JP2010074260A - Car-periphery monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a driver to properly grasp the status of a car periphery. <P>SOLUTION: This car-periphery monitoring device 10 is provided with a plurality of respective cameras 11a, ..., 11d for imaging periphery areas outside one's own car and outputting images, an abnormality detecting part 43 for detecting the existence/absence of an abnormal status of the respective cameras 11a, ..., 11d, and a display control part 45 for selecting an image to be displayed in a display device 19 among the images output from the respective cameras 11a, ..., 11d so as to display the image in a manner to be able to switch wherein the display control part 45 inhibits an image about the respective cameras 11a, ..., 11d determined to be in an abnormal status by the abnormality detecting part 43 from being displayed on the display device 19. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle surrounding monitoring apparatus.

Conventionally, for example, when it is detected that one of a plurality of cameras that capture the periphery of a vehicle is malfunctioning, an image of the camera in which the malfunction is detected by an image output from another normal camera Is known (see, for example, Patent Document 1).
JP 2007-158642 A

By the way, in the apparatus according to the above prior art example, it is difficult to appropriately complement the entire area of the image of the failed camera with an image output from another normal camera. This causes a problem that it cannot be displayed. In addition, since the image of the malfunctioning camera is complemented by past images output from normal cameras, the image generated by this complementation and the images output from other normal cameras are the same. Even when displayed on the display screen, the image capturing timing of each image is different, and the driver may not be able to properly grasp the situation around the vehicle.
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle surroundings monitoring device that allows a driver to properly grasp the situation around the vehicle.

  In order to solve the above-described problems and achieve the object, the vehicle surroundings monitoring apparatus according to the first aspect of the present invention includes a plurality of imaging apparatuses (for example, implementations) that capture an image of a surrounding area of the host vehicle and output an image. 11d), a display device (for example, the display device 19 in the embodiment) arranged in the passenger compartment, and the images output from the plurality of imaging devices. Selection means (for example, the display control unit 45 in the embodiment) for selecting the image displayed on the display device, and abnormality determination means (for example, in the embodiment) for determining the presence or absence of an abnormal state of the imaging device Display control means (for example, in the embodiment) that displays the images output from the plurality of imaging devices on the display device in a switchable manner according to selection by the selection means. Display control unit 4 ) And wherein the display control means prohibits to display the image according to the imaging apparatus is determined to be in an abnormal state by the abnormality determining unit on the display device.

  Furthermore, in the vehicle surrounding monitoring apparatus according to the second aspect of the present invention, the display control means notifies the occurrence of the abnormal state when the abnormality determining means determines that the imaging device is in an abnormal state. The message is displayed on the display device.

  According to the vehicle periphery monitoring device of the present invention, it is prohibited to display an image related to an imaging device in an abnormal state on a display device, and display permission for an image related to another imaging device that is not in an abnormal state is maintained. In addition, the driver can accurately recognize the imaging device in the abnormal state, and the driver can properly understand the situation around the vehicle by effectively using the image related to the imaging device that is normal. .

Hereinafter, a vehicle periphery monitoring device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
A vehicle surroundings monitoring device 10 according to the present embodiment is mounted on a vehicle and, for example, as shown in FIG. 1, an external camera 11 capable of imaging the external environment of the vehicle, a near infrared LED 12, a vehicle state sensor 13, and a navigation device. 14, an operation switch 15, a changeover switch 16, a retractable switch 17, a door mirror actuator 18, a display device 19, and an image processing device 20 configured by an electronic circuit including a CPU and the like. .

  For example, as shown in FIG. 2, the external camera 11 includes a front camera 11a having a front peripheral area as an imaging area, a rear camera 11b having a rear peripheral area as an imaging area, and a left-side peripheral. A left-side camera 11c having an imaging area as an imaging area and a right-side camera 11d having an imaging area as a right-side peripheral area are capable of imaging from a visible light area to a near-infrared area, for example. , 11d, for example, predetermined image processing such as filtering or binarization processing is performed to generate image data including pixels of a two-dimensional array and output the image data to the image processing apparatus 20.

  The front camera 11a is installed, for example, on the front grille of the vehicle, the rear camera 11b is installed, for example, on the back door or tailgate of the vehicle, and the left side camera 11c and the right side camera 11d are, for example, left and right sides of the vehicle. Are installed at the lower ends of the door mirrors ML and MR.

  The near-infrared LED 12 is installed, for example, on a door mirror (for example, the left door mirror ML) on the passenger seat side of the vehicle and is controlled to be lit by the image processing device 20, and linked to lighting of a headlamp (not shown) at night, for example. Then, a predetermined area on the passenger seat side (for example, the imaging area of the external camera 11 on the passenger seat side, that is, the peripheral area on the left side of the vehicle that is the imaging area of the left side camera 11c) is irradiated.

  The vehicle state sensor 13 includes, for example, a wheel speed sensor 31 that detects the rotational speed (wheel speed) of the driving wheel and a steering angle (for example, the direction and magnitude of the steering angle input by the driver) as the vehicle state quantity of the host vehicle. ) Or a steering angle sensor 32 that detects an actual steering angle (steering angle) according to the steering angle, and a state of a speed change mechanism (not shown) selected by the driver via a select lever (not shown). And a shift position sensor 33 for detecting the shift position.

  The navigation device 14 executes a map matching process based on the current position of the vehicle and map data stored in advance, and performs route search and route for a destination set according to, for example, an input operation by the operator. Processing such as guidance is executed, and a control command for instructing operations of the display device 19 and a speaker (not shown) is output.

The operation switch 15 outputs various command signals according to the driver's operation input, for example, instructions for selecting various menu items on the display screen of the display device 19.
The changeover switch 16 outputs various display switching command signals on the display screen of the display device 19 according to the driver's operation input.
The storage switch 17 outputs various command signals to the door mirror actuator 18 that stores and unfolds the left and right door mirrors ML and MR of the vehicle and changes the angle in accordance with the operation input of the driver.

  The display device 19 performs various displays under the control of the image processing device 20. For example, on the display screen of the display device 19, in addition to the image data output from the external camera 11, the position of the host vehicle and various guide displays can be superimposed and displayed on these image data.

  The image processing apparatus 20 includes, for example, an LED control unit 41, an image processing unit 42, an abnormality detection unit 43, a storage unit 44, and a display control unit 45.

  The LED control unit 41 is interlocked with the lighting of a headlamp (not shown) at night, for example, and in conjunction with a period during which an image of a side view SV (to be described later) is displayed on the display screen of the display device 19, for example. The near-infrared LED 12 is controlled to be turned on.

  The image processing unit 42 generates a converted image corresponding to a predetermined visual field display set in advance by, for example, a predetermined conversion process based on image data output from each camera 11a,..., 11d of the external camera 11. Output.

  The predetermined visual field display includes, for example, a display of the front area of the vehicle (front view FV) shown in FIG. 3 (A), a display of the rear area of the vehicle (rear view RV) shown in FIG. 3 (C), the left and right side front area display (side view SV) of the vehicle, and the vehicle side rear area display shown in FIG. 3 (D), which are reflected in the left and right door mirrors ML, MR. A display that virtually reproduces the area (mirror view MV), a display that expands the display area left and right in the front area of the vehicle shown in FIG. 3E (front blind view FBV), and that shown in FIG. This is a display (ground view GV) overlooking the surrounding area of the vehicle.

  For example, when generating the image of the grand view GV, the image processing unit 42, as shown in FIG. 4, image data of the imaging area of each camera 11a,..., 11d (for example, the rear area of the vehicle shown in FIG. 4). The viewpoint conversion is performed while correcting image distortion and the like so that the image data RP) is an image viewed from a predetermined viewpoint position BP above the vehicle in the vertical direction (for example, the converted image RCP shown in FIG. 4). Then, from each converted image obtained by this conversion processing, an image in a predetermined field angle range set for each converted image so that the boundary positions of each other are matched (for example, the front extracted image PF, the rear extracted image). PR, left side extracted image PSL, right side extracted image PSR) are extracted. Then, for example, as shown in FIGS. 5A and 5B, these images (respective extracted images PF, PR, PSL, and PSR) are combined to generate a combined image, and this combined image is displayed in the ground view GV. Output as an image. In this combined image, a predetermined mask line ML is provided at the boundary between adjacent extracted images.

  When the left camera 11c and the right camera 11d of the external cameras 11 are installed at the lower ends of the left and right door mirrors ML and MR of the vehicle, the left and right door mirrors ML and MR are opened and closed (that is, deployed or The imaging areas of the left-side camera 11c and the right-side camera 11d change according to (storage). For this reason, the image processing unit 42 changes the processing content of the viewpoint conversion according to the opening and closing of the left and right door mirrors ML and MR, and sets a predetermined field angle range set for each converted image (that is, from each converted image). The extraction range for extracting each extracted image PF, PR, PSL, PSR) is changed. Furthermore, by changing the boundary position between the images constituting the combined image (that is, the extracted images PF, PR, PSL, and PSR), the same predetermined value can be obtained regardless of whether the left and right door mirrors ML and MR are opened or closed. An image of the ground view GV that displays the peripheral area of the image is generated.

  For example, as shown in FIGS. 6A to 6D, when the left and right door mirrors ML, MR in the open state shift to the closed state, the end portions of the door mirrors ML, MR are lifted upward in the vertical direction. When the inclination angle of the door mirrors ML, MR with respect to the horizontal direction changes, the cameras 11c, 11d set to image only the left and right peripheral regions of the vehicle when the left and right door mirrors ML, MR are opened. When the left and right door mirrors ML, MR are closed, the imaging region of the image pickup area unnecessarily includes the left side portion and the right side portion of the vehicle main body and shifts to the rear side of the vehicle.

  Thus, the same processing (that is, the same processing) as the processing for generating the image of the ground view GV (for example, the image of the ground view GV in the open state shown in FIG. 7A) in the open state of the left and right door mirrors ML and MR. Left and right door mirrors by processing of converting the viewpoint of each of the extracted images PSL and PSR and the boundary positions between the extracted images PF, PR, PSL, and PSR constituting the combined image). When an image of the ground view GV in the closed state of ML and MR (for example, an image of the ground view GV in the closed state shown in FIG. 7B) is generated, an appropriate image looking down from the predetermined viewpoint position BP is obtained. At the same time, it becomes impossible to display predetermined peripheral areas on the left side and right side of the vehicle, and each of the other extracted images PF constituting the combined image. Boundary position between the PR is shifted.

  For this reason, the image processing unit 42 first changes the processing content of the viewpoint conversion according to the opening and closing of the left and right door mirrors ML and MR, and also sets a predetermined field angle range (that is, each of the converted images). The extraction range for extracting each extracted image PF, PR, PSL, PSR from the converted image is changed. As a result, the extracted images PSL and PSR that display the same predetermined peripheral area on the left side and the right side of the vehicle that are appropriate and look down from the predetermined viewpoint position BP, regardless of whether the left and right door mirrors ML and MR are opened or closed. To extract.

  Further, when the left and right door mirrors ML and MR are closed, the imaging regions of the cameras 11c and 11d are shifted to the rear side of the vehicle as compared with the open state of the left and right door mirrors ML and MR, thereby making imaging impossible. In response to the occurrence of the region, for example, in the closed state of the left and right door mirrors ML and MR shown in FIG. 5B, for example, compared to the open state of the left and right door mirrors ML and MR shown in FIG. The boundary positions between the extracted images PF, PSL, and PSR in the combined image by shifting the boundary position between the front extracted image PF and the left extracted image PSL and the right extracted image PSR to the rear side of the vehicle. Change the position. Corresponding to the change of the boundary position, the extraction range for extracting each extracted image PF, PR, PSL, PSR from each converted image is changed in advance.

  For example, in the open state of the left and right door mirrors ML, MR shown in FIG. 5A, the mask line ML indicating the boundary position between the front extracted image PF, the left side extracted image PSL, and the right side extracted image PSR is the vehicle. In contrast with the left and right door mirrors ML and MR shown in FIG. 5B, for example, when the left and right door mirrors ML and MR are closed as shown in FIG. The mask line ML indicating the boundary position between the side extracted image PSL and the right side extracted image PSR is on the front side by a predetermined second angle β (<α) smaller than the predetermined first angle α with respect to the left-right direction of the vehicle. It is inclined to. As a result, compared to the open state of the left and right door mirrors ML and MR, in the closed state, the extraction region for the front extraction image PF is expanded and the extraction region for the left side extraction image PSL and the right side extraction image PSR is reduced. .

  The abnormality detection unit 43 detects whether or not an abnormality has occurred in each of the cameras 11a,..., 11d based on signals output from the cameras 11a,. Output to the controller 45.

The display control unit 45 displays a navigation screen related to various operations of the navigation device 14 on the display screen of the display device 19.
Further, the display control unit 45 outputs each converted image output from the image processing unit 42, for example, the front view FV shown in FIG. 8A, the rear view RV shown in FIG. 8B, and FIGS. Left and right side views SV shown in (D), left and right mirror views MV shown in FIGS. 8E and 8F, front blind view FBV shown in FIG. 8G, and FIG. 8H. Each image with the ground view GV is set in advance, in accordance with a command signal output from the operation switch 15 or the changeover switch 16, or in accordance with a detection signal output from the vehicle state sensor 13. Are displayed on the display screen of the display device 19.
Further, the display control unit 45 acquires various messages and various images stored in the storage unit 44 when displaying each converted image output from the image processing unit 42 on the display screen of the display device 19. While displaying on the display screen of the display device 19, various guide displays for supporting the driving of the driver (for example, a guideline relating to a predetermined position around the vehicle shown in FIGS. 8A to 8F and 8H). A guide line DL and a predicted guide line EL related to the traveling locus of the vehicle shown in FIGS. 8A and 8H are superimposed on each converted image and displayed.

  For example, in the detection signal output from the shift position sensor 33, the vehicle speed (vehicle speed) corresponding to the detection signal output from the wheel speed sensor 31 of the vehicle state sensor 13 is equal to or lower than a predetermined low-side determination threshold VthL. When the shift position is other than reverse reverse (for example, forward drive, etc.), the display control unit 45 selects, for example, a front view shown in FIG. 9A from among a plurality of preset display forms. A combination of FV and ground view GV, a front blind view FBV shown in FIG. 9B, a left and right side view SV shown in FIG. 9C, and a left side view SV shown in FIG. Only four display forms are selected, and any one of these display forms is selected from, for example, a command signal output from the changeover switch 16. Switchably depending on, the display screen of the display device 19.

  At this time, in addition to each converted image output from the image processing unit 42, the display control unit 45, for example, a display form instruction image IP indicating a switchable display form and an external camera corresponding to the converted image being displayed. From the storage unit 44, an imaging area instruction image CP schematically showing 11 imaging areas, various messages (for example, “Please drive while directly checking the surroundings”), menu display, help display, and the like are displayed. It is acquired and displayed on the display screen of the display device 19.

  For example, the display form instruction image IP is a combination of an image (F · G) indicating the combination of the front view FV and the ground view GV, an image (FB) indicating the front blind view FBV, and the left and right side views SV, or left An image (S) showing only the side view SV, an image (R · G) showing a combination of the rear view RV and the ground view GV, and an image (R · M) showing a combination of the rear view RV and the left and right mirror views MV 9A to 9D, the display form instruction image IP corresponding to the display form being displayed on the display screen of the display device 19 corresponds to another switchable display form. Compared with the display form instruction image IP, for example, it is highlighted because of an increase in contrast, an increase in size, a change in display color, or the like.

For example, as illustrated in FIGS. 9C and 9D, the display control unit 45 displays a combination of left and right side views SV or only a left side view SV as a display form instruction image IP (S ) Is highlighted, a switchable mutual display form (that is, a display form of a combination of the left and right side views SV or a display form of only the left side view SV) is designated. The first and second auxiliary display form instruction images IPa and IPb are displayed.
This first auxiliary display form instruction image IPa (long press: left) is displayed only in the left side view SV from the display form of the combination of the left and right side views SV, for example, by pressing the operation switch 15 for a long time. The second auxiliary display form instruction image IPb (long press: left and right) is displayed on the left side view SV by, for example, pressing the operation switch 15 for a long time. This shows that it is possible to switch from only the display form to the display form of the combination of the left and right side views SV.

For example, as shown in FIG. 9A, the display control unit 45, for the combination of the front view FV and the ground view GV, displays the image of the front view FV and the image of the grand view GV horizontally. They are displayed side by side on the display screen of the display device 19.
For the combination of the rear view RV and the ground view GV, the image of the rear view RV and the image of the grand view GV are displayed side by side on the display screen of the display device 19.
For the combination of the left and right side views SV, for example, as shown in FIG. 9C, the left side view SV image and the right side view SV image are arranged side by side on the display device 19. On the display screen.

  For example, for the combination of the rear view RV and the left and right mirror views MV selected when the shift position is reverse in the detection signal output from the shift position sensor 33, for example, as shown in FIG. Then, the image of the left mirror view MV and the image of the right mirror view MV are arranged on the left and right in the upper row, and the rear view RV is arranged in the lower row and displayed on the display screen of the display device 19. In this case, for example, as shown in FIG. 10B, the driver feels uncomfortable in the display form as compared with the case where the rear view RV is arranged in the upper stage and the images of the left and right mirror views MV are arranged in the lower stage. Can be prevented and visibility can be improved.

  Note that the image of the ground view GV combined with the front view FV when the vehicle moves forward is the same as the image of the ground view GV combined with the rear view RV when the vehicle moves backward (that is, each extraction constituting the image of the ground view GV). The viewing angle range of the images PF, PR, PSL, and PSR and the boundary position between the extracted images are the same display form).

  The display control unit 45 has a relatively short time required to start up the external camera 11 and the image processing device 20 compared to the time required to start up the navigation device 14 at the time of starting when the ignition switch of the vehicle is turned on. During the activation of the navigation device 14, for example, as shown in FIG. 11A, the display form of the combination of the front view FV or the rear view RV and the ground view GV is selected and displayed on the display screen of the display device 19. Display automatically. Then, after the activation of the navigation device 14 is completed, for example, as shown in FIG. Thereby, during the startup of the navigation device 14, the display screen is switched by the driver as compared with a case where a predetermined startup screen as shown in FIG. 11C is automatically displayed on the display screen of the display device 19, for example. It is possible to appropriately support recognition of the situation around the vehicle by the driver at the start of the vehicle without requiring any operation.

  Further, the display control unit 45 stops displaying the images related to the cameras 11a,..., 11d in which the occurrence of the abnormality is detected in accordance with the detection result signal output from the abnormality detection unit 43, and A predetermined message indicating that an abnormality has occurred in the external camera 11 (for example, “Some camera images cannot be displayed. Please consult your dealer”) is displayed together with a predetermined mask image MP that covers the display area. To do.

  For example, when an abnormality is detected only in the rear camera 11b, the display control unit 45 stops displaying the image of the rear view RV related to the rear camera 11b, as shown in FIGS. A predetermined message is displayed together with a predetermined mask image MP covering the display area of the image. In addition to the rear extracted image PR, the other extracted images PF, PSL, and PSR are stopped from being displayed on the image of the ground view GV, and these images (each extracted image PF, PR, PSL, PSR) are stopped. ) Is displayed.

  For example, when an abnormality is detected only in the front camera 11a, the display control unit 45, as shown in FIGS. 13A to 13C, displays the front view FV and the front blind view FBV related to the front camera 11a. The display of each image is stopped, and a predetermined message is displayed together with a predetermined mask image MP covering the display area of these images. In addition to the forward extracted image PF, the other extracted images PR, PSL, and PSR are also stopped from being displayed on the image of the ground view GV, and these images (each extracted image PF, PR, PSL, PSR) are stopped. ) Is displayed.

  For example, when an abnormality is detected only in the left side camera 11c, the display control unit 45, as shown in FIGS. 14A to 14E, displays the side view SV and the mirror view related to the left side camera 11c. The display of each MV image is stopped, and a predetermined message is displayed together with a predetermined mask image MP covering the display area of these images. In addition to the left-side extracted image PSL, the other extracted images PF, PR, and PSR are also stopped from displaying for the image of the ground view GV, and these images (each extracted image PF, PR, PSL, A predetermined mask image MP covering PSR) is displayed.

The display control unit 45 displays the display state (for example, luminance and color) of the vehicle image (vehicle icon) VP displayed in the image of the ground view GV based on the headlamp (not shown) and the near-infrared LED 12. Depending on the lighting state, the brightness of other images on the display screen, the presence / absence of the mask image MP, or the like, the display mode is appropriately changed according to a plurality of different display states as shown in FIG.
For example, the vehicle icon VP having a relatively high luminance is displayed when the headlamp (not shown) is turned on, and the vehicle icon VP having a relatively low luminance is displayed when the headlamp (not shown) is turned off. For example, when the mask image MP is displayed on the ground view GV, the vehicle icon VP having the lowest luminance is displayed.

  As described above, according to the vehicle surrounding monitoring apparatus 10 according to the present embodiment, it is prohibited to display an image related to the external camera 11 that is in an abnormal state on the display screen of the display device 19, and is not in an abnormal state. By maintaining the display permission for the image related to the external camera 11, the driver can accurately recognize the external camera 11 in the abnormal state, and the image related to the normal external camera 11 can be used effectively. The driver can properly grasp the situation around the vehicle.

  Further, at the time of start-up when the ignition switch of the vehicle is turned on, during the start-up of the navigation device 14, a display form of a combination of the front view FV or the rear view RV and the ground view GV is used instead of an appropriate start-up screen. It is automatically displayed on the display screen of the display device 19 and, after the start of the navigation device 14 is completed, the display device 19 is switched to a predetermined navigation screen, so that the driver does not need to switch the display screen and the like when starting the vehicle. It is possible to appropriately assist the driver to recognize the situation around the vehicle.

Further, for the display form of the combination of the rear view RV and the left and right mirror views MV, the left mirror view MV image and the right mirror view MV image are arranged on the left and right in the upper part of the display screen, and the rear view RV in the lower part. By arranging, it is possible to prevent the driver from feeling uncomfortable in the format of the screen display and to improve the visibility.
In addition, in the display form of the side view SV, the display form of the combination of the left and right side views SV and the display form of only the left side view SV can be switched. Convenience can be improved.

  The near-infrared LED 12 is lit in conjunction with the lighting of the headlamp (not shown) at night and in conjunction with the period during which the side view SV image is displayed on the display screen of the display device 19. Since it is controlled, it is possible to prevent an increase in power consumption without requiring a driver to turn off the light as compared with a case where the light is always turned on.

1 is a configuration diagram of a vehicle surroundings monitoring apparatus according to an embodiment of the present invention. It is a figure which shows arrangement | positioning of the external camera of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the predetermined | prescribed external field area | region corresponding to the visual field display of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows an example of the image data RP obtained by imaging of the back camera of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention, and the conversion image RCP obtained by viewpoint conversion with respect to image data RP. It is a figure which shows the image of the grand view GV according to opening and closing of the left and right door mirrors ML and MR of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the open / closed state of the left and right door mirrors ML and MR of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. FIG. 7A is an image of the ground view GV in the open state of the left and right door mirrors ML, MR of the vehicle periphery monitoring device according to one embodiment of the present invention, and FIG. 7B is one embodiment of the present invention. It is an image of the ground view GV in the closed state of the left and right door mirrors ML, MR of the vehicle periphery monitoring device according to the comparative example. It is a figure which shows the example of each conversion image output from the image process part of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of the display screen of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. FIG. 10A is a diagram showing an example of a display screen of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention, and FIG. 10B is a vehicle surrounding monitoring apparatus according to a comparative example of the embodiment of the present invention. It is a figure which shows the example of a display screen. FIG. 11A is a diagram showing an example of a display screen immediately after the vehicle starts of the vehicle surrounding monitoring apparatus according to the embodiment of the present invention, and FIG. 11B is a vehicle surrounding monitoring according to the embodiment of the present invention. It is a figure which shows the example of the display screen after predetermined time progress from the vehicle start of an apparatus, FIG.11 (C) is an example of the display screen immediately after the vehicle start of the vehicle periphery monitoring apparatus which concerns on the comparative example of one Embodiment of this invention. FIG. It is a figure which shows the example of the display screen at the time of abnormality of the rear camera of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of the display screen at the time of abnormality of the front camera of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of the display screen at the time of abnormality of the left side camera of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the example of the display state of the vehicle icon VP of the display screen of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention.

Explanation of symbols

10 Vehicle Perimeter Monitoring Device 11 External Camera 11a Front Camera (Imaging Device)
11b Rear camera (imaging device)
11c Left-side camera (imaging device)
11d Right-side camera (imaging device)
13 Vehicle state sensor 19 Display device 20 Image processing device 42 Image processing unit 43 Abnormality detection unit (abnormality determination means)
45 Display control unit (selection means, display control means)

Claims (2)

A plurality of imaging devices for imaging an external peripheral area of the host vehicle and outputting an image;
A display device disposed in the passenger compartment;
Selecting means for selecting the image displayed on the display device from the images output from the plurality of imaging devices;
An abnormality determining means for determining the presence or absence of an abnormal state of the imaging device;
Display control means for displaying the images output from the plurality of imaging devices on the display device so as to be switchable according to selection by the selection means;
The vehicle surroundings monitoring device, wherein the display control unit prohibits the display device from displaying the image related to the imaging device determined to be in an abnormal state by the abnormality determination unit. The display control means displays a message notifying the occurrence of the abnormal state on the display device when the abnormality determining means determines that the imaging device is in an abnormal state. The vehicle surrounding monitoring device according to claim 1.

Images