in the first embodiment, the display control unit 30 does not display anything on the display unit 40 when the other vehicle detection unit 22 does not detect the presence of the other vehicle, and the other vehicle is detected from the captured image. In such a case, the captured image including the other vehicle is displayed on the display unit 40 only. That is, when the other vehicle approaches the host vehicle (when the other vehicle enters the shooting range of each camera 11 to 13), the monitor corresponding to the approaching direction is changed from the non-display state to the display state. Switching. This makes it possible to impress the driver strongly that the other vehicle is approaching the host vehicle and from which direction it is approaching.

  Note that switching between the screen display when no other vehicle is detected from the captured image and the screen display when another vehicle is detected is not limited to the above example. For example, the display control unit 30 may perform control so as to switch the screen display as follows. That is, the display control unit 30 normally displays the captured images of the imaging unit 10 on the monitors 41 to 43 when the presence of the other vehicle is not detected by the other vehicle detection unit 22. On the other hand, when the presence of the other vehicle is detected by the other vehicle detection unit 22, the display control unit 30 displays the captured image in which the presence of the other vehicle is detected as the rear monitor 41, the right side monitor 42, and the left side. When displaying on any one or a plurality of the monitors 43, the other vehicle is highlighted and displayed. Even if the captured image is always displayed, the driver displays whether the other vehicle is approaching the host vehicle and from which direction the driver is approaching by highlighting when the presence of the other vehicle is detected. Can make a strong impression.

  Various methods are conceivable as a method for highlighting other vehicles. For example, as shown in FIG. 6, a mode in which a region other than the region where the other vehicle is shown in the captured image is masked and displayed is conceivable. The mask used here may be a complete mask with a transparency of 0% (filling with a specific color such as white or black), or a translucent mask with a transparency greater than 0% and less than 100%. Rather than the process of applying a complete mask with 0% transparency on the captured image, the display of the area where the other vehicle is reflected in the captured image is erased and only the image of the area where the other vehicle is reflected is displayed. Anyway. If the other vehicle detection unit 22 performs edge extraction processing as one of the methods for detecting another vehicle from the captured image, the region surrounded by the edge is specified as the region where the other vehicle is reflected. can do.

  Further, as another mode for highlighting other vehicles, as shown in FIG. 7, for example, a rectangular frame may be displayed in a region where the other vehicles are shown in the captured image. At this time, the display color of the frame line may be changed according to which shooting area the other vehicle is in. For example, when the presence of another vehicle is detected only in the rear photographing area B, the display frame is yellow because the other vehicle is still relatively far from the own vehicle. On the other hand, when the presence of another vehicle is detected in both the rear shooting area B and the right shooting area R, the display frame is red because the other vehicle is quite close to the host vehicle. And Furthermore, when the presence of another vehicle is detected only in the right-side shooting region R, the display color is yellow because the other vehicle is in a position that can be visually confirmed from the driver's seat.

  As another example of switching the screen display, when no other vehicle is detected from the captured image, an image other than the captured image is normally displayed on each of the monitors 41 to 43, and the presence of the other vehicle is detected. You may make it display a picked-up image. The images other than the photographed image are, for example, a navigation map image for the rear monitor 41 installed on the center console, an image of instruments such as a speedometer and a tachometer for the right monitor 42 on the driver's seat side, an assistant, and the like. In the case of the left side monitor 43 on the seat side, a reproduced image such as a DVD (Digital Versatile Disk) can be considered.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a block diagram showing a configuration example of a vehicle periphery monitoring system 200 according to the second embodiment in which the vehicle periphery monitoring device of the present invention is implemented. In FIG. 8, the same reference numerals as those shown in FIG. 1 have the same functions, and therefore redundant description is omitted here.

  As shown in FIG. 8, the vehicle periphery monitoring system 200 according to the second embodiment includes an imaging unit 10, an image processing unit 20, a display control unit 30 ', and a display unit 40'. Among these, the image processing unit 20 and the display control unit 30 'correspond to the vehicle periphery monitoring device of the present invention.

  In addition to the rear monitor 41, the right side monitor 42, and the left side monitor 43 described in the first embodiment, the display unit 40 ′ includes a rear indicator 51, a right side indicator 52, and a left side indicator 53. It has. Here, the right side indicator 52 and the left side indicator 53 correspond to the side indicator of the present invention. Preferably, the rear indicator 51 is provided in the vicinity of the rear monitor 41, the right side indicator 52 is provided in the vicinity of the right side monitor 42, and the left side indicator 53 is provided in the vicinity of the left side monitor 43.

  In the present embodiment, the rear indicator 51, the right side indicator 52, and the left side indicator 53 are each along one side of the rear monitor 41, the right side monitor 42, and the left side monitor 43 (for example, the upper side of the monitor). A plurality of light emitting elements provided along the horizontal direction of (). The light emitting element is constituted by a light emitting diode, for example. Each indicator 51 to 53 is not necessarily composed of a plurality of light emitting elements, and may be composed of one light emitting element.

  In addition to the display control of the rear monitor 41, the right side monitor 42, and the left side monitor 43 described in the first embodiment, the display control unit 30 ′ includes the rear indicator 51, the right side indicator 52, and the left side. The display control of the direction indicator 53 is performed. In addition, since the display control of each monitor 41-43 is the same as that of 1st Embodiment, the display control of each indicator 51-53 is demonstrated here.

  When the other vehicle detection unit 22 detects the presence of the other vehicle in any one or more of the rear photographing region B, the right photographing region R, and the left photographing region L, the display control unit 30 ′ The captured image in which the presence of the vehicle is detected is displayed on any one or more of the rear monitor 41, the right side monitor 42, and the left side monitor 43, and the rear corresponding to the direction in which the presence of the other vehicle is detected. Control is performed so that one or more of the indicator 51 for the right side, the indicator 52 for the right side, and the indicator 53 for the left side are lit. The indicator corresponding to the direction in which the presence of the other vehicle is detected corresponds to the monitor on which the captured image is displayed.

  Specifically, when the other vehicle detection unit 22 detects the presence of another vehicle only in the rear shooting area B, the display control unit 30 ′ displays the captured image of the rear shooting area B on the rear monitor 41. At the same time, the rear indicator 51 is turned on. At this time, the display control unit 30 ′ displays nothing on the right side monitor 42 and the left side monitor 43, and does not light the right side indicator 52 and the left side indicator 53.

  When the other vehicle detection unit 22 detects the presence of the other vehicle only in the right-side shooting region R, the display control unit 30 ′ displays the captured image of the right-side shooting region R on the right-side monitor 42. At the same time, the right side indicator 52 is turned on. At this time, the display control unit 30 ′ displays nothing on the rear monitor 41 and the left side monitor 43, and does not light the rear indicator 51 and the left side indicator 53.

  When the other vehicle detection unit 22 detects the presence of the other vehicle only in the left photographing region L, the display control unit 30 ′ displays the photographed image in the left photographing region L on the left monitor 43. At the same time, the left side indicator 53 is turned on. At this time, the display control unit 30 ′ displays nothing on the rear monitor 41 and the right side monitor 42, and does not light the rear indicator 51 and the right side indicator 52.

  Further, when the other vehicle detection unit 22 detects the presence of another vehicle in both the rear photographing area B and the right photographing area R, that is, the overlapping area A1 between the rear photographing area B and the right photographing area R. When the presence of another vehicle is detected, the display control unit 30 ′ displays the captured image of the rear imaging region B on the rear monitor 41 and the captured image of the right imaging region R for the right side. It is displayed on the monitor 42. At the same time, the display control unit 30 ′ turns on the rear indicator 51 and the right side indicator 52. At this time, the display control unit 30 ′ does not display anything on the left side monitor 43 and does not light the left side indicator 53.

  Further, when the other vehicle detection unit 22 detects the presence of another vehicle in both the rear photographing area B and the left photographing area L, that is, the overlapping area A2 between the rear photographing area B and the left photographing area L. When the presence of another vehicle is detected, the display control unit 30 ′ displays the captured image of the rear imaging region B on the rear monitor 41 and the captured image of the left imaging region L for the left side. It is displayed on the monitor 43. At the same time, the display control unit 30 ′ turns on the rear indicator 51 and the left side indicator 53. At this time, the display control unit 30 ′ displays nothing on the right side monitor 42 and does not light the right side indicator 52.

  FIG. 9 is a diagram illustrating the positional relationship between the host vehicle and the other vehicle, and display examples of the monitors 41 to 43 and the indicators 51 to 53. FIG. 9A shows a display example when the other vehicle is located behind the host vehicle and the other vehicle detection unit 22 detects the presence of the other vehicle only in the rear photographing region B. FIG. In this case, the display control unit 30 ′ displays the captured image of the rear imaging region B on the rear monitor 41 and controls to turn on the rear indicator 51.

  FIG. 9B shows a case where the other vehicle is positioned obliquely behind the host vehicle and the other vehicle approaches the host vehicle much more than the state of FIG. A display example in the case where the presence of another vehicle is detected in both B and the right imaging region R is shown. In this case, the display control unit 30 ′ displays the captured image of the rear capturing area B and the captured image of the right capturing area R on the rear monitor 41 and the right monitor 42, respectively, The right side indicator 52 is controlled to be lit.

  FIG. 9C shows a display example in a case where the other vehicle is overtaking the host vehicle and positioned obliquely forward, and the presence of the other vehicle is detected only in the right-side shooting region R by the other vehicle detection unit 22. Show. In this case, the display control unit 30 ′ controls to display the captured image of the right imaging region R on the right monitor 42 and turn on the right indicator 52.

  As described above in detail, in the second embodiment, the image of the imaging area in which the presence of another vehicle is detected is converted into the rear monitor 41, the right monitor 42, and the left monitor according to the direction of the imaging area. When any one or more of 43 are displayed, any one or more of the rear indicator 51, the right side indicator 52, and the left side indicator 53 are turned on at that time.

  This makes it possible for the driver to easily recognize a series of movement situations of other vehicles that are about to pass the host vehicle from behind. In addition, in addition to the displays on the monitors 41 to 43, the lighting of the indicators 51 to 53 gives a stronger impression to the driver that another vehicle is approaching the host vehicle and from which direction the vehicle is approaching. Can do.

  In the second embodiment, an example in which nothing is displayed on the monitors 41 to 43 when no other vehicle is detected has been described. However, the same modification as in the first embodiment is possible. That is, when no other vehicle is detected, the captured image is normally displayed on the monitors 41 to 43, while when the other vehicle is detected, the display on the monitors 41 to 43 is displayed as shown in FIG. good. Moreover, when other vehicles are not detected, you may make it display images other than a picked-up image with respect to the monitors 41-43.

  In the second embodiment, the plurality of light emitting elements are controlled to be turned on or off at once. However, the present invention is not limited to this. For example, as shown in FIG. 10, when any one or more of the rear indicator 51, the right side indicator 52, and the left side indicator 53 corresponding to the direction in which the presence of another vehicle is detected is lit. Only the light emitting element corresponding to the position of the other vehicle detected by the other vehicle detection unit 22 may be turned on. In this way, it is possible to easily inform the driver of the position where the other vehicle is shown in the captured image.

  When configured in this manner, the other vehicle detection unit 22 detects the position of the other vehicle in the captured image in addition to the presence of the other vehicle in the rear shooting area B, the right shooting area R, and the left shooting area L. To do. Specifically, the pixel position in the horizontal direction of the other vehicle in the captured image is detected. Then, as shown in FIG. 10, the display control unit 30 ′ performs control so that only the light emitting element corresponding to the position of the other vehicle detected by the other vehicle detection unit 22 is turned on. Such lighting control can be realized, for example, by holding in advance information indicating which light emitting element is to be displayed for the pixel position in the horizontal direction of the captured image.

  FIG. 10 is a diagram illustrating a positional relationship between the host vehicle and another vehicle, and another display example of each of the monitors 41 to 43 and each of the indicators 51 to 53. FIG. 10A shows a display example when the other vehicle is located behind the host vehicle, and the presence of the other vehicle is detected only in the rear photographing area B by the other vehicle detection unit 22. In this case, the display control unit 30 ′ displays the photographed image of the rear photographing region B on the rear monitor 41, and other vehicles are shown in the photographed image among the plurality of light emitting elements constituting the rear indicator 51. Control is performed so that the light-emitting elements corresponding to the positions (in the case of FIG. 10A, several light-emitting elements near the center) are turned on.

  FIG. 10B shows a case where the other vehicle is located obliquely behind the host vehicle and the other vehicle approaches the host vehicle much more than the state of FIG. A display example in the case where the presence of another vehicle is detected in both B and the right imaging region R is shown. In this case, the display control unit 30 ′ displays the captured image of the rear capturing area B and the captured image of the right capturing area R on the rear monitor 41 and the right monitor 42, respectively, Among the plurality of light emitting elements constituting the right side indicator 52, light emitting elements corresponding to positions where other vehicles are reflected in the photographed image (in the case of FIG. 10B, several light emitting elements on the right side) Control to light up.

  FIG. 10C shows a display example in the case where the other vehicle is overtaking the host vehicle and positioned obliquely forward, and the presence of the other vehicle is detected only in the right-side shooting region R by the other vehicle detection unit 22. Show. In this case, the display control unit 30 ′ displays the photographed image of the right photographing region R on the right monitor 42, and among other light emitting elements constituting the right indicator 52, the other vehicle is included in the photographed image. Control is performed so that the light emitting elements corresponding to the reflected positions (several light emitting elements on the left side in the case of FIG. 10C) are turned on.

  In addition, each of the first and second embodiments described above is merely an example of a specific example for carrying out the present invention, and the technical scope of the present invention should not be interpreted in a limited manner. It will not be. In other words, the present invention can be implemented in various forms without departing from the spirit or main features thereof.

1 is a block diagram illustrating a configuration example of a vehicle periphery monitoring system according to a first embodiment in which a vehicle periphery monitoring device of the present invention is implemented. It is a figure which shows the example of arrangement | positioning of each camera, and an imaging | photography area | region. It is a figure which shows the example of the installation place of each monitor. It is a figure which shows the example of a display of each monitor by 1st Embodiment. It is a flowchart which shows the operation example of the vehicle periphery monitoring system by 1st Embodiment. It is a figure which shows the other example of a display of each monitor by 1st Embodiment. It is a figure which shows another example of a display of each monitor by 1st Embodiment. It is a block diagram which shows the structural example of the vehicle periphery monitoring system by 2nd Embodiment which implemented the vehicle periphery monitoring apparatus of this invention. It is a figure which shows the example of a display of each monitor and each indicator by 2nd Embodiment. It is a figure which shows another example of a display of each monitor and each indicator by 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100,200 Vehicle periphery monitoring system 10 Imaging part 11 Rear camera 12 Right side camera 13 Left side camera 20 Image processing part 21 Distortion correction part 22 Other vehicle detection part 30, 30 'Display control part 40, 40' Display part 41 For back Monitor 42 Right side monitor 43 Left side monitor 51 Rear indicator 52 Right side indicator 53 Left side indicator

Claims (9)

A rear camera that captures a rear peripheral region of the host vehicle and a side camera that captures a lateral peripheral region of the host vehicle, and a part of the rear camera region that is the rear camera capturing region and the side camera An imaging unit in which the rear camera and the side camera are installed so that a part of a side photographing area as a photographing area overlaps, a rear monitor for displaying an image photographed by the rear camera, and A vehicle periphery monitoring device used in a vehicle periphery monitoring system comprising a display unit having a side monitor for displaying an image captured by the side camera,
An other vehicle detection unit that detects the presence of another vehicle in the rear imaging region and the side imaging region based on the image captured by the imaging unit;
When the other vehicle detection unit detects the presence of the other vehicle in one or both of the rear photographing area and the side photographing area, the photographed image in which the presence of the other vehicle is detected is described above. A vehicle periphery monitoring apparatus, comprising: a display control unit that controls to display on either one or both of a rear monitor and the side monitor. When the presence of the other vehicle is not detected by the other vehicle detection unit, the display control unit does not display an image captured by the imaging unit on the rear monitor and the side monitor, Only when the presence of the other vehicle is detected in one or both of the rear imaging region and the side imaging region by the other vehicle detection unit, the captured image in which the presence of the other vehicle is detected is described above. The vehicle periphery monitoring device according to claim 1, wherein the vehicle periphery monitoring device is controlled to display on one or both of a rear monitor and the side monitor. When the other vehicle detection unit has not detected the presence of the other vehicle, the display control unit displays a captured image by the imaging unit on the rear monitor and the side monitor, and When the detection unit detects the presence of the other vehicle in one or both of the rear imaging region and the side imaging region, the captured image in which the presence of the other vehicle is detected is used for the rear 2. The control according to claim 1, wherein when displaying on one or both of the monitor and the side monitor, the other vehicle in the captured image is controlled to be highlighted. Vehicle periphery monitoring device. The display control unit captures the other vehicle in the photographed image when the photographed image in which the presence of the other vehicle is detected is displayed on one or both of the rear monitor and the side monitor. The vehicle periphery monitoring device according to claim 3, wherein the vehicle periphery monitoring device is controlled so as to mask and display an area other than the existing area. The display control unit captures the other vehicle in the photographed image when the photographed image in which the presence of the other vehicle is detected is displayed on one or both of the rear monitor and the side monitor. The vehicle periphery monitoring device according to claim 3, wherein the vehicle periphery monitoring device is controlled to display a region with a frame line. The display unit further includes a rear indicator in the vicinity of the rear monitor, and further includes a side indicator in the vicinity of the side monitor,
The display control unit detects the presence of the other vehicle when the other vehicle detection unit detects the presence of the other vehicle in one or both of the rear shooting area and the side shooting area. The captured image is displayed on one or both of the rear monitor and the side monitor, and the rear indicator and the side indicator corresponding to the direction in which the presence of the other vehicle is detected is displayed. 2. The vehicle periphery monitoring apparatus according to claim 1, wherein one or both of them are controlled to light up. The rear indicator and the side indicator are each composed of a plurality of light emitting elements provided along one side of the rear monitor and the side monitor,
The other vehicle detection unit, based on the image photographed by the imaging unit, in addition to the presence of the other vehicle in the rear photographing region and the side photographing region, a position in the photographed image of the other vehicle. Detect
The display control unit is detected by the other vehicle detection unit when lighting one or both of the rear indicator and the side indicator corresponding to the direction in which the presence of the other vehicle is detected. The vehicle periphery monitoring device according to claim 6, wherein only the light emitting elements corresponding to the positions of the other vehicles are controlled to light up. A shooting step of shooting the rear shooting area and the side shooting area with a rear camera and a side camera installed in the vehicle so that a part of the rear shooting area and a part of the side shooting area overlap each other; ,
Other vehicle detection step for detecting the presence of other vehicles in the rear photographing area and the side photographing area based on images taken by the rear camera and the side camera;
When the presence of the other vehicle is detected in one or both of the rear photographing area and the side photographing area, the photographed image in which the presence of the other vehicle is detected is used as a rear monitor and a lateral one. A vehicle periphery monitoring method comprising: a display step of displaying on one or both of the monitors. When the presence of the other vehicle is detected only in the rear photographing area in the other vehicle detecting step, the display step displays the photographed image of the rear photographing area on the rear monitor,
When the other vehicle detection step detects the presence of the other vehicle only in the side shooting area, the display step displays the shot image of the side shooting area on the side monitor,
When the other vehicle detection step detects the presence of the other vehicle in both the rear photographing area and the side photographing area, the display step uses the photographed image in the rear photographing area for the rear. 9. The vehicle periphery monitoring method according to claim 8, wherein the vehicle periphery monitoring method is displayed on a monitor and a captured image of the lateral imaging region is displayed on the lateral monitor.