JP2013151191A - Vehicle surroundings display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle surroundings display device that can determine abnormal conditions of an image even during vehicle stopping.SOLUTION: A vehicle surroundings display device that images vehicle surroundings by an imaging means and displays the image of the vehicle surroundings by a display means, is set so that the direct light or the indirect light of vehicle illumination may enter the range of the imaging of the imaging means. The vehicle surroundings display device determines whether the images of different times change (S3); determines whether the vehicle speed is not more than the prescribed vehicle speed, when the images are not changed (S4); determines whether the vehicle illumination state is changed when the vehicle speed is not more than the predetermined vehicle speed (during vehicle stops) (S5); determines whether the illuminance is not more than the prescribed illuminance when the vehicle illumination state changes (S6); determines that there is the possibility of image frieze when the illuminance is higher than the prescribed illuminance (S7); and determines the status is the image freeze when the illuminance is not more than the prescribed illuminance (S8).

Description

  The present invention relates to a vehicle periphery display device that images a vehicle periphery with an imaging unit and displays an image of the vehicle periphery with a display unit.

  In the vehicle periphery display device, the vehicle periphery is always imaged with a camera, and an image of the vehicle periphery is displayed on the display. Therefore, the camera or the image processing apparatus is not turned ON / OFF (without being restarted during use), and the possibility of spontaneous recovery even when the image freezes is low. Therefore, it is determined whether or not the image is frozen. If it is determined that the image is frozen, some countermeasure is required. In the image display system described in Patent Document 1, when a difference is not detected in successive image frames output from a camera at a predetermined time interval, the display image may be frozen. When the vehicle speed is equal to or lower than the predetermined vehicle speed (when the vehicle is stopped), the difference detection (image freeze determination) is stopped.

JP 2004-64440 A Japanese Patent Laid-Open No. 2001-204012

  Since the above determination method is a method of determining image freeze on the assumption that the image changes because the background and the like always change while the vehicle is traveling, the determination is not performed when the vehicle is stopped. Therefore, it cannot be determined whether the image is frozen while the vehicle is stopped.

  Accordingly, an object of the present invention is to provide a vehicle periphery display device that can determine an image abnormality even when the vehicle is stopped.

  A vehicle periphery display device according to the present invention is a vehicle periphery display device that captures an image of a vehicle periphery with an imaging unit and displays an image of the vehicle periphery with a display unit, and determines whether images at different times have changed. Image determining means, vehicle speed detecting means for detecting the vehicle speed, and illumination determining means for determining whether or not the state of the in-vehicle lighting has changed, and direct light or indirect of the in-vehicle lighting within the imaging range of the imaging means When it is determined that the light enters, the image determination unit determines that the image has not changed, and the vehicle speed detected by the vehicle speed detection unit is equal to or lower than the predetermined vehicle speed, the illumination determination unit changes the state of the in-vehicle illumination If it is determined that there is a possibility that the image is abnormal.

  The vehicle periphery display device is a device that captures an image of the vehicle periphery with an imaging unit and displays an image of the vehicle periphery on the display unit. In this vehicle periphery display device, it is determined by the image determination means whether or not images at different times have changed. The determination target image may be a captured image captured by the imaging unit or a display image after image processing for displaying the captured image on the display unit. Since the background and the like change while the vehicle is running, the images at different times will always change, but when the vehicle is stopped, the images at different times may not change (changes if surrounding moving objects are moving). In the vehicle periphery display device, the vehicle speed detection means detects the vehicle speed, and the illumination determination means determines whether or not the in-vehicle illumination state has changed (from the lighting state (flashing state) to the off state or from the unlit state to the on state). To do. Examples of in-vehicle lighting include a brake lamp, a blinker, a tail lamp, a fog lamp, and a headlight. In the vehicle periphery display device, it is set so that direct light or indirect light of in-vehicle illumination enters the imaging range of the imaging means. By setting in this way, even when the vehicle is stopped (particularly even when surrounding moving objects are not moving), when the state of the vehicle-mounted illumination changes, the imaging means changes the state of the light directly or indirectly during normal operation. Since images can be taken as changes in light, images at different times change. Therefore, in the vehicle periphery display device, when the image determination unit determines that the image has not changed and the vehicle speed is equal to or lower than the predetermined vehicle speed (the predetermined vehicle speed is a threshold value for determining the stop state of the vehicle), the illumination determination unit If it is determined that the state of the in-vehicle lighting has changed, the image at the different time has not changed even though the change in the state can be imaged as a change in direct light or indirect light, so the image is abnormal. It is determined that there is a possibility. In this way, the vehicle periphery display device is set so that direct light or indirect light of the in-vehicle illumination enters the imaging range of the imaging means, and by using the change in the state of the in-vehicle illumination, the abnormality of the image is detected even when the vehicle is stopped. The possibility can be determined.

  The vehicle periphery display device of the present invention includes illuminance detection means for detecting illuminance around the vehicle, and when the illuminance detected by the illuminance detection means is less than or equal to a predetermined illuminance when it is determined that there is a possibility of an abnormality in the image. It is preferable to determine that there is an abnormality in the image.

  In this vehicle periphery display device, the illuminance around the vehicle is detected by the illuminance detection means. When the illuminance around the vehicle is low (when the vehicle periphery is dark), it always appears in the image change at different times when the state of the in-vehicle illumination changes. Therefore, in the vehicle periphery display device, when it is determined that there is a possibility of abnormality in the image (when it is determined that the image is not changed and the vehicle speed is equal to or lower than the predetermined vehicle speed, the state of the in-vehicle illumination is changed. If the illuminance is less than or equal to the predetermined illuminance (the predetermined illuminance is a threshold value for determining the illuminance to such an extent that the change in the state of the in-vehicle illumination sufficiently appears in the image), it is determined that the image is abnormal. Thus, the vehicle periphery display device can determine with high accuracy whether or not there is an image abnormality even when the vehicle is stopped by using the illuminance around the vehicle.

  According to the present invention, it is set so that direct light or indirect light of in-vehicle illumination enters the imaging range of the image pickup means, and the possibility of an image abnormality is determined even when the vehicle is stopped by using a change in the state of in-vehicle illumination. can do.

It is a block diagram of the vehicle periphery display apparatus which concerns on this Embodiment. It is a flowchart which shows the flow of the image freeze determination in the vehicle periphery display apparatus which concerns on this Embodiment.

  Hereinafter, an embodiment of a vehicle periphery display device according to the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected about the element which is the same or it corresponds in each figure, and the overlapping description is abbreviate | omitted.

  The vehicle periphery display device according to the present embodiment is a device that displays the situation around the host vehicle, and is activated (ON) at the start of vehicle energization and stopped (OFF) at the end of vehicle energization. Therefore, the vehicle periphery display device according to the present embodiment always operates while the vehicle is energized, images the periphery of the host vehicle with the camera, and displays an image of the periphery of the host vehicle on the display.

  With reference to FIG. 1, the vehicle periphery display apparatus 1 which concerns on this Embodiment is demonstrated. FIG. 1 is a configuration diagram of a vehicle periphery display device according to the present embodiment.

  The vehicle periphery display device 1 detects a flow (image movement) between images of successive frames, and determines whether or not the image is frozen based on the flow and the traveling state of the host vehicle. In particular, the vehicle periphery display device 1 is set so that direct light or indirect light of in-vehicle lamps enters the imaging range of the camera in order to determine image freeze even when the vehicle is stopped. The change is used to determine the possibility of image freeze while the vehicle is stopped. Furthermore, the vehicle periphery display device 1 determines whether or not the image is frozen while the vehicle is stopped by using the illuminance around the own vehicle in order to determine the image freeze while the vehicle is stopped with higher accuracy.

  The vehicle periphery display device 1 includes a camera 10, a vehicle speed sensor 11, a brake lamp 12, a blinker 13, a fog lamp 14, a tail lamp 15, a headlight 16, an illuminance sensor 17, an image processing device 20, an image flow detector 21, and a travel condition determination device. 22, a lamp operating state determination unit 23, an environment determination unit 24, an image freeze determination unit 25, and a display 30. The image processing device 20, the image flow detector 21, the traveling state determination unit 22, the lamp operation state determination unit 23, the environment determination unit 24, and the image freeze determination unit 25 are included in the ECU [Electronic Control Unit] of the vehicle periphery display device 1. Composed. In the present embodiment, the camera 10 corresponds to the imaging means described in the claims, the vehicle speed sensor 11 corresponds to the vehicle speed detection means described in the claims, and the brake lamp 12, the blinker 13, the fog lamp. 14, the tail lamp 15 and the headlight 16 correspond to the in-vehicle illumination described in the claims, the illuminance sensor 17 corresponds to the illuminance detection means described in the claims, and the image flow detector 21 and the image freeze determination device. 25 corresponds to the image determination means described in the claims, the lamp operating state determination device 23 corresponds to the illumination determination means described in the claims, and the display 30 corresponds to the display means described in the claims. Equivalent to.

  The camera 10 is a camera that images the situation around the host vehicle. There is at least one camera 10 and a plurality of cameras may be used. As a position where the camera 10 is attached, there are, for example, a central portion in front of the vehicle, a central portion in the rear of the vehicle, and left and right side mirrors. Examples of the imaging direction of the camera 10 include the front, rear, rear right side, and rear left side of the host vehicle. Each camera 10 images the periphery of the host vehicle at regular time intervals, and outputs captured image information of frames captured at each time. The captured image information is stored in a time series in an image memory in the ECU for a predetermined time.

  In particular, the mounting angle of the camera 10 is such that when the image is taken by the camera 10, the vehicle lamp (either the brake lamp 12, the blinker 13, the fog lamp 14, the tail lamp 15, or the headlight 16) itself or the light from the vehicle lamp is used as a bumper, body, It is set so that the reflected light reflected from the ground or the like is reflected. That is, the camera 10 is attached so that direct light or indirect light from the in-vehicle lamp enters the imaging range of the camera 10. When the imaging direction is the front camera 10, the front blinker 13, the fog lamp 14, and the headlight 16 are targeted. When the imaging direction is the rear or rear side camera 10, the brake lamp 12, the rear blinker 13, The tail lamp 15 is a target.

  The vehicle speed sensor 11 is a sensor that detects the vehicle speed of the host vehicle. The vehicle speed sensor 11 detects the vehicle speed and outputs the vehicle speed information at regular time intervals.

  The brake lamp 12, the blinker 13, the fog lamp 14, the tail lamp 15, and the headlight 16 are on-vehicle lamps of the host vehicle. For each of the brake lamp 12, the blinker 13, the fog lamp 14, the tail lamp 15, and the headlight 16, operation information (information that can determine the operation state of lighting, blinking / extinguishing) is acquired, and the lamp operation information is output. This lamp operation information may be, for example, information obtained from an ON / OFF switch of each lamp, information obtained from an ECU that turns on / off the brake lamp 12, or obtained from an electric wire that supplies power to each lamp. It may be supply information of power to be generated.

  In addition, since direct light or indirect light of the in-vehicle lamp is in the imaging range of the camera 10, if the operating state of the in-vehicle lamp changes (turns on (blinks) to off or turns off (blinks)), the frame before and after that The image information (brightness, color, etc.) of at least the portion where the direct or indirect light of the in-vehicle lamp enters varies between the images. However, when the surroundings of the host vehicle are dark (such as at night), the change of the image information appears remarkably, but when it is bright (such as during the day), the change of the image information may not appear.

  The illuminance sensor 17 is a sensor that detects the illuminance around the host vehicle. The illuminance sensor 17 detects illuminance and outputs the illuminance information at regular time intervals.

  The image processing apparatus 20 receives captured image information of the current frame of each camera 10 at regular time intervals. In the image processing apparatus 20, various image processing (enlargement / reduction, composition of images by a plurality of cameras 10, etc.) is performed on the captured image of each camera 10 for display on the display 30 and display on the display 30. A display image is generated and the display image information is output. The display image information is stored in time series in the image memory in the ECU for a predetermined time.

  Image information (display image information) after processing in the image processing device 20 is input to the image flow detector 21 at regular intervals. In the image flow detector 21, for each pixel corresponding to the image of the current frame and the image of the previous frame, image information between successive frames using image information (luminance, RGB information, etc.) of that pixel and surrounding pixels is used. The flow (movement in the image) is calculated. As a method for calculating this flow, a conventional method is applied. For example, an optical flow is calculated by a gradient method or the like.

  Vehicle speed information of the vehicle speed sensor 11 is input to the traveling state determination unit 22 at regular time intervals. The traveling state determination unit 22 determines whether the vehicle speed is equal to or lower than a predetermined vehicle speed, and determines whether the host vehicle is traveling (when the vehicle speed exceeds the predetermined vehicle speed) or is stopped (when the vehicle speed is equal to or lower than the predetermined vehicle speed). . The predetermined vehicle speed is a threshold value for determining the stop state of the vehicle, and is set in advance by an actual vehicle experiment or the like.

  The lamp operating state determiner 23 receives the above-described operating information for each lamp at regular intervals. The lamp operation state determination unit 23 compares the current operation information with the previous operation information for each of the brake lamp 12, the blinker 13, the fog lamp 14, the tail lamp 15, and the headlight 16, and determines whether the lamp state has changed (lights up). Whether it has been turned off from (blinking) or turned on (blinking) from off.

  The illuminance information of the illuminance sensor 17 is input to the environment determination unit 24 at regular time intervals. The environment determination unit 24 determines whether or not the illuminance is less than or equal to a predetermined illuminance, and determines whether the illuminance is high (the surrounding area of the vehicle is bright to some extent, daytime, etc.) or the illuminance is low (the surrounding area of the vehicle is dark, nighttime, etc.). To do. The predetermined illuminance is a threshold value for determining the illuminance such that a change in the state of the in-vehicle lamp sufficiently appears as a change in the image information in the image, and is set in advance by an actual vehicle experiment or the like.

  The image freeze determination unit 25 receives the detection result of the image flow detector 21, the determination result of the traveling state determination unit 22, the determination result of the lamp operating state determination unit 23, and the determination result of the environment determination unit 24 at regular intervals. Is done. The image freeze determination unit 25 determines whether or not the current frame image and the previous frame image are the same image (no movement for all pixels in the image) based on the detection result of the image flow detector 21. To do. When it is determined that the vehicle is traveling by the traveling state determination unit 22 when the image of the current frame and the image of the previous frame are determined to be the same image, the image freeze determination unit 25 uses the background in the imaging range of the camera 10 or the like. Is changed (because the vehicle is running), the image between successive frames has not changed, so it is determined that the image is frozen. In this case, the image freeze determination unit 25 restarts the camera 10 and the image processing device 20.

  When it is determined that the vehicle is stopped by the traveling state determination unit 22 when it is determined that the current frame image and the previous frame image are the same image, the image freeze determination unit 25 determines by the lamp operation state determination unit 23. Based on the result, information is obtained as to whether the lamp state has changed. When the lamp state has not changed, the image freeze determination unit 25 has the same image between successive frames, but the background within the imaging range of the camera 10 has not changed (because the vehicle is stopped). Since the lamp state has not changed, it is determined that the image is not frozen. When the lamp state has changed, the image freeze determination unit 25 should show the influence of lighting (flashing) / extinguishing of the direct light or indirect light of the lamp entering the imaging range due to the change of the lamp state. Since the images between successive frames are the same, it is determined that there is a possibility that the images are frozen. In particular, when the environment determination unit 24 determines that the illuminance is high, the image freeze determination unit 25 has a bright surrounding area of the host vehicle. Since it may not appear in the image, it is determined that there is a possibility that the image is frozen. In this case, the image freeze determination unit 25 generates a superimposed display image of a message that informs the driver that there is a possibility of image freezing, and outputs the superimposed display image information to the display 30. Further, when the environment determination unit 24 determines that the illuminance is low, the image freeze determination unit 25 has an effect of lighting (flashing) / turning off the direct light or indirect light of the lamp because the periphery of the host vehicle is dark. The image is determined to be frozen. In this case, the image freeze determination unit 25 restarts the camera 10 and the image processing device 20.

  The cause of the image freeze includes, for example, an overflow of the image memory, a processing delay in the image processing apparatus 20, and some abnormality in the camera 10. Even if the image freezes due to these factors, in most cases, the image freeze can be resolved by restarting the camera 10 or the image processing apparatus 20.

  The display 30 is a display dedicated to the vehicle periphery display device 1. The display 30 is disposed at a position that is easily visible from the driver of the host vehicle and at an angle that is easily visible. Every time the display image information from the image processing device 20 is input, the display 30 displays the display image (the vehicle surrounding image). Furthermore, when the superimposed display image information from the image freeze determiner 25 is input, the display 30 displays a superimposed display image (a message indicating the possibility of image freeze) in a superimposed manner on the vehicle periphery image being displayed.

  With reference to FIG. 1, the operation | movement regarding the image freeze determination in the vehicle periphery display apparatus 1 is demonstrated along the flowchart of FIG. FIG. 2 is a flowchart showing a flow of image freeze determination in the vehicle periphery display device according to the present embodiment. In the vehicle periphery display device 1, the following operation is repeated at regular intervals.

  After the vehicle periphery display device 1 is activated, each camera 10 captures an image of the periphery of the own vehicle and acquires a captured image of each time frame. In the image processing device 20, various image processing is performed on each image of the current frame at regular intervals, and a display image to be displayed on the display 30 is generated. The display 30 displays this display image. Note that information of images (captured images of each camera 10 and display images after processing by the image processing apparatus 20) is accumulated in a time series for a predetermined time in the image memory. For the image, the frame image N at the previous time is acquired at the time of activation (or at the time of restart) (S1), and the frame image N + 1 at the current time is acquired at regular intervals (S2). At the end, the image N of the previous frame is updated with the image N + 1 of the current frame (S9).

  In addition, the vehicle speed sensor 11 detects the vehicle speed of the host vehicle at regular time intervals, and acquires the vehicle speed at each time. In addition, operation information about each of the brake lamp 12, the blinker 13, the fog lamp 14, the tail lamp 15, and the headlight 16 is acquired at regular intervals. In addition, the illuminance sensor 17 detects the illuminance around the host vehicle at regular intervals, and acquires the illuminance at each time. As for the vehicle information about the vehicle speed, the lamp operation, and the illuminance, the vehicle information D at the previous time is acquired at the time of start-up (or at the time of restart) (S1), and the current time information is obtained at regular intervals. The own vehicle information D + 1 is acquired (S2), and the previous own vehicle information D is updated with the current own vehicle information D + 1 at the end of the current process (S9).

  The image flow detector 21 calculates the flow of each pixel between the image N (display image) of the previous frame and the image N + 1 (display image) of the current frame (S3). Further, the image freeze determination unit 25 determines whether the image N of the previous frame and the image N + 1 of the current frame are the same based on the flow of each pixel between the image N of the previous frame and the image N + 1 of the current frame. Is determined (S3). If it is determined in S3 that the images are different, the image freeze determination unit 25 determines that the image is not frozen. Thereafter, the previous vehicle information D is updated with the current vehicle information D + 1 and the image N of the previous frame is updated with the image N + 1 of the current frame (S9), and the current process ends. In this case, the next process starts from S2.

  If it is determined in S3 that the images are the same, the traveling state determination unit 22 determines whether or not the host vehicle is traveling based on the current vehicle speed information D + 1 (S4). If it is determined in S4 that the vehicle is traveling, the image freeze determination unit 25 determines that the image is frozen and restarts the camera 10 and the image processing apparatus 20. At this time, the image N of the previous frame and the image N + 1 of the current frame are initialized. In this case, the next process starts from S1.

  When it is determined in S4 that the vehicle is stopped, the lamp operation state determination unit 23 compares the previous lamp operation information D with the current lamp operation information D + 1 to determine whether or not the lamp state has changed ( S5). If it is determined in S5 that the lamp state has not changed, the image freeze determination unit 25 determines that the image is not frozen. Thereafter, the previous vehicle information D is updated with the current vehicle information D + 1 and the image N of the previous frame is updated with the image N + 1 of the current frame (S9), and the current process ends. In this case, the next process starts from S2.

  If it is determined in S5 that the lamp state has changed, the environment determination unit 24 determines whether or not the illuminance around the host vehicle is low based on the current illuminance information D + 1 (S6). When it is determined in S6 that the illuminance is not low, the image freeze determination unit 25 determines that there is a possibility that the image is frozen, and displays a superimposed message that indicates to the driver that there is a possibility that the image is frozen. An image is generated (S7). The display 30 superimposes and displays this image freeze possibility message (S7). Thereafter, the previous vehicle information D is updated with the current vehicle information D + 1 and the image N of the previous frame is updated with the image N + 1 of the current frame (S9), and the current process ends. In this case, the next process starts from S2. If it is determined in S6 that the illuminance is low, the image freeze determiner 25 determines that the image is frozen, and restarts the camera 10 and the image processing device 20 (S8). At this time, the image N of the previous frame and the image N + 1 of the current frame are initialized. In this case, the next process starts from S1.

  According to the vehicle periphery display device 1, by setting the direct light or indirect light of the lamp to enter the imaging range of the camera 10, and utilizing the change in the state of the lamp, the possibility of image freezing even when the vehicle is stopped is achieved. Can be determined. Furthermore, according to the vehicle periphery display device 1, the image freeze can be determined with high accuracy even when the vehicle is stopped by using the illuminance around the vehicle.

  Further, according to the vehicle periphery display device 1, when the possibility of image freeze is determined while the vehicle is stopped, the movement displayed on the display 30 is presented to the driver that there is a possibility of image freeze. The driver can be informed that the reliability of the image without the image is low, and the driver can be prompted to perform safe driving (for example, sudden start suppression) when starting the vehicle. Further, according to the vehicle periphery display device 1, when the image freeze is determined while the vehicle is stopped, the image freeze can be quickly eliminated by restarting the camera 10 and the image processing device 20, and the image is displayed while the vehicle is stopped. Even when frozen, a normal vehicle periphery image can be quickly provided to the driver.

  As mentioned above, although embodiment which concerns on this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  For example, in the present embodiment, the present invention is applied to a vehicle periphery display device that only displays a vehicle periphery image. However, the present invention can also be applied to other devices that display a vehicle periphery image. There is a device for calling attention according to the relationship between the moving object (vehicle, pedestrian, etc.) and the own vehicle. In the case of such an apparatus, since a moving object is detected by detecting a flow in an image, image freeze determination can be performed using this flow detection.

  In this embodiment, image flow detection and image freeze determination are performed using two consecutive frames of images. However, image flow detection and image freeze determination are performed using three or more consecutive images. Also good. In this embodiment, image flow detection and image freeze determination are performed on the display image after processing by the image processing apparatus. However, image flow detection and image freeze determination are performed on images captured by each camera. You may do it.

  In the present embodiment, brake lamps, blinkers, fog lamps, tail lamps, and headlights are used as in-vehicle lighting to determine image freeze. However, only some of the in-vehicle lighting may be used. If there is other in-vehicle illumination, other in-vehicle illumination may be used.

  In this embodiment, the image flow is calculated to determine whether or not the image between frames has changed. However, it is determined whether or not the image between frames has been changed by another method. To do. For example, image information (such as luminance) is compared for each corresponding pixel of an image between frames, and determination is made based on whether or not the image information matches for all pixels.

  In the present embodiment, when it is determined that the image is frozen, the apparatus is restarted. However, the image freeze may be presented to the driver and the driver may be prompted to take action such as restart. Since it is possible that the image freeze is not resolved only by restarting, if the image freeze is not resolved even if the driver is restarted, it is possible to take measures such as repair.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle periphery display apparatus, 10 ... Camera, 11 ... Vehicle speed sensor, 12 ... Brake lamp, 13 ... Winker, 14 ... Fog lamp, 15 ... Tail lamp, 16 ... Headlight, 17 ... Illuminance sensor, 20 ... Image processing apparatus, 21 DESCRIPTION OF SYMBOLS ... Image flow detector, 22 ... Running condition judgment device, 23 ... Lamp operation state judgment device, 24 ... Environment judgment device, 25 ... Image freeze judgment device, 30 ... Display.

Claims (2)

A vehicle periphery display device that images a vehicle periphery with an imaging unit and displays an image of the vehicle periphery with a display unit,
Image determination means for determining whether images at different times have changed,
Vehicle speed detection means for detecting the vehicle speed;
Lighting determination means for determining whether or not the state of in-vehicle lighting has changed,
With
It is set so that direct light or indirect light of the vehicle-mounted illumination enters within the imaging range of the imaging means,
When it is determined that the image is not changed by the image determining means and the vehicle determining state is changed by the illumination determining means when the vehicle speed detected by the vehicle speed detecting means is equal to or lower than a predetermined vehicle speed. Determines that there is a possibility of abnormality in the image. Illuminance detection means for detecting the illuminance around the vehicle,
2. The vehicle according to claim 1, wherein when it is determined that there is a possibility of abnormality in the image, it is determined that there is an abnormality in the image when the illuminance detected by the illuminance detection unit is equal to or less than a predetermined illuminance. Peripheral display device.

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