JP2013109505A - Periphery monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a periphery monitoring device capable of appropriately displaying a peripheral image while foreseeing the needs of an operator.SOLUTION: A periphery monitoring device is a device for displaying a peripheral image captured by a periphery monitoring camera 11 and comprises; a display device 15 that displays the peripheral image; a detection section 21 that detects an intention of a driving operation; a determination section 22 that determines execution of the driving operation; and a display control section 23 that controls the display device 15 to display a reduced peripheral image when the intention of the driving operation is detected, display an enlarged peripheral image when the driving operation is started, and end the display of the peripheral image when the driving operation is converged. Since the display of the peripheral image is started before the driving operation is started, and the display of the peripheral image is ended before the driving operation is ended, the periphery monitoring device can display the peripheral image appropriately while foreseeing the needs of the operator.

Description

  The present invention relates to a periphery monitoring device that displays a periphery image captured by an in-vehicle camera.

  2. Description of the Related Art Conventionally, a peripheral monitoring device that displays peripheral video captured by a vehicle-mounted camera together with navigation information and the like is known. For example, Japanese Patent Laid-Open No. 2001-006097 discloses a driving support measure that displays a large surrounding image corresponding to the traveling direction of a vehicle in accordance with a driving operation.

JP 2001-006097 A

  However, in such a driving support device, since the peripheral video corresponding to the traveling direction of the vehicle is continuously displayed, there are cases where the driver cannot sufficiently check even if he wants to check other information. In other words, surrounding images could not be properly displayed in anticipation of the driver's needs.

  Therefore, the present invention is intended to provide a periphery monitoring device that can appropriately display a surrounding image in anticipation of the needs of the driver.

  The peripheral monitoring device is a device that displays a peripheral video imaged by the in-vehicle camera, and includes a display unit that displays the peripheral video, a detection unit that detects the intention of the driving operation, and a determination unit that determines whether the driving operation is performed. When the intention of the driving operation is detected, the surrounding image is displayed in a reduced size, and when the driving operation is started, the surrounding image is enlarged and displayed when the driving operation is converged. A display control unit for controlling the display unit.

  According to the present invention, when the intention of the driving operation is detected, the surrounding image is reduced and displayed, when the driving operation is started, the surrounding image is enlarged and when the driving operation is converged, the display of the surrounding image is ended. To do. Accordingly, the display of the peripheral video is started before the start of the driving operation, and the display of the peripheral video is ended before the end of the driving operation. Therefore, the peripheral video can be appropriately displayed in anticipation of the driver's needs.

  Further, the display control unit displays other information different from the surrounding video until the intent of the driving operation is detected, and when the intent of the driving operation is detected, the display control unit superimposes on the other information and reduces the surrounding video. When the display operation is started and the driving operation is started, the peripheral image is enlarged and displayed. When the driving operation is converged, the display unit may be controlled so as to end the display of the peripheral image and display other information. Accordingly, it is possible to appropriately display the peripheral video and other information in anticipation of the driver's needs.

  The determination unit may determine the start or convergence of the driving operation by comparing an operation value related to the driving operation with a predetermined threshold. Thereby, the start or convergence of driving operation can be determined appropriately.

  The threshold is set according to a period from the time when the intention of the driving operation is detected to the time when the operation according to the intention of the driving operation before the start of the driving operation is detected. When the value exceeds, it may be determined that the driving operation has started. Accordingly, it is possible to appropriately determine the start of the driving operation based on the period until the time point when the operation in accordance with the intention of the driving operation is detected. By setting the threshold value to a smaller value as the period is shorter, the peripheral video can be enlarged and displayed at an early timing when the peripheral video needs are particularly high.

  Further, the threshold value is set to correspond to the maximum value of the operation value that continuously changes when the driving operation is performed, and the determination unit determines that the driving operation has converged when the operation value falls below the threshold value. Also good. Thus, when the need for the peripheral video is reduced, the display of the peripheral video can be terminated and other information can be displayed.

  The driving operation is an operation for changing the course or the traveling direction of the vehicle, and the peripheral image may be a side image of the vehicle. Thereby, when changing the course or the traveling direction of the vehicle, the side image of the vehicle can be appropriately displayed in anticipation of the driver's needs.

  Further, the determination unit may determine the execution of the driving operation from the steering angle or the change in the vehicle speed. Accordingly, it is possible to appropriately determine the execution of the driving operation for changing the course or the traveling direction of the vehicle.

  The detection unit may detect the intention of the driving operation from the operating state of the blinker or the movement of the driver's line of sight. Thereby, the intention of the driving operation for changing the course or the traveling direction of the vehicle can be detected appropriately.

  The detection unit may detect the intention of the driving operation in consideration of navigation information or radar information. Thereby, the intention of the driving operation can be detected more accurately.

  The determination unit may determine whether to perform the driving operation in consideration of navigation information or radar information. Thereby, implementation of driving | operation operation can be determined more correctly.

  The display unit may be an in-vehicle monitor, an inner mirror, or a front window display. Thereby, it is possible to appropriately display the peripheral video in anticipation of the driver's needs on various display devices.

  ADVANTAGE OF THE INVENTION According to this invention, the periphery monitoring apparatus which can display a periphery image | video appropriately in anticipation of a driver | operator's needs can be provided.

It is a block diagram which shows the periphery monitoring apparatus which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the periphery monitoring apparatus which concerns on 1st Embodiment. It is a figure which shows the display state of the vehicle-mounted monitor which concerns on 1st Embodiment. It is a figure which shows the display state of the vehicle-mounted monitor which concerns on 1st Embodiment. It is a figure which shows the display state of the vehicle-mounted monitor which concerns on 1st Embodiment. It is a figure which shows the display state of the vehicle-mounted monitor which concerns on 1st Embodiment. It is a figure which shows the display state of the vehicle-mounted monitor which concerns on 1st Embodiment. It is a figure which shows an example of the method of determining the start of driving operation from the operation state of steering. It is a figure which shows an example of the method of determining the convergence of driving operation from the operation state of a steering. It is a flowchart which shows operation | movement of the periphery monitoring apparatus which concerns on 2nd Embodiment. It is a figure which shows the display state of the inner mirror which concerns on 2nd Embodiment. It is a figure which shows the display state of the inner mirror which concerns on 2nd Embodiment. It is a figure which shows the display state of the inner mirror which concerns on 2nd Embodiment. It is a figure which shows the display state of the inner mirror which concerns on 2nd Embodiment. It is a figure which shows the display state of the inner mirror which concerns on 2nd Embodiment. It is a figure which shows an example of the method of determining the start of driving operation from the speed change of a vehicle. It is a figure which shows an example of the method of determining the convergence of driving operation from the speed change of a vehicle.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  First, with reference to FIG. 1, the structure of the periphery monitoring apparatus 10 which concerns on embodiment of this invention is demonstrated. The surroundings monitoring device 10 is a device that monitors the surroundings of the vehicle using surrounding images in order to support driving operations. As shown in FIG. 1, the periphery monitoring device 10 includes a periphery monitoring camera 11 (vehicle-mounted camera), a line-of-sight tracking camera 12, a navigation device 13, a radar device 14, a display device 15 (display unit), and an ECU (Electronic Control Unit) 20. including.

  The peripheral monitoring camera 11 includes a front camera, a rear camera, and a side camera (all not shown), takes a picture of the surrounding situation of the vehicle, and outputs it as a peripheral video signal. The line-of-sight tracking camera 12 is disposed above a driver's seat (not shown), images the driver's face, detects line-of-sight movement from the captured image, and outputs it as a line-of-sight movement signal.

  The navigation device 13 is used for specifying a current position, setting a planned travel route, searching for road information, and map information based on GPS (Ground Positioning System) information and map information. The radar device 14 is used for detection of peripheral objects (stationary object, moving object) of the vehicle, detection of distance / relative speed with respect to the peripheral objects, and the like.

  The display device 15 is an in-vehicle monitor 15a, an inner mirror 15b, a front window display (not shown), or the like. The in-vehicle monitor 15a is disposed in front of the driver's seat, and usually displays a navigation image or the like on the entire monitor surface and displays a peripheral image at least partially as necessary. The inner mirror 15b is disposed on a roof (not shown) above the driver's seat, and displays a peripheral image on at least a part of the mirror surface whose reflection state is adjusted as necessary. The front window display (head-up display) projects and displays a peripheral image on at least a part of the window surface as necessary.

  The ECU 20 controls the display device 15 so as to appropriately display the peripheral video in anticipation of the driver's needs according to the intention and execution of the driving operation. Examples of the driving operation include a change in the course or the traveling direction of the vehicle, a forward and backward movement, a start / parking and the like, and the case where the course or the traveling direction is changed will be described below. In addition, examples of the peripheral video include a vehicle front, rear, and side images, a bird's-eye image of the entire vehicle, and the like. Hereinafter, a case where a vehicle side image is displayed will be described. Here, the side image means an image including an area that becomes a blind spot area from the driver's seat among the areas on the side of the vehicle.

  The ECU 20 includes a detection unit 21, a determination unit 22, and a display control unit 23. The ECU 20 includes an operation state of a winker (not shown), a detection result of the eye tracking camera 12, an operation state (steering angle) of a steering (not shown), a detection result (vehicle speed) of a speed sensor (not shown), a radar A signal indicating the detection result (radar information) of the device 14 is supplied.

  The detection unit 21 detects the intention of the driving operation by the driver. The intention of the driving operation is detected from the operating state of the blinker. The intention of the driving operation to change the course or the traveling direction to the left side and the right side of the traveling direction according to the operation of the left blinker and the right blinker is detected respectively.

  In addition, the intention of the driving operation may be detected from the movement of the driver's line of sight. Here, the line-of-sight movement is detected based on the line-of-sight movement signal of the line-of-sight tracking camera 12. When the driver's line of sight tends to move to the left side of the vehicle including the left side mirror and the right side of the vehicle including the right side mirror, Each intention is detected. The intention of the driving operation may be detected in consideration of navigation information (set route information, road information, lane information, intersection information, etc.) and radar information (distance of surrounding objects, relative speed, etc.).

  The determination part 22 determines the implementation of the driving operation by the driver. The implementation of the driving operation is determined from the operation state of the steering wheel. The determination unit 22 compares the steering angle (operation value) with a predetermined threshold value and determines the start or convergence of the driving operation. The implementation of the driving operation may be determined from a change in vehicle speed (operation value). The determination unit 22 compares the change in the detection value of the speed sensor with a predetermined threshold value and determines the start or convergence of the driving operation. Here, the convergence of the driving operation is a state before the driving operation ends, and means, for example, a state in which an operation value that starts increasing or decreasing with the start of the driving operation starts decreasing or increasing. The implementation of the driving operation may be determined in consideration of navigation information (set route information, road information, lane information, intersection information, etc.), radar information (inter-vehicle distance of surrounding vehicles, relative speed, etc.).

  When the intention of the driving operation is detected, the display control unit 23 reduces and displays the surrounding video. When the driving operation starts, the display control unit 23 enlarges and displays the surrounding video. When the driving operation converges, the display control unit 23 ends the display of the surrounding video. Thus, the display device 15 is controlled. In particular, the display control unit 23 displays other information different from the surrounding video until the intention of the driving operation is detected, and when the intention of the driving operation is detected, the display control unit 23 superimposes the surrounding video on the other information. When the driving operation starts, the display device 15 is preferably controlled so that the surrounding image is enlarged and displayed, and when the driving operation is converged, the display of the surrounding image is terminated and other information is displayed.

  Next, the operation of the periphery monitoring device 10 according to the first embodiment will be described with reference to FIGS. FIG. 2 is a flowchart showing the operation of the periphery monitoring device 10 according to the first embodiment. 3A to 3E are diagrams showing display states of the in-vehicle monitor 15a according to the first embodiment. 4 and 5 are diagrams respectively showing an example of a method for determining the start and convergence of the driving operation from the steering operation state.

  Here, it is assumed that the intention of the driving operation for changing the course or the traveling direction is detected from the operating state of the winker, the execution of the driving operation is determined from the steering angle, and the side image 31 is displayed on the in-vehicle monitor 15a. doing.

  The periphery monitoring device 10 repeats the process shown in FIG. 2 at a predetermined operation cycle while the vehicle is traveling. The display control unit 23 controls the in-vehicle monitor 15a so that the navigation image 32 different from the side image 31 is displayed on the entire monitor surface until the intention of the driving operation is detected from the operating state of the winker (step S11). (See FIG. 3A). It is assumed that the navigation video 32 changes in real time during the processing shown in FIG.

  When the detection unit 21 detects the intention of the driving operation (Yes in Step S12), the display control unit 23 superimposes the navigation video 32 and displays the side video 31 on a part of the monitor screen (Step S13). Next, the vehicle-mounted monitor 15a is controlled (refer FIG. 3B). Note that the side image 31 also changes in real time during the processing shown in FIG. Here, the left and right side images 31 are respectively displayed in accordance with the operation of the left and right winkers. If the intention of the driving operation is not detected (No in step S12), the navigation video 32 is continuously displayed on the entire monitor surface (see FIG. 3A). Thus, the driver can check the navigation video 32 until he or she intends a driving operation for changing the course or traveling direction (defeats the blinker), and if the driving operation is intended, the driver can generally check the situation on the side of the vehicle. .

  When the side image 31 is reduced and displayed, the determination unit 22 determines the start of the driving operation through a comparison between the steering angle and the first threshold (step S14). For example, when the steering angle exceeds the first threshold, the determination unit 22 determines that the driving operation has started (Yes in step S14), and the display control unit 23 displays the side image 31 on the monitor screen in an enlarged manner. As in (step S15), the in-vehicle monitor 15a is controlled (see FIG. 3C). The side image 31 may be enlarged and displayed on a part of the monitor surface, or may be enlarged and displayed on the entire monitor surface.

  If it is not determined that the driving operation has started (No in step S14), the side image 31 is continuously reduced and displayed on the monitor surface (see FIG. 3B). Further, when the winker is restored after the side image 31 is reduced and displayed, the navigation image 32 is displayed again on the entire monitor surface (see FIG. 3A). Thereby, the driver can confirm the situation on the side of the vehicle in detail when the driving operation for changing the course or the traveling direction is started (the steering is turned off until the steering angle exceeds the first threshold).

  When the side image 31 is enlarged and displayed, the determination unit 22 determines the convergence of the driving operation through a comparison between the steering angle and the second threshold value (step S16). For example, when the steering angle falls below the second threshold, the determination unit 22 determines that the driving operation has converged (Yes in step S16), and the display control unit 23 ends the display of the side image 31 and performs navigation. The in-vehicle monitor 15a is controlled so that the video 32 is displayed on the entire monitor surface (step S17) (see FIGS. 3D and 3E).

  If it is not determined that the driving operation has converged (No in step S16), the side image 31 is continuously enlarged and displayed on the monitor surface (see FIG. 3C). Thereby, the driver can confirm the navigation image 32 as before when the driving operation for changing the course or the traveling direction is converged (the steering is returned until the steering angle falls below the second threshold).

  Here, the first and second threshold values may be set to different values or may be set to a common value. The first threshold value is set to a value obtained when the steering is slightly turned off. Specifically, the first threshold value may be set to a value for starting a significant course change in the same lane. It may be set to a value for starting the accompanying route change. The second threshold value may be set to a value for converging the change in the course or the traveling direction, or may be set to a value for ending the change in the course or the traveling direction (steering angle during straight traveling). Good.

  The first threshold is set according to a period from the time when the intention of the driving operation is detected to the time when the operation according to the intention of the driving operation before the start of the driving operation is detected (the time when the steering is started). May be. Thereby, the timing which enlarges and displays the side image | video 31 can be adjusted according to the change condition of a course or the advancing direction.

As shown in FIG. 4, the first threshold is preferably set to a smaller value as the period is shorter. That is, in FIG. 4B, compared with the case shown in FIG. 4A, the period from the operation of the winker to the start of steering is shorter (t ₂ <t ₁ ). In the case shown in b), the first threshold values are set to α _1a and α _1b (<α _1a ), respectively. Therefore, in the case shown in FIG. 4 (a), until the steering angle alpha _a exceeds the first threshold value alpha _1a, but lateral view 31 is not enlarged, in the case shown in FIG. 4 (b), the steering angle alpha _{If b} exceeds the first threshold value α _1b (<α _1a ), the side image 31 is enlarged and displayed.

  This is because the shorter the period, the more likely the situation judgment by the driver becomes insufficient, and the need for the side image 31 increases to compensate for this. Thereby, when the needs of the side image 31 are particularly high, the side image 31 can be enlarged and displayed at an early timing.

As shown in FIG. 5, the second threshold value is set to a value corresponding to the maximum value of the steering angle that continuously changes during the driving operation so as to represent the convergence of the driving operation that changes the course or the traveling direction. Also good. That is, the second threshold value is set to the maximum value α ₂ of the steering angle that continuously changes from the start of the driving operation, and the steering angle α does not exceed the second threshold value α ₂ (that is, when the steering is started to return). Then, the display of the side image 31 is terminated and the navigation image 32 is displayed.

  This is because the need for the side image 31 is higher in the period of turning off the steering than in the period of returning the steering in order to prevent a side vehicle or the like from being involved when changing the course or the traveling direction. . Thereby, when the need for the side image 31 is reduced, the display of the side image 31 can be terminated and the navigation image 32 can be displayed.

  Here, when the start or convergence of the driving operation is determined from the steering operation state, it is preferable to consider the navigation information and the radar information. Accordingly, the start and convergence of the driving operation can be determined more reliably than when the determination is made only from the steering operation state. That is, by considering the navigation information and the radar information, it is possible to accurately estimate the timing for starting or converging the change of the course or the traveling direction and the steering angle required for this. Further, by adjusting the first and second threshold values using these pieces of information, the navigation video and the peripheral video can be appropriately displayed.

  Next, the operation of the periphery monitoring device 10 according to the second embodiment will be described with reference to FIGS. FIG. 6 is a flowchart showing the operation of the periphery monitoring device 10 according to the second embodiment. 7A to 7E are diagrams illustrating display states of the inner mirror 15b according to the second embodiment. FIG. 8 and FIG. 9 are diagrams respectively showing examples of methods for determining the start and convergence of the driving operation from the change in the speed of the vehicle.

  Here, the intention of the driving operation for changing the course or the traveling direction is detected from the driver's line of sight movement, the execution of the driving operation is determined from the change in the speed of the vehicle, and the side image 31 is displayed on the inner mirror 15b. Assume the case. In addition, below, the description which overlaps with 1st Embodiment is abbreviate | omitted.

  The inner mirror 15b captures a situation 33 behind the vehicle, which is different from the side image 31, until the intention of the driving operation is detected from the driver's line of sight movement (step S21) (see FIG. 7A). . It is assumed that the situation 33 behind the vehicle changes in real time during the process shown in FIG.

  When the ECU 20 detects the intention of the driving operation (Yes in Step S22), the inner mirror 15b displays the side image 31 in a reduced size on a part of the mirror surface so as to be superimposed on the situation 33 behind the vehicle (Step S22) (FIG. 7B). Note that the side image 31 changes in real time during the processing shown in FIG. In the second embodiment, it is particularly preferable to detect the intention of the driving operation in consideration of navigation information and radar information. As a result, the intention of the driving operation can be detected more reliably than in the case of detecting only from the movement of the line of sight. If the intention of the driving operation is not detected (No in step S22), the inner mirror 15b continuously displays the situation 33 behind the vehicle on the entire mirror surface (step S23) (see FIG. 7A).

  When the side image 31 is displayed in a reduced size, the ECU 20 determines the start of the driving operation through a comparison between the change in vehicle speed and the first threshold value (step S24). For example, when the speed change exceeds the first threshold, the ECU 20 determines that the driving operation has started (Yes in Step S24), and the inner mirror 15b displays the side image 31 on the mirror surface in an enlarged manner (Step S25). (See FIG. 7C).

  When the side image 31 is enlarged and displayed, the ECU 20 determines the convergence of the driving operation through a comparison between the change in the vehicle speed and the second threshold value (step S26). For example, when the speed change exceeds the second threshold, the ECU 20 determines that the driving operation has converged (Yes in step S26), and the inner mirror 15b ends the display of the side image 31 and the situation behind the vehicle. 33 is displayed on the entire mirror surface (step S27) (see FIGS. 7D and 7E).

  Here, the first threshold value is set according to a speed change that is required when starting to change the course or the traveling direction. This is because when starting a course change, acceleration to overtake the preceding vehicle or deceleration to interrupt the adjacent lane is often required, and the speed to turn left and right when starting to change the direction of travel. This is because change is often necessary. For this reason, when the speed change exceeds the threshold value (that is, the speed change is large), it is determined that the driving operation for changing the course or the traveling direction is started.

  Similarly, the second threshold value is set according to a speed change that is required when the change in the course or the traveling direction is converged. This is because a speed change for returning the vehicle speed to the original state is often required when the vehicle converges after starting the change of the route or the traveling direction. For this reason, when the speed change falls below this threshold value (the speed change is small), it is determined that the driving operation for changing the course or the traveling direction has converged.

Also in the second embodiment, as shown in FIG. 8, the first threshold value is determined from the time when the intention of the driving operation is detected to the time when the operation according to the intention of the driving operation before the start of the driving operation is detected ( It may be set according to the period until the time when the speed change is started. That is, in the case shown in FIG. 8 (a), the speed change delta _a the period is t ₁ until exceeds the first threshold delta _1a, but lateral view 31 is not enlarged, in FIG. 8 (b) In the illustrated case, if this period is t ₂ (<t ₁ ) and the speed change Δ _b exceeds the first threshold value Δ _1b (<Δ _1a ), the side image 31 is displayed in an enlarged manner. By setting the first threshold value to a smaller value as the period is shorter, the side image 31 can be enlarged and displayed at an earlier timing when the need for the side image 31 is particularly high.

Further, as shown in FIG. 9, the second threshold value is set to a value corresponding to the maximum value of the speed change that continuously changes during the driving operation so as to indicate the convergence of the driving operation that changes the course or the traveling direction. May be. That is, the second threshold value is set to the maximum value Δ ₂ of the speed change that continuously changes from the start of the driving operation, and the speed change Δ does not exceed the second threshold value Δ ₂ (for example, when deceleration starts after acceleration). Then, the display of the side image 31 is finished. By setting the second threshold value to the maximum value of the speed change, when the need for the side image 31 is reduced, the display of the side image 31 can be terminated and the situation 33 behind the vehicle can be copied.

  Here, when determining the start or convergence of the driving operation from the change in the speed of the vehicle, it is particularly preferable to consider the navigation information and the radar information. Accordingly, the start and convergence of the driving operation can be determined more reliably than when the determination is made only from the change in the vehicle speed. That is, by considering the navigation information and the radar information, it is possible to accurately estimate the timing for starting or converging a change in the course or the traveling direction, and the speed change necessary for this. Further, by adjusting the first and second threshold values using these pieces of information, the rear situation 33 and the surrounding video can be appropriately displayed.

  As described above, according to the periphery monitoring device 10 according to the embodiment of the present invention, when the intention of the driving operation for changing the course or the traveling direction of the vehicle is detected, the side image 31 is reduced and displayed. When the driving operation is started, the side image 31 is enlarged and displayed. When the driving operation is converged, the display of the side image 31 is ended. Therefore, the display of the side image 31 is started before the start of the driving operation and the display of the side image 31 is ended before the end of the driving operation. Therefore, the side image 31 is appropriately displayed in anticipation of the driver's needs. can do.

  Further, other information different from the side image 31 (navigation image 32, situation behind 33) is displayed until the intention of the driving operation is detected, and when the intention of the driving operation is detected, the other information is displayed. When the driving operation starts, the side image 31 is enlarged and displayed. When the driving operation converges, the display of the side image 31 is terminated and other information is displayed. Thus, the side image 31 and other information can be appropriately displayed in anticipation of the driver's needs.

  In addition, the operation value (steering angle, change in vehicle speed) related to the driving operation is compared with a predetermined threshold value to determine the start or convergence of the driving operation. The start or convergence of the operation can be appropriately determined.

  In addition, by setting a threshold value (first threshold value) according to a period up to the time point when an operation in accordance with the intention of the driving operation is detected, and when the operation value exceeds the threshold value, it is determined that the driving operation has started. The start of driving operation can be appropriately determined. By setting the threshold value to a smaller value as the period is shorter, the side image 31 can be enlarged and displayed at an early timing when the need for the side image 31 is particularly high.

  Further, by setting a threshold value (second threshold value) so as to correspond to the maximum value of the operation value that continuously changes during the driving operation, and determining that the driving operation has converged when the operation value falls below the threshold value, When the need for the side image 31 becomes low, the display of the side image 31 can be terminated and other information can be displayed.

  Further, by determining the execution of the driving operation from the change in the steering angle or the speed of the vehicle, it is possible to appropriately determine the execution of the driving operation for changing the course or the traveling direction of the vehicle.

  Further, by detecting the intention of the driving operation from the operating state of the winker or the driver's line of sight movement, it is possible to appropriately detect the intention of the driving operation for changing the course or traveling direction of the vehicle.

  Further, by detecting the intention of the driving operation in consideration of the navigation information or the radar information, the intention of the driving operation can be detected more accurately.

  Further, by determining the execution of the driving operation in consideration of the navigation information or the radar information, the execution of the driving operation can be determined more accurately.

  Further, by controlling the in-vehicle monitor 15a, the inner mirror 15b, or the front window display, the side image 31 can be appropriately displayed on the various display devices 15 in anticipation of the driver's needs.

  The above-described embodiment describes the best embodiment of the periphery monitoring device 10 according to the present invention, and the periphery monitoring device 10 according to the present invention is limited to the one described in this embodiment. is not. The periphery monitoring device 10 according to the present invention may be modified from the periphery monitoring device 10 according to the present embodiment or applied to other devices without departing from the gist of the invention described in each claim. .

  For example, the present invention can be similarly applied to a program for appropriately displaying peripheral images in anticipation of the driver's needs or a computer-readable recording medium storing the program according to the method described above.

  In the description of the above embodiment, the intention of the driving operation is detected from the operating state of the winker, the execution of the driving operation is determined from the steering angle, and the intention of the driving operation is detected from the driver's line of sight movement. Assuming that the execution of the driving operation is determined from the speed change. However, these combinations can be similarly described for a combination of the operating state of the blinker and a change in the speed of the vehicle, and a combination of the driver's line-of-sight movement and the steering angle.

  In the description of the above embodiment, a case where a side image is displayed in a driving operation for changing the course or traveling direction of the vehicle has been described. However, the case where a front image, a rear image, a side image, a bird's-eye view image, and the like are displayed in the driving operation for moving the vehicle forward and backward, starting, and stopping / stopping can be similarly described.

  In the description of the above embodiment, the case where the peripheral video and the navigation video are appropriately displayed in anticipation of the driver's needs has been described, but the same applies to the case where audio information or the like is displayed instead of the navigation video. Can be explained.

  In the description of the above embodiment, the case where the peripheral video is displayed on the in-vehicle monitor 15a and the inner mirror 15b has been described. However, the case where the peripheral video is displayed on the front window display can be described in the same manner.

  DESCRIPTION OF SYMBOLS 10 ... Perimeter monitoring apparatus, 11 ... Perimeter monitoring camera, 12 ... Eye tracking camera, 13 ... Navigation apparatus, 14 ... Radar apparatus, 15 ... Display apparatus, 20 ... ECU, 21 ... Detection part, 22 ... Determination part, 23 ... Display Control unit, 31 ... peripheral video, 32 ... navigation video, 33 ... situation behind the vehicle

Claims (14)

A peripheral monitoring device that displays peripheral video captured by an in-vehicle camera,
A display unit for displaying the peripheral video;
A detection unit for detecting the intention of driving operation;
A determination unit for determining execution of the driving operation;
When the intention of the driving operation is detected, the surrounding image is displayed in a reduced size, and when the driving operation is started, the surrounding image is displayed in an enlarged manner, and when the driving operation is converged, the display of the surrounding image is ended. A display control unit for controlling the display unit;
A peripheral monitoring device comprising:   The display control unit displays other information different from the surrounding video until the intent of the driving operation is detected, and when the intent of the driving operation is detected, the information is superimposed on the other information. When the driving operation starts, the surrounding image is displayed in a reduced size, and when the driving operation is started, the surrounding image is enlarged, and when the driving operation is converged, the display of the surrounding image is terminated and the other information is displayed. The periphery monitoring device according to claim 1 which controls a section.   The periphery monitoring device according to claim 1 or 2, wherein the determination unit determines the start or convergence of the driving operation by comparing an operation value related to the driving operation with a predetermined threshold. The threshold is set according to a period from the time when the intention of the driving operation is detected to the time when the operation according to the intention of the driving operation before the start of the driving operation is detected,
The periphery monitoring device according to claim 3, wherein the determination unit determines that the driving operation has started when the operation value exceeds the threshold value.   The periphery monitoring device according to claim 4, wherein the threshold is set to a smaller value as the period is shorter. The threshold value is set to correspond to the maximum value of the operation value that continuously changes when the driving operation is performed,
The periphery monitoring device according to any one of claims 3 to 5, wherein the determination unit determines that the driving operation has converged when the operation value falls below the threshold. The driving operation is an operation for changing the course or traveling direction of the vehicle,
The periphery monitoring device according to any one of claims 1 to 6, wherein the periphery image is a side image of the vehicle.   The periphery monitoring device according to claim 7, wherein the operation value is a steering angle.   The periphery monitoring device according to claim 7, wherein the operation value is a speed change of the vehicle.   The periphery monitoring device according to any one of claims 7 to 9, wherein the detection unit detects an operation state of the winker.   The periphery monitoring device according to any one of claims 7 to 9, wherein the detection unit detects a driver's line-of-sight movement.   The periphery monitoring device according to any one of claims 1 to 11, wherein the detection unit detects an intention of the driving operation in consideration of navigation information or radar information.   The periphery monitoring device according to any one of claims 1 to 12, wherein the determination unit determines execution of the driving operation in consideration of navigation information or radar information. The periphery monitoring device according to any one of claims 1 to 13, wherein the display unit is an in-vehicle monitor, an inner mirror, or a front window display.

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