JP2010070127A - Vehicle periphery monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device for improving safety by preventing a driver from paying little attention to the opposite side of a steering wheel turning direction while driving at an intersection. <P>SOLUTION: The vehicle periphery monitoring device includes a vehicle speed detection means 4 for detecting a vehicle speed, a steering wheel angle detection means 5 for detecting a steering wheel angle θst, a direction indicator 6 for outputting a right/left turn signal Tsg, nose view cameras 1 and 2 for imaging a vehicle widthwise direction Y, a monitor 3 for displaying right and left side images Gr and Gl side by side on one screen, a right/left turn start determination means 15 for determining a right/left turn start time ts of the vehicle based on the steering wheel angle, the vehicle speed, and the right/left turn signal, a pixel number changing means 16 for increasing the number of pixels of the other side image on the opposite side to one left- or right-side image corresponding to the right/left turn signal to be larger than a reference value at the right/left turn start time, and an image display control means 14 for controlling to display the other side image in which the number of pixels is increased to be larger than the reference value and one side image side by side on one screen. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle periphery monitoring device that displays side-by-side images obtained by imaging the sides at the front of a vehicle side by side on a monitor in a vehicle compartment.

  When a vehicle enters an intersection while traveling on a narrow road, the left and right side areas, which are the direction of the intersection road, often have poor visibility from the driver's seat. Therefore, when the vehicle enters the intersection, for safety confirmation, a camera (nose view camera) built in the front of the vehicle is used to capture a scene in the left and right side area at the front position of the vehicle, and the left and right side images are captured. 2. Description of the Related Art A vehicle periphery monitoring device that displays in parallel on a monitor provided in a driver's seat of a vehicle is known.

  For example, the nose view monitor device disclosed in Patent Document 1 displays the left and right side images on a monitor provided in the driver's seat of the vehicle, and calculates the optical flow for the feature points extracted from the side images. ing. Here, a technique is disclosed in which only those having a vector in the approach direction among the feature points in the left and right side images are set as approach feature points, thereby detecting an approaching object to the vehicle and notifying the occupant of the approaching object information. The

  Furthermore, the nose view monitor system disclosed in Patent Document 2 calculates an estimated passing time for a moving object approaching the vehicle to pass in front of the vehicle, and appropriately determines the estimated passing time and the own vehicle speed. Display (warning) of an approaching object. Here, the time when an approaching vehicle or approaching pedestrian passes the front of the host vehicle is predicted with high accuracy from the side image captured by the nose view camera, and the approaching moving object approaches by an alarm sound or the like according to the expected passing time. Disclosed is a technology that facilitates monitoring by driving a display control unit and an alarm device for notifying the user.

JP 2005-276056 A JP 2006-253932 A

Thus, in the conventional vehicle periphery monitoring device, the left and right side images are displayed side by side on one screen of the monitor, feature points are extracted from the side images, and a vector in the approach direction is extracted from the feature points. It is displayed on the monitor as an approaching object to the host vehicle using what it has so that the occupant can easily recognize it.
By the way, when the driver turns right or left on the crossing road side at the intersection, the driver tends to become conscious in the direction of turning the steering wheel and lose consciousness on the opposite side. That is, even when the left and right side images are displayed in parallel on the monitor of the vehicle, there is a tendency that the consciousness of gazing at the side screen on the other side opposite to the steering direction is weakened. In this case, if there is a moving object that approaches the host vehicle from the other crossing road that is opposite to the direction in which the vehicle wants to bend, the safety will be lowered, and improvement is desired.

It should be noted that the above-described Patent Documents 1 and 2 do not disclose that the consciousness of gazing at the side screen on the other side opposite to the steering direction of the steering wheel is reduced.
The present invention has been made on the basis of the above-described problems. The object of the present invention is to prevent the driver from losing consciousness on the other side opposite to the steering direction of the steering wheel at the intersection. An object of the present invention is to provide a vehicle periphery monitoring device that makes it easier to watch the side screen on the other side and improve safety.

  The invention according to claim 1 of the present invention includes a vehicle speed detecting means for detecting a vehicle speed, a handle angle detecting means for detecting a handle angle of the vehicle, a direction indicator for generating a right / left turn signal of the vehicle, and the vehicle A nose view camera that is attached to the front of the camera and images the field of view in the vehicle width direction, a monitor that displays the left and right side images captured by the nose view camera side by side on one screen, and the detected handle angle Right / left turn start determining means for determining when the vehicle starts turning right / left based on the vehicle speed and the right / left turn signal, and the other side opposite to the right / left turn signal according to the right / left turn signal when starting the right / left turn A pixel number changing means for performing a process of increasing and changing the number of pixels of the image from the reference value, and displaying the other side image in which the number of pixels is increased and changed from the reference value side by side on the one side image and the one screen Do And image display control means for cormorants control, characterized in that it comprises a.

  The invention according to claim 2 of the present application is the vehicle periphery monitoring device according to claim 1, wherein the pixel number changing means corrects the viewing angle of the side image on the other side wider than a reference value at the start of the right / left turn. At least one of a viewing angle correction unit that corrects the resolution of the side image on the other side more precisely than a reference value at the start of the right or left turn, and the image display control unit includes: Controlling the other side image, which has been subjected to at least one correction process so that the corner is wider than the reference value or the resolution is finer than the reference value, to be displayed side by side with the one side image on the left and right divided screens. It is characterized by.

  The invention according to claim 3 of the present application is the vehicle periphery monitoring device according to claim 1 or 2, wherein the image display control means is the other side image in which the number of pixels is increased and changed at the start of turning of the vehicle. And one side image whose number of pixels is corrected to a reference value or less are displayed side by side on the one screen.

  The invention according to claim 4 of the present application is the vehicle periphery monitoring device according to claim 1, 2, or 3, wherein the left and right side images corresponding to the right and left turn signals at the start of the right and left turn are displayed on the other side image. An optical flow vector calculating means for calculating an optical flow vector based on the optical flow vector, and an approaching object based on the optical flow vector having a vector component in the traveling direction of the vehicle in the side image on the other side of the calculated optical flow vector An approaching object detection means for detecting the approaching object and an informing means for informing the detection of the approaching object are provided.

  According to the first aspect of the present invention, when the driver turns to the intersection road side at the intersection, the number of pixels of the side image on the other side opposite to the direction in which the driver wants to turn is increased from the reference value. For this reason, it is possible to easily recognize the side image on the other side that is opposite to the direction in which the person wants to bend, where the consciousness is likely to be lowered, that is, to monitor the approaching moving object on the other side that is opposite to the direction to bend in an intersection or the like This improves safety.

  According to the invention of claim 2, the image display control means makes the viewing angle of the side image on the other side opposite to the right / left turn direction wider than the reference value at the start of the right / left turn, or makes the resolution finer. In other words, since the process of increasing the number of pixels more than the reference value by performing at least one correction process is surely performed, it becomes easier for the driver to be aware of the side image on the other side opposite to the direction in which he wants to bend, This makes it easier to monitor moving objects approaching intersections and the like, improving safety.

  According to the invention of claim 3, when the number of pixels of the other side image opposite to the direction in which the driver wants to bend is increased from the reference value, the number of pixels of the other side image is the reference value. Since the correction is made below, it is easy to increase and change the number of pixels of the opposite side image.

  According to the invention of claim 4, at the start of the right / left turn, the approaching moving object is detected by detecting the approaching moving object to the own vehicle in the side image on the other side opposite to the left / right one according to the right / left turn signal. Since notification is sometimes made, it becomes easier to monitor the approaching moving object on the other side at an intersection or the like, which can be easily recognized, and safety is improved.

Hereinafter, a vehicle periphery monitoring device according to an embodiment of the present invention will be described.
1 and 2 are a schematic diagram and a functional block diagram of a vehicle equipped with a vehicle periphery monitoring device according to this embodiment.
This vehicle periphery monitoring device is attached to the front portion of the vehicle C, images the field of view in the vehicle width direction Y, and captures, for example, left and right side images Gr and Gl as shown in FIG. 2, the monitor 3 capable of displaying the left and right side images Gr, Gl of the host vehicle C side by side on one screen (full screen) 3 f, the image control device ECU mounted on the vehicle C, and the vehicle speed Vc are detected. Vehicle speed detection means (hereinafter simply referred to as a vehicle speed sensor 4), handle angle detection means (hereinafter simply referred to as the handle angle sensor 5) for detecting the steering angle θst of the vehicle C, and direction indication for issuing a vehicle right / left turn signal Tsg And a main switch 7. Here, FIG. 1 shows a state immediately before the vehicle C heads for the intersection road 12 at the intersection 11 from the road 9.

  The image control unit ECU is composed of an electronic control unit having a microcomputer as its main body. The image control unit ECU combines the display function of the on-board navigation device 13 and the monitor 3, and as shown in FIG. And a function of control unit 14), right / left turn start determination unit 15, pixel number changing unit 16, optical flow vector calculation unit 21, approaching object detection unit 22, and notification unit 23. Here, the optical flow vector calculation means 21, the approaching object detection means 22, and the notification means 23 function as a nose view approaching vehicle warning system. The monitor 3 is provided in the front part of the passenger compartment, and the left and right side images Gr and Gl taken by the nose view cameras 1 and 2 are arranged on a single screen (full screen) 3f and displayed to the passengers, and navigation. When the device 13 is driven in a predetermined mode, it has a function of displaying a navigation image on one screen (full screen) 3f of the monitor.

As shown in FIG. 3, the monitor control means 14 divides the left and right side images Gr and Gl of the host vehicle C into two parts on the left and right of the monitor 3, that is, one screen 3f is divided into half divided screens 3r. 3 l are displayed side by side on the monitor 3.
As shown in FIG. 4 (a), the nose view cameras 1 and 2 that shoot the left and right side images Gr and Gl can secure a relatively large viewing angle αm close to 180 degrees as a function. A side image can be taken and formed using, for example, a fisheye lens.

  As described above, the monitor control means 14 that is an image display control means basically adopts the reference viewing angle αb of the full-angle side image (not shown) as the left and right side images Gr and Gl. As shown in FIG. 4B, the images are displayed side by side on the divided screens 3r and 3l which are ½ of the monitor 3.

On the other hand, when changing the viewing angle described later, for example, as shown in FIGS. 5A and 5B, when the right viewing angle is switched to the wide viewing angle α1 that is a predetermined amount wider than the reference value αb, An image Grw is picked up and displayed on a divided screen 3r divided by a division ratio larger than 1/2 on the right side. At the same time, as shown in FIGS. 5A and 5B, the narrow-angle side image Gle is captured when the left-side viewing angle is switched to the narrow-angle viewing angle α1-1 narrower than the reference value αb by a predetermined amount. This is displayed on the divided screen 3l divided by the division ratio smaller than ½ on the left side.
The right / left turn start determining means 15 takes in the steering wheel angle θst detected by the steering wheel angle sensor 5, the vehicle speed Vc detected by the vehicle speed sensor 4, and the right / left turn signal Tsg generated by the direction indicator 6. At this time, it is determined whether or not the steering wheel angle θst exceeds a steering determination value θst1 that is a right / left turn steering determination value for determining whether the vehicle has entered a right / left turn operation. Further, it is determined whether or not the vehicle speed Vc has entered low speed travel at the intersection 11. Further, it is determined whether the right / left turn signal Tsg matches the steering direction of the steering wheel angle θst.

When each of these three determinations confirms the driver's intention to make a right / left turn and the vehicle's actual right / left turn start, it is determined that the vehicle C has reached the right / left turn start time ts.
When the right / left turn start time ts is confirmed, the pixel number changing means 16 increases the number of pixels of the side image Gr or Gl on the other side opposite to the left or right according to the detected right / left turn signal Tsg from the reference value. That is, a process for correcting the number of pixels is performed. Specifically, it functions as a viewing angle correction means 17 and a resolution correction means 18.
Here, the viewing angle correcting means 17 is the viewing angle α1 of the other side image Gr or Gl opposite to the left or right side according to the detected right / left turn signal Tsg (see FIGS. 5A and 5B). Has a correction control function for processing to increase the number of pixels by a predetermined amount larger than the preset reference value αb, that is, to increase the number of pixels from the reference value.

Here, when increasing the number of pixels from the reference value, the viewing angle of one of the left and right side images Gr or Gl is, for example, one right side image Grw, as shown in FIGS. Is set to be wider than the reference value αb, and the viewing angle α-1 of the other left side image Gle is set to be narrower than the reference value αb. In this case, the display ratio of the one screen 3f of the monitor 3 is changed from the half divided screens 3l and 3r set in advance. That is, as shown in FIGS. 5A and 5B, among the one screen 3f of the monitor 3, the right divided screen 3r is enlarged, and the other left divided screen 3l is reduced accordingly, and these are arranged side by side. It is displayed within one screen 3f.
Next, the resolution correcting means 18 sets the resolution N1 of the other side image Gr or Gl opposite to the left or right according to the detected right / left turn signal Tsg to a finer value than the preset reference value Nb (N1>). Nb), that is, a correction control function for changing the number of pixels from the reference value is provided.

For example, one and the other side images Gr or Gl are displayed on each of the 1/2 divided screens 3l and 3r. At this time, as shown in FIGS. 4A and 4B, the resolution N1 of one right side image Gr is made finer (N1> Nb) than the reference value Nb, and the resolution N1 of the other left side image Gl is set as a reference. The value Nb is set as it is.
In this case, as shown in FIG. 4B, the resolution N1 of one right side image Gr in one screen 3f of the monitor 3 is enlarged, and the resolution Nb of the other left side image Gl is kept at the reference value. These are held and displayed side by side on one screen 3f.

Next, the optical flow vector calculation means 21 constituting the nose view approaching vehicle warning system has a pixel count on the other side opposite to the left and right according to the right / left turn signal Gr or Gl at the start of right / left turn ts. For example, the optical flow vector “v” is calculated based on the side images Gr and Grw of FIG. 4 and FIG.
For example, a feature point P is extracted such that the image signal level (luminance) and hue in the right side image Gr are significantly different from the peripheral portion. As a method for selecting the feature point P, a method disclosed in Japanese Patent Application Laid-Open No. 2004-198211 can be used.

Next, for each of the extracted feature points P (see, for example, symbols p1, p2, and p3 in FIG. 6), an optical flow vector 'v' (shown by symbol a in FIG. 6) as shown in FIG. ) And adjust the change in the position of the feature point over time. The optical flow calculation uses a multi-resolution method.
Here, the multi-resolution method is to hierarchically prepare multiple images with different resolutions for one image, perform pattern matching in order from the image with coarse resolution, find the optical flow, and finally This is a method for obtaining a velocity vector 'v' that is an optical flow vector in an image with a fine resolution, and is, for example, as described in JP 2004-56763 A.

  The approaching object detection means 22 constituting the nose view approaching vehicle warning system uses, for example, a right side image as shown in FIG. 7 among the calculated optical flow vectors 'v' (indicated by symbol a in FIG. 6). An object having a vector component a1 in the traveling direction of the vehicle C0 in Gr is selected, and an approaching object is detected based on the selected optical flow vector 'v' (indicated by symbol a1 in FIG. 7). That is, a plurality of feature points (p1, p2, p3...) Approaching the host vehicle C in the right side image Gr which is the other side opposite to the left or right side according to the right / left turn signal Gr or Gl. A group is detected as an approaching moving object, and a detection image region Ep in the right side image Gr of the approaching moving object is set.

The informing means 23 constituting the nose view approaching vehicle warning system has a function of informing the detected approaching object.
Specifically, as shown in FIG. 8, all of the detected image region Ep that is a group of optical flow vectors 'v' (indicated by symbol a in FIG. 6) in the right side image Gr that is the other side. Alternatively, the outer portion of the detection image area Ep is displayed in red, and the illuminance is increased or decreased at a constant cycle, thereby facilitating the driver's notification of an approaching moving object.

In the above description, the function of the nose view approaching vehicle warning system including the optical flow vector calculation means 21, the approaching object detection means 22, and the notification means 23 is opposite to the left and right according to the left turn signal Gl during left steering. Although the right side image Gr which is the other side has been described, conversely, in the case of right steering, the left side image Gl on the left side which is the other side opposite to the left and right sides is also switched to the left and right, and the same processing is performed. The
Next, a display control process performed by the image control device ECU of the vehicle periphery monitoring device of FIG. 1 will be described together with a flowchart of the image display control routine of FIG. In the display control process performed here, the resolution correction means 18 is used to process the resolution N1 so that the resolution N1 is finer (N1> Nb) than the reference value Nb.

Here, basically, the image control device ECU also serves as the monitor 3 of the navigation device 13, and reaches step s1 when the main switch 7 is turned on.
In step s1, the navigation image from the navigation device 13 is displayed, and the process proceeds to step s2. Here, it is determined whether the vehicle speed Vc is equal to or less than the slow speed Vc1, for example, 10 Km / H, and in No, it is considered that the vehicle is traveling normally, and the process returns to step s1 as it is. On the other hand, if the traveling speed is Vc1 or less, it is assumed that the intersection 11 may be approached, and the process proceeds to step s3. In step s3, it is determined whether or not the steering wheel angle .theta.st exceeds the steering determination value .theta.st1, that is, whether or not the driver is willing to turn left or right. If the vehicle travels slowly, the process proceeds to step s5.

In step s5, the screen of the monitor 3 in the vehicle is switched, and the left and right side images VL and VR imaged by the nose view cameras 1 and 2 on each of the half screens 3r and 3l of the monitor 3 (for example, see FIG. 3). ) Are displayed side by side without changing the number of pixels, and the process returns to step s2.
In step s4, the right / left turn signal Tsg is input from the direction indicator 6 of the vehicle, and it is determined whether or not the right / left turn signal Tsg matches the steering direction of the steering wheel angle θst. Return to step s1 as it is.
Entering the intersection 11, it is determined that the driver's intention to make a right / left turn and the actual start of the vehicle's right / left turn start have been confirmed. In step s6, it is determined that the vehicle C's right / left turn start time ts has been reached. move on.

In step s7, resolution change processing is performed in order to increase the number of pixels of the other side image Gr or Gl opposite to the left or right according to the confirmed right / left turn signal Tsg from the reference value.
Here, for example, it is assumed that the vehicle is in a left turn on one of the left and right sides, and the resolution N1 of the right side image Gr on the other side is finer than the reference value Nb (N1> Nb) as shown in FIG. (See FIG. 4B), the resolution N1 of one of the left and right side images Gl is set to the reference value Nb. In accordance with this setting process, the resolution N1 of the right side image Gr on the other side of the half divided screens 3r and 3l of the monitor 3 is enlarged, and the left side image Gl on the left and right side is enlarged. The resolution Nb is corrected to the reference value, and these are displayed side by side on the monitor 3.

In the resolution correction process which is a function of the resolution correction means 18, the number of pixels of the other side image Gr or Gl opposite to the steering direction is increased and changed from the reference value. The side image Gr or Gl on the other side, which is opposite to the steering direction, can be easily recognized, making centralized monitoring easier and improving safety when turning right or left at the intersection To do.
Step s8 is reached after step s7. Here, processing as a nose view approaching vehicle warning system is performed.

  That is, the feature point P (p1, p2, p3...) Is first extracted based on the other side image Gr or Gl in which the number of pixels is increased and changed from the reference value. An optical flow is calculated for the point P to obtain a plurality of optical flow vectors 'v' (indicated by symbol a in FIG. 6). Next, in step s9, the group having vector components in the traveling direction of the vehicle C (see reference numeral a1 in FIG. 7) is regarded as an approaching moving object, and the left and right sides on the other side of the approaching moving object. A detection image region Ep in the side image Gr or Gl is set. Next, in step s10, all of the detected image region Ep or the outer portion of the detected image region Ep is displayed in red, and the illuminance is increased / decreased at a constant cycle (see FIG. 8), a notification operation process is performed, and the process returns to step s2. To do.

  As a result, it is possible to more easily facilitate the notification of the approaching moving object to the driver, and the recognition of the side image Gr or Gl on the other side, which is distracting from the driver and is opposite to the steering direction, is promoted. Centralized monitoring becomes easier, and safety when turning left or right at an intersection is further improved. FIG. 10 shows a flowchart of an image display control routine in another embodiment, which is employed instead of the flowchart of the image display control routine of FIG. In the display control processing performed here, the viewing angle correction means 17 is used for processing to widen the viewing angle α1 of the other side image Gr or Gl opposite to the left or right according to the right / left turn signal Tsg.

The processing of the image display control routine of FIG. 10 is the same as the processing of the image display control routine of FIG. 9 until the confirmation of the right / left turn start time ts in steps s1 to s6. The explanation is omitted.
When the process proceeds from step s6 to step s7a, the number of pixels of the side image Gr or Gl on the other side opposite to the left or right side according to the confirmed right / left turn signal Tsg is increased and changed from the reference value. Perform the change process.
Here, for example, assuming that the vehicle is in a left turn on the left and right sides, and the viewing angle α1 of the side image Gr or Gl on the other side is wider than the reference value αb, as shown in FIGS. That is, the number of pixels is increased and changed from the reference value, and the viewing angle α-1 of the other left side image Gl is set to be narrower than the reference value αb. Here, as shown in FIG. 5B, the wide-angle side image Grw on the right side of the monitor 3 is enlarged, and the other narrow-angle side image Gle on the left side is reduced accordingly, and these are displayed side by side on the monitor 3. Is done.

  By this viewing angle switching process, the number of pixels of the other side opposite to the left and right sides corresponding to the steering direction, for example, the right side image Grw in FIG. 5B is increased from the reference value. For this reason, the viewing angle α1 is increased, and the driver is conscious in the direction of turning the steering wheel and the consciousness (attention) on the other side is distracted. Recognition of the wide-angle side image Grw (side image) on the other side is facilitated. In particular, as is apparent from FIG. 1, the pedestrian md on the sidewalk on the opposite road 12 is centrally monitored by the viewing angle switching process. And the safety at the time of turning left and right at the intersection 11 is further improved.

  In addition, here, the viewing angle α1 of the wide-angle side image Grw (an example of the side image Gr) on the other side is widened, and the viewing angle α of the narrow-angle side image Gle (an example of the side image Gl) on the left and right sides is widened. −1 was set narrower than the reference value αb. For this reason, assuming that the calculation of the left and right side images Gr and Gl at the time of reference performed by the image control apparatus ECU is performed at a ratio of 5: 5, the wide angle side image Grw on the side with the wider viewing angle α1 and the other side The calculation processing function can be distributed so that the calculation of the narrow-angle side image Gle on the narrow side is processed at a ratio of 7: 3, for example. Can be suppressed.

  Step s8 is reached after step s7a. Here, processing as a nose view approaching vehicle warning system is performed. That is, a plurality of feature points P are extracted based on one side image Gr or Gl having a viewing angle α1 larger than the reference value αb on the other side opposite to the steering direction. To calculate an optical flow vector 'v'. Next, in step s9, among the plurality of optical flow vectors 'v' having a vector component in the traveling direction of the vehicle C, the set is regarded as an approaching moving object, and the approaching moving object is set. The detection image region Ep in the left and right side images Gr or Gl is set. Next, in step s10, the entire detected image area Ep in the side image Gr or Gl whose viewing angle α1 is larger than the reference value αb or the outer portion of the detected image area Ep is displayed in red, and the illuminance Are increased / decreased at regular intervals, the notification operation process is performed, and the process returns to step s2.

Accordingly, for example, the right wide-angle side image Grw on the other side where the viewing angle α1 is increased can be more easily and easily notified of the approaching moving object, for example, on the other side which is opposite to the steering direction. Recognition of the wide-angle side image Grw is promoted, centralized monitoring is facilitated, and safety at the time of turning right and left at the intersection 11 is further improved.
Note that a configuration may be adopted in which steps s6 and s6a of the image display control routines of FIGS. 9 and 10 described above are continuously performed. In this case, for example, as shown in FIG. 5C, the viewing angle α1 and the resolution N1 are both enlarged, and the driver's attention is distracted, and the side image Gr on the other side opposite to the steering direction is displayed. It becomes easy to recognize, it becomes easy to monitor the approaching moving object on the other side, and the safety at the time of turning right and left at the intersection 11 can be further improved.

  The vehicle periphery monitoring device of the present invention has been described above, but the specific configuration is not limited to the embodiment, and unless it departs from the gist of the invention according to each claim of the claims, Design changes and additions are allowed.

1 is a schematic configuration diagram of a vehicle including a vehicle periphery monitoring device as one embodiment of the present invention. It is a block diagram showing the control function part of the vehicle periphery monitoring apparatus of FIG. It is the schematic of an example of the left and right side image displayed on the monitor screen of the vehicle periphery monitoring apparatus of FIG. FIG. 2 is a diagram for explaining the relationship between the viewing angle of the nose view camera of the vehicle periphery monitoring device of FIG. 1 and a side image displayed on the monitor, in which the viewing angle is the same, the resolution is increased, and the number of pixels is increased. It is. It is a figure explaining the relationship between the viewing angle of the nose view camera of the vehicle periphery monitoring apparatus of FIG. 1 and the side image displayed on the monitor, (a), (b) expanded the viewing angle and expanded the number of pixels. In the figure, (c) shows a modification. The image which described the optical flow vector for every feature point in the side image which the monitor of the vehicle periphery monitoring apparatus of FIG. 1 displays is shown. The image which described only the optical flow vector of an approaching vehicle is shown in the side image which the monitor of the vehicle periphery monitoring apparatus of FIG. 1 displays. The image in the case of alert | reporting an approaching vehicle to the side image which the monitor of the vehicle periphery monitoring apparatus of FIG. 1 displays is shown. It is a flowchart of the image display control routine which the vehicle periphery monitoring apparatus of FIG. 1 performs. 7 is a flowchart of another image display control routine performed by the vehicle periphery monitoring device of FIG. 1.

Explanation of symbols

1, 2 Nose view camera 3 Monitor 3f 1 screen (full screen)
3r, 3l split screen 4 speed sensor 5 handle angle detection means 6 direction indicator 7 main switch 9 road 11 intersection 12 intersection road 14 image display control means 15 right / left turn start determination means 16 pixel number change means 17 view angle correction means 18 resolution Correction means 21 Optical flow vector calculation means 22 Approaching object detection means 23 Notification means θst Handle angle ts Right and left turn start 'v' Feature point velocity vector C Vehicle ECU Image controller Gr, Gl Side image N1 Resolution Nb Reference value P Features Vc Vehicle speed Tsg Right / left turn signal Y Vehicle width direction

Claims (4)

Vehicle speed detecting means for detecting the speed of the vehicle;
A handle angle detecting means for detecting a handle angle of the vehicle;
A direction indicator for emitting a right / left turn signal of the vehicle;
A nose view camera that is attached to the front of the vehicle and images a field of view in the vehicle width direction;
A monitor that displays the left and right side images captured by the nose view camera side by side on a single screen;
A right / left turn start determining means for determining a start time of a right / left turn of the vehicle based on the detected steering wheel angle, the vehicle speed, and the right / left turn signal;
A pixel number changing means for increasing and changing the number of pixels of the side image on the other side opposite to the right or left side according to the right or left turn signal at the start of the right or left turn from a reference value;
Image display control means for controlling the side image on the other side in which the number of pixels is increased and changed from the reference value to be displayed side by side on the one side image and the one screen;
A vehicle periphery monitoring device comprising: The vehicle periphery monitoring device according to claim 1,
The pixel number changing means, at the start of the right or left turn, viewing angle correction means for correcting the viewing angle of the side image on the other side wider than a reference value;
At least one of resolution correction means for correcting the resolution of the side image on the other side more finely than a reference value at the start of the right / left turn,
The image display control means arranges the other side image, which has been subjected to at least one correction process so that the viewing angle is wider than the reference value or the resolution becomes finer than the reference value, along with the one side image, and the left and right divisions. A vehicle periphery monitoring device, characterized by being controlled so as to be displayed on a screen. In the vehicle periphery monitoring device according to claim 1 or 2,
The image display control means displays the other side image in which the number of pixels has been increased and the one side image in which the number of pixels has been corrected to a reference value or more side by side on the one screen at the start of a vehicle left / right turn. A vehicle periphery monitoring device characterized in that: In the vehicle periphery monitoring device according to claim 1, 2, or 3,
An optical flow vector calculating means for calculating an optical flow vector based on a side image on the other side opposite to the left or right side according to the right / left turn signal at the start of a right / left turn;
An approaching object detection means for detecting an approaching object based on an optical flow vector having a vector component in a traveling direction of a vehicle in the side image on the other side of the calculated optical flow vector;
A vehicle periphery monitoring apparatus comprising: an informing means for informing detection of the approaching object.

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