JP2012010002A - Driving support apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support apparatus which displays driving support images which make a driver to feel good to use, by using an image of the surrounding of a vehicle captured by imaging means fixed to a predetermined position of the vehicle.SOLUTION: A rear image, a right/rear side image, and a left/rear side image are created by cutting off portions corresponding to the rear, right/rear side, and left/rear side portions of the vehicle from the rear surrounding image of the vehicle captured by imaging means 1. On the display screen of display means 3, the right/rear side image and the left/rear side image are displayed from side to side and both the right/rear side image and the left/rear side image and the rear image are displayed above and below. Consequently, the surrounding of the rear of the vehicle can be displayed wide and the right/rear side image and the left/rear side image are displayed without being compressed unnecessarily, thereby providing a driving support image which makes the driver to feel good to use.

Description

  The present invention relates to a driving support device that supports driving of a vehicle, and in particular, driving support that displays a driving support image on a display unit in a vehicle using an image obtained by imaging the periphery of the vehicle by an imaging unit fixed to the vehicle. Relates to the device.

  Conventionally, as a device for assisting a driver to check the surroundings of a vehicle when driving the vehicle, the surroundings of the vehicle are imaged by an imaging means installed at a predetermined position such as a rear portion of the vehicle, and the captured image is installed in the vehicle. There is a driving support device for displaying on the displayed display means. If this driving support device is used, for example, when the driver parks the vehicle back in a parking lot or the like, it is easy to check whether there are obstacles or people behind the vehicle.

  In such a driving support apparatus, since the ease of confirming the surroundings of the vehicle by the driver is affected by the image displayed on the display unit installed in the vehicle, the viewpoint captured using the image captured by the imaging unit is used. Various driving support devices that perform conversion and image processing and display on the display means an image that is easier for the driver to confirm are proposed.

  For example, in Patent Document 1, a driving support apparatus having a wide-angle rear camera that is an imaging unit installed at a predetermined position in the rear part of a vehicle and a display unit that displays an image captured by the wide-angle rear camera installed in a vehicle. Therefore, a part of the wide-angle image obtained by capturing the rear side of the vehicle and the rear side of the vehicle with the wide-angle rear camera is cut out to obtain the rear image of the vehicle, the right rear side image, and the left rear side image. The rear image is displayed in the center of the display area of the display means, and the right rear side image is displayed on the right side of the rear image, and the left rear side image is displayed side by side on the left side of the rear image. Has proposed a driving support device that provides a driver with a driving support image.

  In the driving support image provided by the driving support device, the rear image corresponds to a mirror reflection image of the rear of the vehicle that the driver of the vehicle visually recognizes with the room mirror with respect to image data obtained by cutting out a part of the captured wide-angle image. It is generated by performing image processing such as coordinate transformation so as to be the size. In addition, for the right rear side image and the left rear side image of the vehicle, the display space in the display area (the rear image displayed in the central portion is compared with the image data obtained by cutting out a part of the captured wide-angle image. It is generated by performing image processing such as image compression so as to fit in the left and right spaces.

  The driving support image generated as described above can efficiently display a wide range of images in the rear and rear sides of the vehicle within the limited display area of the display means. By making the size corresponding to the mirror reflection image behind the vehicle that the driver visually recognizes with the room mirror, the image can be displayed so that the driver can grasp the image with a correct sense of distance.

  However, the method described in Patent Document 1 has the following problems. As a case where the driver uses the driving support device described in Patent Document 1, a case where the vehicle is parked in the parking space in the back can be considered. When the driver introduces the vehicle into the parking space or places the vehicle in the parking space (positions the vehicle in the parking space), the driver mainly looks at the rear image displayed at the center of the display area of the display means. These operations are performed. In addition, the driver needs to confirm whether or not a pedestrian or another vehicle is approaching from the left-right direction of the vehicle during parking driving, and the driver is required to check the right rear side image of the driving support image. And the approach of a pedestrian or another vehicle etc. is confirmed in the left rear side image.

  However, the right rear side image and the left rear side image displayed on the left and right of the rear image are compressed so that they fit within the display area. As compared with the case where the left rear side is viewed, the image is displayed with distortion. Therefore, even if the driver looks at the right rear side image and the left rear side image and confirms the approach of a pedestrian or another vehicle from the left and right direction of the parking space, the right rear side image and the left rear side image It has been difficult for the driver to feel the sense of distance from the pedestrians and other vehicles displayed in the image and the speed of approaching the parking space, and the driver feels uncomfortable.

JP 2009-81664 A (pages 10 to 11, FIG. 5)

  The present invention solves the above-described problems, and uses the image obtained by imaging the periphery of the vehicle by the imaging means fixed at a predetermined position of the vehicle to display a driving assistance image that is more user-friendly for the driver. An object is to provide an apparatus.

  The present invention solves the above-mentioned problem, and the driving support device of the present invention includes at least one imaging unit installed at a predetermined position in the rear part of the vehicle (or the front part, hereinafter “or” is omitted). Image processing means for generating a driving support image by performing image processing on an image of the rear periphery (front periphery) of the vehicle imaged by the imaging means, and display means for displaying the driving support image output from the image processing means The image processing means captures the rear surrounding image (front surrounding image) obtained by imaging the rear periphery (front surrounding) of the vehicle with the imaging means, and the rear surrounding image (front surrounding image) behind the vehicle (front surrounding image) The area corresponding to the front) is set as the rear cutout area (front cutout area), and the area corresponding to the right rear side (right front side) of the vehicle in the rear surrounding image (front surrounding image) is set to the right rear side. Side cut out area (Right front side cut out And frequency), it sets the left rear side of the vehicle rear surrounding image (front periphery image) (left rear side of the region corresponding to the left side) cut region (left side segment region), respectively.

  Then, the image processing means generates a rear image (front image) from an image cut out from the rear surrounding image (front surrounding image) in the rear cutting region (front cutting region), and also outputs a right rear side cutting region ( Right rear side image (right front side image) and right rear side image (right front side image) and left rear side region (left front side cutout region) When the left rear side image (left front side image) is generated from the image cut out from the rear surrounding image (front surrounding image) and the driving support image is displayed on the display means, the rear image (front image) is The right and left side images (right front and side images) are reversed left and right around the center of the right rear side image (the left image is left as it is) with the center of the rear image as the axis (the front image remains unchanged) ( (Leave the right front side image as it is) The side image (left front side image) is displayed on the left side of the display means with the left and right sides reversed (with the left front side image intact) with the center of the left rear side image as the axis. The rear image (front image), the right rear side image (right front side image), and the left rear side image (left front side image) are displayed vertically.

  In the driving support device of the present invention, the rear cut-out area (front cut-out area) can be enlarged or reduced, and the rear surrounding image (the front cut-out area) is enlarged or reduced in the rear cut-out area (front cut-out area). When the rear image (front image) generated from the image cut out from the surrounding image) is displayed on the display means, the image included in the rear cut area (front cut area) enlarged or reduced is displayed without excess or deficiency. Image processing is performed. Furthermore, when the rear cutout area (front cutout area) is enlarged, the right rear side cutout area (right front side cutout area) and the left rear side cutout area (left front side cutout area) The images that overlap with are displayed in both the rear image (front image) and the right rear side image (right front side image) or the left rear side image (left front side image).

  The driving support device according to the present invention is based on the rear surrounding image (front surrounding image) of the vehicle imaged by the imaging means, the rear (front) of the vehicle, the right rear side (right front side), and the left rear side (left front side). ) To create a rear image (front image), a right rear side image (right front side image), and a left rear side image (left front side image) on the display screen of the display means. The right rear side image (right front side image) is displayed on the right side of the display means, and the left rear side image (left front side image) is displayed side by side so as to be on the left side of the display means. Front image) are displayed side by side. Accordingly, since the vehicle rear periphery (vehicle front periphery) can be displayed widely, a driving support image that is easy to use for the driver can be provided.

  Also, when the size of the rear cutout area (front cutout area) is changed, image processing is performed so that the display content included in the rear cutout area (front cutout area) is displayed without excess or deficiency. Since the image (front image) is generated, the display contents that the driver wants to confirm can be displayed without omission within the limited display area of the display means. Furthermore, when the rear cutout area (front cutout area) is enlarged, the right rear side cutout area (right front side cutout area) and the left rear side cutout area (left front side cutout area) The display content that overlaps is displayed in both the rear image (front image) and the right rear side image (right front side image) or the left rear side image (left front side image). It is possible to more accurately grasp the sense of distance from pedestrians and vehicles approaching from the vehicle and the approach speed of pedestrians and vehicles.

1 is a block diagram illustrating a configuration of a driving support apparatus according to an embodiment of the present invention. It is a figure explaining the imaging of a back circumference image in the example of the present invention, (A) shows the case where a vehicle is seen from the side, and (B) shows the case where the vehicle is seen from the upper part. It is a figure explaining the back periphery image in the Example of this invention. It is a figure explaining the driving assistance screen in the Example of this invention, (A) shows the back periphery image in a certain cutting angle, (B) has shown the display image obtained from (A).

  Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. As an example, a driving support device in which one imaging unit is installed at the rear of the vehicle will be described as an example. The present invention is not limited to the following embodiments, and various modifications can be made without departing from the spirit of the present invention.

  As shown in the configuration block diagram of FIG. 1, the driving support apparatus 10 according to the present invention includes an imaging unit 1, a display unit 3, and an image processing unit 20. Furthermore, the image processing means 20 includes a ROM 4, a RAM 5, an imaging means I / F unit 6, a display means I / F unit 7, and a control unit 2 that controls these.

  Although not shown, the imaging means 1 is composed of a wide-angle lens such as a fish-eye lens, a lens holder that holds the wide-angle lens, an aperture or a filter, and an imaging element such as a CCD on which a light beam that has passed through the wide-angle lens is imaged. ing. As shown in FIGS. 2 (A) and 2 (B), the imaging means 1 is above the bumper 40a at the rear of the vehicle 40 and in the width direction at a substantially central portion (for example, at the top of the license plate installed at the rear of the vehicle 40). One is installed, and the entire range that can be imaged by the imaging means 1 is imaged about the rear periphery of the vehicle 40. In the present embodiment, a case where one image pickup means 1 is installed will be described. However, a plurality of image pickup means may be installed, and the rear periphery of the vehicle 40 may be shared by each image pickup means for imaging. Good.

  The display unit 3 includes a liquid crystal panel having a touch panel function, and displays an image based on data transmitted from the image processing unit 20. Although detailed description is omitted, the display means 3 displays a map image transmitted from a car navigation system (not shown) installed in the vehicle 40 and an image transmitted from an image reproducing device such as a DVD player. May be.

  Next, the image processing means 20 will be described. The imaging unit I / F unit 6 is an interface that is interposed between the imaging unit 1 and the control unit 2, captures an image captured by the imaging unit 1, and outputs the captured image to the control unit 2 as image data. The control unit 2 includes an image ASIC (not shown) inside, and performs image processing such as coordinate conversion and distortion correction on image data captured by the imaging unit 1 and input via the imaging unit I / F unit 6. Do. The display unit I / F unit 7 is an interface that is interposed between the control unit 2 and the display unit 3 and takes in the image data processed by the control unit 2 and outputs the image data to the display unit 3.

  The ROM 4 stores a program that executes image processing in the control unit 2, a coordinate conversion table that is referred to when performing coordinate conversion of an image captured by the control unit 2, and the control unit 2 stores the program. The image processing described above is performed according to the coordinate conversion table. In addition, the RAM 5 temporarily stores a rear surrounding image of the vehicle 40 that is always imaged by the imaging unit 1 and also temporarily stores the image processed image when the control unit 2 performs image processing. Etc., and used as a work area of the control unit 2.

  Next, the operation principle of the driving support device 10 according to the present embodiment will be described with reference to FIGS. 1 to 3. In the following description, the vehicle side provided with the right door mirror 40b of the vehicle 40 shown in FIG. 2B is described as the right side, and the vehicle side provided with the left door mirror 40c is described as the left side. When the driver starts driving the vehicle 40 in the back and parks it (for example, if the vehicle is an AT car, the shift lever is set to “R (reverse)”), the driving support device 10 starts to operate, and the image The control unit 2 of the processing unit 20 reads the rear surrounding image 60 shown in FIG. 3 from the RAM 5 and starts image processing on the rear surrounding image 60.

  The rear surrounding image 60 is an image of the entire rear range of the vehicle 40 that can be imaged by the imaging means 1 and stored in the RAM 5. Here, the entire rear range of the vehicle 40 that can be imaged by the imaging unit 1 is the entire range behind the vertical imaging boundary 51 (a line that passes through the center of the imaging unit 1 and is perpendicular to the ground) shown in FIG. In addition, the imaging range 50 is the entire range behind the horizontal imaging boundary 55 (a line passing through the center of the imaging means 1 and parallel to the rear portion of the vehicle 40) shown in FIG.

  As shown in FIG. 2 (B), the control unit 2 detects the rear cut-out area 50a of the vehicle 40 (the rear periphery of the bumper 40a that is the rear end of the vehicle 40), the right rear side of the vehicle 40, as shown in FIG. A side cut-out area 50b (on the right rear of the vehicle 40 and around the right side of the rear cut-out area 50a) and a left rear side cut-out area 50c of the vehicle 40 (on the left side rear of the vehicle 40, the rear cut-out area) A corresponding image area is cut out around the left side of 50a. The method will be described below.

  As shown in FIG. 2A, the upper and lower range of the rear cutout area 50a is a predetermined distance from the rear end of the bumper 40a of the vehicle 40 (an obstacle such as a curb that exists on the ground behind the vehicle 40 by the driver). The boundary line 52 connecting the imaging means 1 with a point separated by a distance (for example, 1 meter) that can stop the vehicle 40 without colliding with an obstacle even if the brake is depressed after recognizing the It is defined by a boundary line 53 extending from the imaging means 1 at a predetermined angle d1. Further, as shown in FIG. 2 (B), the left and right range of the rear cutout area 50a includes a boundary line 56 and a boundary line respectively extending in the left and right direction from the imaging means 1 at a predetermined angle r2 with the horizontal direction imaging boundary 55. 57, that is, a predetermined angle r1.

  The control unit 2 sets an area corresponding to the rear cutout area 50 a in the rear surrounding image 60. Specifically, as shown in FIG. 3, a region surrounded by a fan shape indicated by a broken line at a substantially central portion of the rear surrounding image 60 is a rear cutout region 50 a, and a vertical broken line is a boundary line 52 and a boundary line 53, the left and right broken lines correspond to the boundary line 56 and the boundary line 57, respectively.

  On the other hand, the upper and lower ranges of the right rear side cutout region 50b and the left rear side cutout region 50c are imaged at a boundary line 53 and a predetermined angle d2 with the boundary line 53 as shown in FIG. It is defined by the boundary line 54 extending from the means 1. Further, the left and right ranges of the right rear side cutout region 50b and the left rear side cutout region 50c are defined by a horizontal imaging boundary 55 and a boundary line 56, as shown in FIG. A range defined by the right rear side cutout region 50b and the horizontal imaging boundary 55 and the boundary line 57 is defined as a left rear side cutout region 50c.

  The control unit 2 sets regions corresponding to the right rear side cutout region 50b and the left rear side cutout region 50c in the rear surrounding image 60. Specifically, as shown in FIG. 3, areas surrounded by a quadrilateral indicated by a broken line, which are arranged on both sides of the rear cutout area 50 a in the rear surrounding image 60, are the right rear side cutout area 50 b and The left rear side cut-out area 50c is formed. The vertical broken lines indicating the right rear side cut-out area 50b are the boundary line 53 and the boundary line 54, and the horizontal broken lines are the horizontal imaging boundary 55 and the boundary line 56. Each corresponds. In addition, a vertical broken line indicating the left rear side cutout region 50c corresponds to the boundary line 53 and the boundary line 54, and a horizontal broken line corresponds to the horizontal imaging boundary 55 and the boundary line 57, respectively.

  As described above, the control unit 2 sets the rear cutout area 50a, the right rear side cutout area 50b, and the left rear side cutout area 50c in the rear surrounding image 60, and corresponds to each cutout area. The image to be cut out is cut out and stored in the RAM 5 as image data. Specifically, the image data cut out in the rear cutout area 50a is the rear image data, the image data cut out in the right rear cutout area 50b is the right rear side image data, and the left rear side cutout area The image data cut out at 50c is stored in the RAM 5 as left rear side image data.

  Next, the control unit 2 combines the rear image data, the right rear side image data, and the left rear side image data stored in the RAM 5, and displays a screen corresponding to the rear image data at the upper part of the display screen of the display unit 3. The screens corresponding to the right rear side image data and the left rear side image data are arranged at the bottom of the display screen, and the images are combined so as to be displayed respectively, and this is displayed as driving support image data via the display means I / F unit 7. To display means 3. Then, an image corresponding to the driving support image data is displayed on the display screen of the display unit 3 as a driving support image.

  Next, specific operations and effects of the driving support apparatus 10 according to the present embodiment will be described with reference to FIGS. 1 to 4. In the following description, an example will be described in which the driver parks the vehicle 40 back in a parking space where a person such as a commercial facility or another vehicle is considered to have many traffic.

  The driver starts driving the vehicle 40 in the back in a parking space partitioned by a white line as displayed in the rear surrounding image 60 of FIG. When the driver starts parking, as described above, the control unit 2 sets the rear cutout area 50a, the right rear side cutout area 50b, and the left rear side cutout area 50c in the rear surrounding image 60, respectively. The image data corresponding to each cutout area is cut out and stored in the RAM 5. In the following description, as shown in FIG. 4 (A), the vertical boundary line angles defining the size of each cut-out area are d1 = 105 °, d2 = 50.0 °, The boundary line angles are r1 = 135 ° and r2 = 22.5 °.

  The control unit 2 displays the rear image 70a corresponding to the rear image data cut out in the rear cutout area 50a on the display screen of the display means 3 with the left and right sides reversed with respect to the center of the rear image 70a. In addition, the right rear side image 70b corresponding to the right rear side image data cut out in the right rear side cutout region 50b is displayed at the lower right side of the display screen of the display means 3 in the left rear side cutout region 50c. Screen synthesis is performed so that the left rear side image 70c corresponding to the cut out left rear side image data is displayed at the lower left of the display screen of the display unit 3 to generate driving support image data. And a driving support image 70 as shown in FIG. 4B is displayed on the display screen of the display means 3.

  The control unit 2 performs image processing on the image data cut out in each cut-out area when creating the driving support image data, corrects distortion included in the original image, and displays the display means 3. When an image corresponding to each image data is displayed on the display screen, the image is expanded or compressed so that the display content included in each image data is displayed without excess or deficiency. Note that the distortion correction is a known technique (for example, Japanese Patent Application Laid-Open No. 2008-31890) and is not directly related to the present invention, and thus detailed description thereof is omitted.

  When the vehicle 40 is parked in the parking space as displayed in the rear surrounding image 60 of FIG. 4A, the driver does not cross the road in front of the parking space, or the vehicle 40 enters the parking space. It is necessary to perform parking driving while confirming safety such as whether there are any pedestrians approaching from the lateral direction.

  In the driving support apparatus described in Patent Document 1, the rear image is set to a size corresponding to the mirror reflection image of the vehicle rear that the driver visually recognizes with the room mirror, but the rear image can be grasped with a correct sense of distance. The right rear side image and the left rear side image displayed on the left and right of the rear image are distorted because image compression is performed so as to be within the display area. Therefore, when the driver confirms the approach of a pedestrian or another vehicle from the left-right direction of the vehicle 40, the pedestrian or other vehicle displayed on the right rear side image and the left rear side image There is a problem that it is difficult to grasp the sense of distance from the vehicle that the driver drives and the speed at which pedestrians and other vehicles approach.

  On the other hand, the driving support image 70 of the present embodiment displays the rear image 70a on the upper part of the display screen using the entire width of the display area of the display screen, and the right rear side image below the rear image 70a. 70b and the left rear side image 70c are displayed side by side. Therefore, the right rear side image 70b and the left rear side image 70c, which are the display form of Patent Document 1, are displayed side by side on the left and right of the rear image 70a. Compared with the display, the display area of the right rear side image 70b and the left rear side image 70c can be enlarged, and the right rear side image 70b and the distortion of the rear image 70a which are close to the scale of the rear image 70a are suppressed. The left rear side image 70c can be obtained.

  Accordingly, when the driver confirms the approach of a pedestrian or another vehicle from the left-right direction of the vehicle 40, the pedestrian or other vehicle displayed on the right rear side image 70b and the left rear side image 70c, etc. It is easy to grasp the sense of distance from the vehicle 40 that it drives and the speed at which pedestrians and other vehicles approach. In addition, since the rear image 70a is also displayed using the entire width of the display screen, other parked vehicles and the like around the parking space are displayed in a larger size, so that it is easier to grasp the surrounding situation of the parking space.

  In the above-described embodiment, the case where the vertical boundary line angle d1 and the horizontal boundary angle r1 defining the size of the rear cutout region 50a are constant has been described. However, these boundary line angles d1 Or r1 may be changed and image processing may be performed so that the display contents included in the rear cut-out area are displayed without excess or deficiency, and displayed on the display means 3. For example, compared to the initial stage of parking operation In the final stage of the parking operation, the angle r1 between the boundary line 56 and the boundary line 57 may be increased so that the rear periphery of the vehicle 40 is displayed over a wider range in the rear image 70a.

  Since it is necessary to introduce the vehicle 40 into the parking space at the initial stage of parking operation, the right rear side image is set with the angle r1 between the boundary line 56 and the boundary line 57 set to 135 ° as shown in FIG. The right rear side periphery and left rear side periphery of the vehicle 40 are displayed over a wider range in the 70b and the left rear side image 70c so that the driver approaches the vehicle 40, such as a pedestrian or another vehicle Make it easier to grasp. In the final stage of the parking operation (the stage where the vehicle 40 is positioned in the parking space), the angle r1 is set larger (for example, 150 °) than in the initial stage of the parking operation, and the rear image 70a Is displayed over a wider range so that the vehicle parked next to it is displayed larger, or there is a pedestrian walkway next to the parking space, etc. Makes it easier for the driver to confirm the safety.

  When the angle r1 between the boundary line 56 and the boundary line 57 increases (the angle r2 between the horizontal imaging boundary 55 and the boundary line 56 or the boundary line 57 decreases), the rear cutout area 50a becomes wider and the rear image 70a. And the right rear side cut-out area 50b and the left rear side cut-out area 50c are narrowed, and the display contents of the right rear side image 70b and the left rear side image 70c are reduced. Further, when the angle r1 is decreased (the angle r2 is increased), the rear cut-out area 50a is narrowed and the display content of the rear image 70a is reduced, and the right rear side cut-out area 50b and the left rear side cut-out are reduced. The outgoing area 50c becomes wider, and the display content of the right rear side image 70b and the left rear side image 70c increases.

  When the angle r1 is too large (the angle r2 is too small), the right rear side image 70b and the left rear side image 70c are images obtained by greatly expanding a narrow region of the rear surrounding image 60, and the rear image 70a is the rear surrounding image 60. Therefore, the time displayed in the right rear side image 70b and the left rear side image 70c is shortened for pedestrians and other vehicles approaching from the left-right direction of the vehicle 40. Thus, the time displayed on the rear image 70a becomes longer.

  When the angle r1 is too small (the angle r2 is too large), the right rear side image 70b and the left rear side image 70c are images obtained by greatly compressing a wide area of the rear surrounding image 60, and the rear image 70a is the rear surrounding. Since the narrow area of the image 60 is greatly expanded, a pedestrian approaching from the left-right direction of the vehicle 40, another vehicle, or the like is displayed on the right rear side image 70b or the left rear side image 70c. It becomes longer and the time displayed on the rear image 70a becomes shorter.

  Whether the angle r1 is too large or too small, pedestrians and other vehicles approaching from the left-right direction of the vehicle 40 are displayed in the rear image 70a and the right rear side image 70b or the left rear side image 70c. The length of time becomes unbalanced, making it difficult for the driver to grasp the distance and approach speed between the pedestrian and other vehicles and the vehicle 40. Therefore, it is desirable not to change the angle r1 too large or small around the angle r1 = 135 ° (angle r2 = 22.5 °) set in this embodiment.

  Further, when the rear image 70a is displayed in a large size by increasing the angle r1 without changing the angle r2, a portion overlapping the right rear side image 70b and the left rear side image 70c occurs. The overlapping images may be displayed on both the rear image 70a and the right rear side image 70b or the left rear side image 70c.

  If overlapping images are displayed on both the rear image 70a and the right rear side image 70b or the left rear side image 70c, the driver sees the right rear side image 70b and the left rear side image 70c. When confirming the approach of a pedestrian or another vehicle, the display contents that serve as a guide when confirming the approach (for example, the next parking displayed in the right rear side image 70b and the left rear side image 70c) Vehicle etc. parked in the space) is also displayed in the rear image 70a, so that the distance between the vehicle 40 and pedestrians and other vehicles and the approaching speed thereof can be more easily grasped. It can be set as a driving assistance image with good usability.

  As described above, according to the driving support device of the present invention, the rear image is cut out from the rear surrounding image of the vehicle imaged by the imaging means, corresponding to the rear side, the right rear side, and the left rear side of the vehicle. And the right rear side image and the left rear side image are created, and the right rear side image and the left rear side image are displayed side by side on the display screen of the display means, and these right rear side images are displayed. In addition, the left rear side image and the rear image are displayed side by side. Accordingly, the vehicle rear periphery can be displayed widely, and the right rear side image and the left rear side image are not compressed and displayed more than necessary, so that it is possible to provide a driving assistance image that is easy to use for the driver.

  In addition, when the size of the rear cut-out area is changed, the rear image is generated by performing image processing so that the display content included in the rear cut-out area is displayed without excess or deficiency. In the displayed area, the display contents that the driver wants to confirm can be displayed without omission. Furthermore, when the rear cut-out area is enlarged, for the display contents overlapping with the right rear side cut-out area and the left rear side cut-out area, the rear image and the right rear side image or the left rear side image are displayed. Therefore, it is possible to more accurately grasp the sense of distance from pedestrians and vehicles approaching from the left and right directions behind the vehicle and the approach speed of pedestrians and vehicles.

  In the embodiment described above, the case where the imaging means 1 is provided in the rear part of the vehicle 40, the rear periphery of the vehicle 40 is imaged, image processing is performed on this, and the driving support image 70 is created and provided to the driver has been described. However, the imaging means 1 may be provided in the front part of the vehicle 40 to image the front periphery of the vehicle 40, and image processing may be performed on this to generate the driving assistance image 70. Note that when the imaging unit 1 is provided in the front part of the vehicle 40 and the front periphery of the vehicle 40 is imaged, the driver's line-of-sight direction and the imaging direction of the imaging unit 1 are the same. When creating an image, it is not necessary to reverse the left and right.

  When the driver is driving the vehicle 40 and traveling on the road, a pedestrian or another vehicle may enter the road from a side road, particularly when the front of the vehicle 40 is long from the driver's seat. The detection of these pedestrians and other vehicles may be delayed only by the visual observation of the driver. In such a case, if a driving support image for displaying the front periphery of the vehicle 40 according to the present invention is displayed on the display means 3, the driver enters the road by looking at the right front side image and the left front side image. Since coming pedestrians, other vehicles, and the like can be detected quickly, it is possible to provide a driving support image that is easy to use for the driver.

DESCRIPTION OF SYMBOLS 1 Imaging means 2 Control part 3 Display means 4 ROM
5 RAM
DESCRIPTION OF SYMBOLS 10 Driving assistance apparatus 20 Image processing means 40 Vehicle 40a Bumper 40b Right side door mirror 40c Left side door mirror 50 Imaging range 50a Rear extraction area 50b Right rear side extraction area 50c Left rear side extraction area 51 Vertical imaging boundary 52,53 , 54 Boundary line 55 Horizontal imaging boundary 56, 57 Boundary line 60 Rear surrounding image 70 Driving support image 70a Rear image 70b Right rear side image 70c Left rear side image d1, d2 angle r1, r2 angle

Claims (6)

At least one imaging unit installed at a predetermined position on the rear of the vehicle, an image processing unit that performs image processing on an image around the rear of the vehicle imaged by the imaging unit, and generates a driving assistance image; A driving support device having display means for displaying the driving support image output from the processing means,
The image processing means captures a rear surrounding image obtained by imaging the rear periphery of the vehicle by the imaging means, sets an area corresponding to the rear of the vehicle in the rear surrounding image as a rear cutout area, and A region corresponding to the right rear side of the vehicle in the surrounding image is a right rear side cutout region, and a region corresponding to the left rear side of the vehicle in the rear surrounding image is a left rear side cutout region, Set each one
The image processing means generates a rear image from an image cut out from the rear surrounding image in the rear cut-out area, and right rear side from an image cut out from the rear surrounding image in the right rear side cut-out area. An image and a left rear side image from an image cut out from the rear surrounding image in the left rear side cutout region,
When the driving support image is displayed on the display means, the rear image is reversed left and right around the center of the rear image, and the right rear side image is centered on the center of the right rear side image. And the left rear side image is displayed side by side on the left side of the display means with the left and right sides reversed with the center of the left rear side image as the axis. The driving support device is characterized in that the rear image, the right rear side image, and the left rear side image are displayed vertically. The driving support device according to claim 1,
The rear cut-out area can be enlarged or reduced. When the rear image generated from the image cut out from the rear surrounding image in the enlarged or reduced rear cut-out area is displayed on the display means, A driving support apparatus that performs image processing so that images included in the reduced rear cutout area are displayed without excess or deficiency. In the driving assistance device according to claim 2,
For an image that overlaps the right rear side cutout region and the left rear side cutout region when the rear cutout region is enlarged, the rear image and the right rear side image or the left rear side A driving support apparatus characterized by being displayed on both side images. At least one imaging unit installed at a predetermined position in the front of the vehicle, and an image processing unit that performs image processing on an image around the front of the vehicle imaged by the imaging unit to generate a driving assistance image; A driving support device having display means for displaying the driving support image output from the image processing means,
The image processing means captures a front surrounding image obtained by imaging the front periphery of the vehicle by the imaging means, sets an area corresponding to the front of the vehicle in the front surrounding image as a front cutout area, and A region corresponding to the right front side of the vehicle in the surrounding image is set as a right front side cut out region, and a region corresponding to the left front side of the vehicle in the front surrounding image is set as a left front side cut out region.
The image processing means generates a front image from an image cut out from the front surrounding image in the front cut-out area, and a right front side image from an image cut out from the front surrounding image in the right front side cut-out area. Each of the left front side image from the image cut out from the front surrounding image in the left front side cutout region,
When displaying the driving support image on the display means, the right front side image is displayed on the right side of the display means, and the left front side image is displayed side by side so as to be on the left side of the display means. Then, the front image, the right front side image, and the left front side image are displayed vertically. The driving support device according to claim 4,
The front cutout area can be enlarged or reduced, and when the front image generated from the image cut out from the front surrounding image in the enlarged or reduced front cutout area is displayed on the display means, A driving support device that performs image processing so that images included in the reduced front cutout area are displayed without excess or deficiency. The driving support device according to claim 5,
For an image that overlaps the right front side cut region and the left front side cut region when the front cut region is enlarged, both the front image and the right front side image or the left front side image are included. It is displayed on the driving assistance apparatus characterized by the above-mentioned.