JP2015136056A - Operation support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve an easy-to-see display for a driver, in an electronic mirror for displaying an image obtained by capturing a rear side of an own vehicle.SOLUTION: When a determination is made that there is no other vehicle in the proximity range of an own vehicle, a control unit 11 displays a captured image acquired from a camera 20, as a narrow angle image in a range corresponding to a field angle narrower than the total angle of view in the horizontal direction, on a display 30. However, when a determination is made that there is no other vehicle in the proximity range of the own vehicle, the image is displayed as a wide angle image, where the field angle in the horizontal direction is wider than that of the narrow angle image. Alternatively, the control unit 11 performs smoothing for image information corresponding to a set partial object region, out of the captured image acquired from the camera 20, and displays the captured image, including the image information subjected to smoothing, on the display 30.

Description

  The present invention relates to a driving support device that displays an image of a rear side of a host vehicle.

  There has been proposed a so-called electronic mirror technique in which a camera attached to the vicinity of a vehicle door mirror is used to photograph the rear side of the host vehicle, and an image photographed by the camera is displayed on a display provided in the passenger compartment (for example, , See Patent Document 1). According to this type of electronic mirror, a camera can be used to shoot and display a wider area than a rear-view mirror such as a fender mirror or a door mirror, which has the advantage of reducing blind spots.

JP 2006-51850 A

  On the other hand, since the electronic mirror displays a wider range of scenes than the conventional rearview mirror, there are the following problems. As a first problem, wide-angle display widens the range that enters the screen, but the subject on the screen becomes smaller. For this reason, the rear side scene to be mainly displayed is displayed small. As a second problem, the wide display from the host vehicle to the nearest road surface makes the rough road surface texture (texture) easily visible to the driver, and the driver may feel annoying.

  The present invention has been made to solve the first and second problems.

  The invention according to claim 1, which has been made to solve the first problem, includes an imaging unit that images the rear side of the host vehicle, and a detection that detects another vehicle that is located behind the host vehicle. And a driving support apparatus communicably connected to a display unit that displays a captured image captured by the imaging unit. When the other vehicle is not detected in a predetermined range on the rear side of the host vehicle, the display control means included in the driving support device has a full angle of view in the horizontal direction in the captured image among the captured images acquired from the imaging means. A narrow-angle image composed of an image in a range corresponding to a narrower angle of view is displayed on the display means. On the other hand, when another vehicle is detected in a predetermined range on the rear side of the host vehicle, the display control device displays a wide-angle image composed of an image corresponding to a range in which the horizontal angle of view is wider than the narrow-angle image. Is displayed on the display means.

  According to the present invention, when there is no other vehicle at a specific position on the rear side of the host vehicle, the captured image acquired from the imaging unit is displayed as a narrow-angle image, so that the range that enters the screen is narrowed. A large range can be displayed. On the other hand, when there is another vehicle at a specific position on the rear side of the host vehicle, the captured image acquired from the imaging means is displayed as a wide-angle image, thereby widening the range that enters the screen and reducing the blind spot, Can be easily discovered. In this way, by selectively using the narrow-angle display and the wide-angle display according to the presence or absence of other vehicles existing behind the host vehicle, it is possible to achieve both the advantages of the wide-angle display and the advantages of the narrow-angle display.

The invention according to claim 6 made to solve the second problem communicates with an imaging means for imaging the rear side of the host vehicle, and a display means for displaying a captured image captured by the imaging means. It is the driving assistance device connected so as to be possible. The display control means included in the driving support device performs the smoothing process on the image information corresponding to the set target area among the captured images acquired from the imaging means, and the smoothing process is performed. A captured image including image information is displayed on the display means.

  According to the present invention, by performing the smoothing process on a part of the target area in the captured image, it is possible to reduce a fine change in the image in the target area and to make the image smooth and easy to see. By doing so, for example, the rough texture of the road surface close to the host vehicle can be reduced, and an image that is easy to see for the driver can be displayed.

The block diagram which shows the structure of a driving assistance device. The flowchart which shows the procedure of a support image display process (1st Embodiment). Explanatory drawing showing the outline | summary of a narrow angle display and a wide angle display. Explanatory drawing showing transition of an image display mode. Explanatory drawing showing an example of the display mode of a support image. Explanatory drawing showing the modification of an image display mode. Explanatory drawing showing the modification of the timing which switches from a narrow angle display to a wide angle display. The flowchart which shows the procedure of assistance image display processing (2nd Embodiment). Explanatory drawing showing the outline | summary of the object area | region of a smoothing process. Explanatory drawing showing an example of the determination method of an object area | region.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment, It is possible to implement in various aspects.
[Description of configuration of driving support system]
As shown in FIG. 1, the in-vehicle system 1 of the embodiment includes a driving support device 10, a camera 20 connected to the driving support device 10, a radar sensor unit 21, a vehicle information input unit 22, an operation unit 23, And a display 30.

  The camera 20 captures an image of the rear side of a vehicle (hereinafter, the host vehicle) on which the in-vehicle system 1 is mounted. For example, the camera 20 is attached to the rearview mirror of the host vehicle or the side of the vehicle body so that the lane adjacent to the lane in which the host vehicle is traveling (hereinafter referred to as the adjacent lane) enters the imaging range. Yes. This camera 20 may be attached to either the left or right side of the vehicle, for example.

  For example, the radar sensor unit 21 recognizes the presence or position of an object such as another vehicle existing behind the host vehicle (distance or direction from the host vehicle) by image recognition for a millimeter wave radar, a laser radar, or a camera image. ) Is a sensor for detecting an object. The vehicle information input unit 22 inputs information from the in-vehicle device equipped in the host vehicle to the driving support device 10. In this embodiment, the information input by the vehicle information input unit 22 is assumed to be information related to time, the operating condition of the lights installed in the vehicle, the detection result by the sunshine sensor, and the like.

  The operation unit 23 is an input device for inputting an operation instruction from the user to the driving support device 10. The operation unit 23 is used for an operation for changing the display range by changing the imaging direction of the camera 20, for example. The display 30 is a display device for displaying an image captured by the camera 20. For example, the display 30 is installed at a position that is easily visible from a meter panel in front of the driver's seat or a driver near the A pillar.

The driving support device 10 is an information processing device (for example, a microcomputer) configured mainly with a CPU, ROM, RAM, and the like (not shown). The driving support device 10 includes a camera 20
The function which displays the support image which processed the captured image acquired from 1 is implemented, and the control part 11, the display output part 12, and the memory | storage part 13 are provided as a functional structure for it.

  The control unit 11 processes the captured image acquired from the camera 20 and creates a support image. Detailed contents of this processing will be described in the sections of the first and second embodiments described later. The display output unit 12 outputs and displays the support image created in the control unit 11 on the display 30 based on the captured image acquired from the camera 20. The storage unit 13 stores various information such as data used for processing executed by the control unit 11.

<First Embodiment>
The outline of the first embodiment is as follows. The driving support device 10 displays a horizontal angle of view when displaying a captured image acquired from the camera 20 depending on whether or not another vehicle exists in the proximity range set to the rear side of the host vehicle. Switch between narrow-angle display that narrows the range and wide-angle display that widens the range.

<Supported image display processing>
The procedure of the support image display process in the first embodiment will be described with reference to the flowchart of FIG. This process is repeatedly executed by the control unit 11 of the driving support apparatus 10 at a predetermined control cycle.

  In S100, the control unit 11 acquires an image captured by the camera 20. In S102, based on the detection result obtained from the radar sensor unit 21, the control unit 11 determines whether or not there is another vehicle in the proximity range set within a predetermined range on the rear side from the position of the own vehicle. judge. When there is no other vehicle in the proximity range (S102: NO), the control unit 11 proceeds to S104. In S <b> 104, the control unit 11 creates a narrow-angle image composed of images in a range corresponding to a part of the angle of view closer to the host vehicle out of the entire range of the horizontal angle of view in the captured image acquired from the camera 20. .

  On the other hand, when another vehicle exists in the proximity range (S102: YES), the control unit 11 proceeds to S106. In S102, affirmation is made on the condition that the other vehicle on the rear side approaching (passing) from the rear of the host vehicle has reached the proximity range based on the transition of the position of the other vehicle on the rear side. The structure which determines may be sufficient. In S <b> 106, the control unit 11 starts from an image corresponding to a range in which the angle of view is further widened in the direction away from the host vehicle from the horizontal angle of view of the narrow angle display in the captured image acquired from the camera 20. Create a wide angle image. In S106, the control unit 11 creates an animation image that gradually slides in the wide-angle image from the edge of the image in the process of switching from the narrow-angle image display to the wide-angle image display. Specific modes of the narrow angle image and the wide angle image will be described later.

  In the next S108, the control unit 11 causes the display 30 to display the support image created in S104 or S106 via the display output unit 12. After S108, the control unit 11 returns to S100.

<Detailed description of narrow-angle display and wide-angle display>
FIG. 3 is a top view schematically showing an imaging range of the camera 20 mounted on the host vehicle. In the example of FIG. 3, it is assumed that there is a host vehicle and the following vehicles 1 and 2 traveling in the adjacent lane on the rear side of the host vehicle.

  As illustrated in FIG. 3, the horizontal angle of view of the imaging range by the camera 20 is 0 ° at the end on the own vehicle side, and is maximum up to 50 ° in a direction away from the own vehicle. Of these, the range of 0 to 29 ° corresponds to the horizontal angle of view when narrow-angle display is performed. A range of 0 to 50 ° corresponds to a horizontal angle of view when wide-angle display is performed.

  When there is no other vehicle in the proximity range set very close to the rear side for the own vehicle, the captured image acquired from the camera 20 is displayed in a narrow-angle display with a horizontal angle of view of 0 to 29 °. On the other hand, when there is another vehicle in the proximity range of the host vehicle as in the following vehicle 1 in FIG. 3, the captured image 2 acquired from the camera 20 is displayed in a wide-angle display with a horizontal angle of view of 0 to 50 °. In the case of FIG. 3, in the case of narrow-angle display, the succeeding vehicle 1 that should have displayed only a small part at the rear of the vehicle body is switched to the wide-angle display, so that most of the vehicle body is displayed.

  By the way, in this embodiment, when displaying the picked-up image acquired from the camera 20, it displays with the same image size also in any of a narrow angle display and a wide angle display. The range of the vertical angle of view of the image is not changed between the case where the horizontal angle of view is displayed as a narrow angle and the case where it is displayed as a wide angle. By doing so, it is possible to prevent the perspective with respect to the landscape from changing between an image displayed at a narrow angle and an image displayed at a wide angle. For this reason, the width of the image is compressed to display the same image size as that of the narrow-angle display when the wide-angle display is performed. In the present embodiment, switching between narrow-angle display and wide-angle display is realized by the mode illustrated in FIG.

  As illustrated in FIG. 4A, at the narrow-angle display stage, the entire image is set in the equal magnification display area A, and a captured image having a horizontal angle of view of 0 to 29 ° is assigned thereto. In the same magnification display area A, the ratio of the image height to the vertical angle of view and the ratio of the image width to the horizontal angle of view are set to the same magnification (the same aspect ratio as the original captured image acquired from the camera 20). Create an image.

  FIG. 5A is an example of a support image displayed on the display 30 by narrow-angle display. As illustrated in FIG. 5A, the host vehicle is shown in the left edge area of the support image, and a road scene behind the host vehicle is shown in the right area. The support image based on the narrow angle display includes a captured image in a range corresponding to a horizontal angle of view of 0 to 29 °, and the scene of the adjacent lane on the rear side of the host vehicle is well captured.

  Next, as illustrated in FIG. 4B, at the wide-angle display stage, the entire image is divided into two of the same magnification display area A and the magnification display area B by the boundary line drawn in the vertical direction at a predetermined position of the image. Divide into two areas. In the present embodiment, the same size display area A is set on the side close to the host vehicle in the captured image. Further, a zoom display area B is set on the far side from the host vehicle in the captured image. The boundary line may be drawn so as to be visible on the wide-angle display image, or may not be drawn so as to be visible.

  A captured image in a range corresponding to the position of the reference line from the horizontal angle of view 0 ° is assigned to the equal magnification display area A. In the same magnification display area A, an image is created with the same aspect ratio as the original captured image acquired from the camera 20 as in the case of narrow-angle display. On the other hand, in the variable magnification display area B, a captured image in a range corresponding to the continuation of the equal magnification display area A to the horizontal field angle of 50 ° is assigned. In this variable magnification display area B, the ratio of the width of the image to the horizontal angle of view is reduced to store the image. Therefore, the image displayed in the scaling display area B is a vertically long image obtained by compressing the original captured image acquired from the camera 20 in the horizontal direction at a predetermined compression rate in accordance with the width of the scaling display area B. become.

  The compression ratio of the image width in the variable magnification display area B may be set uniformly in the entire variable magnification display area B, or at a predetermined change rate toward the right edge of the image with the position of the boundary line as the minimum value. You may set so that it may become large gradually. This rate of change may be constant or non-constant from the position of the boundary line to the right edge of the image.

In the process of switching from narrow-angle display to wide-angle display, the boundary line is gradually moved from the right end of the image to a predetermined position, and continuously in the same magnification display area A and variable magnification display according to the position of the changing reference line. An image corresponding to area B is drawn. In this way, an animation in which the magnification display area B expands while gradually sliding in from the right end of the image is displayed.

  FIG. 5B is an example of a support image when the narrow-angle display illustrated in FIG. 5A is switched to the wide-angle display. As illustrated in FIG. 5B, the support image based on the wide-angle display is divided into two left and right regions by a boundary line, and the captured image in a range corresponding to a horizontal angle of view of 0 to 50 ° is included in these two regions. It is included. The area on the left side of the boundary line (the vehicle side) corresponds to the same size display area A. Here, a captured image is drawn with the same aspect ratio (no compression) as the narrow-angle display in FIG. Therefore, the perspective does not change from the narrow-angle display, and the scene of the adjacent lane on the rear side of the host vehicle is well reflected.

  On the other hand, the area on the right side of the boundary line (the side far from the host vehicle) corresponds to the magnification display area B. Here, the remaining area of the captured image that was not included in the 1 × magnification display area A is drawn as a vertically long image that is compressed in the horizontal direction in accordance with the width of the magnification display area B. In this way, in wide-angle display, the range that was a blind spot in narrow-angle display is displayed in a state compressed in the horizontal direction. By doing in this way, a blind spot can be reduced with the large sight of the adjacent lane displayed as in the narrow-angle display.

  Note that FIG. 5C is a reference example in which the horizontal angle of view of an image is enlarged to 50 ° by zooming out the entire image from the narrow-angle display illustrated in FIG. In this method, the range displayed at the time of narrow-angle display is displayed small as a whole. Instead, the following vehicle in the proximity range of the host vehicle, which was a blind spot in the narrow-angle display, is displayed large on the right side of the image.

  On the other hand, in the process of switching from the wide-angle display to the narrow-angle display, as illustrated in FIG. 4C, the boundary line is gradually moved toward the right end of the image, and continuously according to the position of the changing reference line. Specifically, images corresponding to the same size display area A and the variable magnification display area B are drawn. In this way, an animation is displayed in which the scaling display area B is reduced while gradually sliding out toward the right end of the image.

  A modification of the display mode of the narrow angle display and the wide angle display will be described with reference to FIG. As illustrated in FIG. 6A, in the wide-angle display stage, the entire image is displayed in the same magnification display area A and the magnification display area B by the boundary line drawn in the vertical direction at the initial position of the right edge of the image. Divide into two areas. At this wide-angle display stage, the same size display area A occupies most of the image corresponding to the left side of the boundary line (the vehicle side). A captured image having a horizontal angle of view in the range of 0 to 29 ° is assigned to the equal magnification display area A. In this same size display area A, an image is created with the same aspect ratio as the original captured image acquired from the camera 20.

  On the other hand, the scaling display area B is set to only a small range on the right side of the boundary line (the side far from the host vehicle). In this magnification display area B, a vertically long image obtained by compressing a captured image in a range corresponding to a horizontal angle of view of 29 to 50 ° in the horizontal direction in accordance with the width of the magnification display area B is stored.

  As illustrated in FIG. 6B, in the wide-angle display stage, the reference line is moved from the initial position to a predetermined position on the left side, and the magnification display area B is expanded to the left side. At this time, in the process of switching from the narrow-angle display to the wide-angle display, the boundary line is gradually moved from the initial position to the predetermined position, and continuously at the same magnification display area A and the magnification display according to the position of the changing reference line. An image corresponding to area B is drawn. In this way, an animation in which the magnification display area B expands while gradually sliding in from the right end of the image is displayed.

On the other hand, in the process of switching from the wide-angle display to the narrow-angle display, as illustrated in FIG. 6C, the boundary line is gradually moved from the predetermined position to the initial position of the right end portion, and is moved to the reference line position. In addition, images corresponding to the same size display area A and the variable magnification display area B are continuously drawn. In this way, an animation is displayed in which the scaling display area B is reduced while gradually sliding out toward the right end of the image.

  Next, a modified example of the timing for switching from narrow-angle display to wide-angle display will be described with reference to FIG. FIG. 7A is an example of a support image displayed on the display 30 by narrow-angle display at time t = 0. Here, it is assumed that a succeeding vehicle that overtakes from the rear side of the host vehicle approaches the host vehicle. At the time point illustrated in FIG. 7A, the following vehicle is still far away, so a narrow-angle display is performed.

  FIG. 7B is an example of a support image by wide-angle display at time t = 1 when a certain time has elapsed from time t = 0. At this point, until a part of the image of the following vehicle reflected in the display range reaches the position of the boundary line that is the boundary between the same magnification display area A and the magnification display area B when performing wide angle display, Assume that the following vehicle is approaching.

  On the other hand, FIG. 7C is an example of a support image by wide-angle display at a time t = 2 when a certain time has elapsed from the time t = 1. At this time, it is assumed that the succeeding vehicle is approaching until a part of the image of the following vehicle that appears in the display range reaches the right end of the display range.

  As timing for switching from the narrow-angle display to the wide-angle display, as illustrated in FIG. 7B, it is conceivable that the time when a part of the image of the following vehicle reaches the boundary line (t = 1). Alternatively, as illustrated in FIG. 7C, it may be a time point (t = 2) when a part of the image of the following vehicle reaches the right end of the display range.

  FIG. 7C is an example of a support image at time t = 3 after switching to wide-angle display at time t = 1 or time t = 2. As illustrated in FIG. 7C, the captured image is drawn in the same-size display area A set in the display range on the left side of the boundary line with the same aspect ratio (no compression) as the narrow-angle display. Further, in the scaling display area B set in the display range on the right side of the boundary line, the remaining area of the captured image that was not included in the normal scaling display area A is horizontal in accordance with the width of the scaling display area B. It is drawn as a vertically long image compressed in the direction.

<< Effects of First Embodiment >>
According to the driving support device 10 of the first embodiment, the following effects are obtained.
When there is no other vehicle in the proximity range on the rear side of the host vehicle, an important range such as an adjacent lane can be displayed larger by narrowly displaying the captured image acquired from the camera 20. On the other hand, when there is another vehicle in the proximity range on the rear side of the host vehicle, switching from the narrow angle display to the wide angle display reduces the dead angle compared to the narrow angle display, and recognizes other vehicles in the proximity range. Easy to do.

  In wide-angle display, the range that was the dead angle in the narrow-angle display is displayed in a compressed state in the horizontal direction, reducing the blind spot while keeping the sight displayed in the narrow-angle display large. it can. In this way, by selectively using the narrow-angle display and the wide-angle display according to the presence or absence of other vehicles existing behind the host vehicle, it is possible to achieve both the advantages of the wide-angle display and the advantages of the narrow-angle display.

Further, in the process of switching from the narrow-angle display to the wide-angle display, or in the process of switching from the wide-angle display to the narrow-angle display, an animation for continuously sliding in / out the image in the zoom display area B is displayed. Thereby, the uncomfortable feeling that the driver receives when the display mode of the support image is switched can be reduced.

Second Embodiment
The outline of the second embodiment is as follows. The driving support device 10 performs image processing on the captured image acquired from the camera 20 to smooth (blur) image information corresponding to the set target region, and the captured image including the smoothed range is displayed. It is displayed on the display 30.

<Supported image display processing>
The procedure of the support image display process in 2nd Embodiment is demonstrated referring the flowchart of FIG. This process is repeatedly executed by the control unit 11 of the driving support apparatus 10 at a predetermined control cycle.

  In S <b> 200, the control unit 11 acquires an image captured by the camera 20. In S <b> 202, the control unit 11 determines whether or not the current time is daytime based on information obtained from the vehicle information input unit 22 and the state of the captured image acquired from the camera 20. Here, for example, it is determined whether or not the present time is daytime based on the time, the lighting condition of the headlamp, the detection result by the sunshine sensor, the brightness of the captured image, and the like. When the present time does not correspond to daytime (S202: NO), the control unit 11 proceeds to S208. On the other hand, when the current time corresponds to daytime (S202: YES), the control unit 11 proceeds to S204.

  In S <b> 204, the control unit 11 determines whether there is another vehicle in the real space corresponding to the target area set in advance for the captured image acquired from the camera 20. Here, it is conceivable to use a method of detecting the position of the other vehicle in the imaging range of the camera 20 by the radar sensor unit 21 or a method of detecting the other vehicle by image recognition on the captured image acquired from the camera 20. The target area is an image area in which a rough texture is expected to appear strongly in the captured image, such as a road surface relatively close to the host vehicle. A specific example of the method for setting the target area will be described later. When another vehicle exists in the target area (S204: YES), the control unit 11 proceeds to S208. On the other hand, when there is no other vehicle in the target area (S204: NO), the control unit 11 proceeds to S206.

  In S <b> 206, the control unit 11 performs a smoothing process on the image information corresponding to the target area in the captured image acquired from the camera 20. The smoothing process is an image process that blurs a fine pattern to make a smooth image. For this smoothing process, for example, a known smoothing filter such as a low-pass filter, a moving average filter, a Gaussian filter, or a median filter may be used.

  In next step S208, the control unit 11 causes the display 30 to display the captured image acquired in step S200 via the display output unit 12. Here, when the process proceeds from S206 to S208, the captured image including the image information subjected to the smoothing process is displayed. On the other hand, when the process proceeds from S202 or S204 to S208, a captured image that has not been subjected to the smoothing process is displayed. After S208, the control unit 11 returns to S200.

<< Explanation about target area of smoothing process >>
FIG. 9A is an example of a captured image captured by the camera 20. A part of the body of the host vehicle is shown on the left edge of the captured image, and the road on the rear side of the host vehicle is shown in the area on the right side of the image. In this captured image, in the lower area where the road on the near side near the camera 20 is shown, the road surface state is clearly visible, and the road is rough in the pattern of the lane markings (white lines) drawn on the road surface. Combined with the texture of the surface, it presents complex visual information. Such unimportant visual information such as rough texture on the road surface is troublesome for the driver.

  Therefore, as illustrated in FIG. 9B, a partial area corresponding to the road surface on the near side in the captured image is set in advance as a target area, and image information corresponding to this target area is set. Perform smoothing. As described above, it is conceivable that an image range suitable for performing the smoothing process is set in advance as a target region based on the mounting position of the camera 20, the imaging range, and the like.

Some specific examples of the method of setting the target area will be given.
(1) A target area is set based on a distance from a predetermined reference position (for example, the center) on the image. FIG. 10A shows an example in which, in the entire captured image, an area that is a distance a or more away from the center of the image is set as the target area. By setting such a target area, it is possible to display the center part of the captured image clearly and blur the peripheral part. The range excluded from the target region is not limited to a circle and may be an arbitrary shape. Further, the reference position may be set at an arbitrary position without being limited to the center of the image.

  (2) A region in which the road surface is captured in the captured image and the distance from the position of the camera 20 to the road surface falls within a predetermined range is set as a target region. FIG. 10B shows a portion corresponding to the road surface within the distance b from the position of the camera 20 (hatched portion) in the region corresponding to the road surface (ground) in the display range (within the dotted line). This is an example set as an area. By setting such a target area, it is possible to blur and display the rough texture of the road surface reflected on the near side from the camera 20.

  As data for defining a region corresponding to the road surface in the display range of the captured image displayed on the display 30, data obtained by measuring the distance from the imaging position of the camera 20 to the road surface is created in advance. It is assumed that the created data is stored in the storage unit 13. In addition, when the display range of the captured image can be adjusted by a user operation on the operation unit 23, it is conceivable that the area corresponding to the road surface before and after the adjustment is unchanged with respect to the display range. In this case, it is conceivable that data of areas corresponding to the ground corresponding to the display ranges of a plurality of patterns in the adjustable range are stored in the storage unit 13 in advance.

<Ingenuity applicable to the second embodiment>
The smoothing intensity (the degree of blurring) for the image information of the target area may be set uniformly over the entire target area, or may be changed according to the position of the image. For example, it is conceivable to increase the smoothing intensity as the distance from the reference position (for example, the center) on the image increases. Specifically, a smoothing intensity proportional to the field angle kθ in the target region is set with respect to the field angle θ based on the center of the imaging range of the camera 20.

  In the second embodiment described above, it is assumed that the target area for the smoothing process is set in advance as a design item. Apart from this, in the process of displaying a support image in the driving support device 10, the configuration may be such that the target region is set as needed according to the surrounding situation. Specifically, in the above-described support image display process (see FIG. 8), the control unit 11 executes the process of S203 after making an affirmative determination in S202. In step S203, the control unit 11 uses the radar sensor unit 21 to measure the distance from the object including the road surface on the rear side of the host vehicle, and the measured distance is within a predetermined range. An image range corresponding to the place is determined as a target area. In this way, the target area can be set dynamically according to the shape of the road that is running.

<< Effects of Second Embodiment >>
According to the driving support device 10 of the second embodiment, the following effects are obtained.
By smoothing the image information corresponding to the set target area in the captured image acquired from the camera 20, the fine change of the image in the target area is reduced and the image is smooth and easy to see. Can do. Thereby, for example, the rough texture of the road surface close to the host vehicle can be reduced, and an image easy to see for the driver can be displayed.

  Further, when the other vehicle is shown in the target area, the visibility of the other vehicle can be prevented from being lowered by not performing the smoothing process. Moreover, since it is thought that the visibility of a captured image falls in time zones other than daytime, useless smoothing processing is not performed in time zones other than daytime.

  DESCRIPTION OF SYMBOLS 1 ... Car-mounted system, 10 ... Exercise support apparatus, 11 ... Control part, 12 ... Display output part, 13 ... Memory | storage part, 20 ... Camera, 21 ... Radar sensor part, 22 ... Vehicle information input part, 23 ... Operation part, 30: Display.

Claims (18)

An imaging means (20) for imaging the rear side of the host vehicle, a detection means (21) for detecting another vehicle existing on the rear side of the host vehicle, and a display for displaying a captured image captured by the imaging means. A driving support device (10) communicatively connected to the means (30),
When no other vehicle is detected in a predetermined range on the rear side of the host vehicle by the detection unit, the captured image acquired from the imaging unit has an angle of view narrower than the entire horizontal angle of view in the captured image. While displaying a narrow-angle image composed of an image of a corresponding range on the display unit, when another vehicle is detected in the predetermined range by the detection unit, among the captured images acquired from the imaging unit, Comprising display control means (11) for causing the display means to display a wide-angle image composed of an image corresponding to a range in which the horizontal angle of view is wider than the narrow-angle image;
A driving assistance device characterized by the above. The driving support device according to claim 1,
The display control means divides the wide-angle image into two regions on the left and right by a boundary set at a predetermined position, and in one of the two regions, the width of the image with respect to the horizontal angle of view is set. The ratio is the same as the ratio when displaying the narrow-angle image, and in the other second region, the ratio of the image width to the horizontal angle of view is greater than the ratio when displaying the narrow-angle image. Causing the display means to display the wide-angle image in the same size as the narrow-angle image by reducing the image at a predetermined ratio.
A driving assistance device characterized by the above. In the driving assistance device according to claim 2,
The display control means continuously moves the boundary line laterally from the side edge of the image to the predetermined position when switching from displaying the narrow-angle image to displaying the wide-angle image. And causing the display means to display an animation in which an image corresponding to the second region gradually spreads,
A driving assistance device characterized by the above. In the driving assistance device according to claim 2 or claim 3,
The display control means makes the ratio of the image width to the horizontal angle of view in the second region uniform in the entire second region;
A driving assistance device characterized by the above. In the driving assistance device according to claim 2 or claim 3,
The display control means is configured to gradually and gradually increase the reduction degree of the image width with respect to the horizontal angle of view in the second region from the boundary line toward the side edge of the wide-angle image;
A driving assistance device characterized by the above. In the driving assistance device according to claim 2 to 5,
In the display control means, during the display of the narrow-angle image, at least a part of the captured image of the other vehicle detected by the detection means reaches a side end portion on the second region side in the display range of the display means. Switching from the narrow-angle image display to the wide-angle image display at the same timing,
A driving assistance device characterized by the above. In the driving assistance device according to claim 2 to 5,
The display control means starts displaying the narrow-angle image at a timing when at least a part of the captured image of the other vehicle detected by the detection means reaches the position of the boundary line during the display of the narrow-angle image. Switching to the display of the wide-angle image,
A driving assistance device characterized by the above. In the driving assistance device according to claim 1 to 7,
The display control means displays the wide-angle image on the condition that another vehicle detected by the detection means approaches the host vehicle from behind and reaches the predetermined range;
A driving assistance device characterized by the above. A driving support device (10) communicably connected to an imaging means (20) for imaging the rear side of the host vehicle and a display means (30) for displaying a captured image captured by the imaging means,
The captured image including the image information subjected to the smoothing process is obtained by performing a smoothing process on the image information corresponding to the set target area among the captured images acquired from the imaging unit. Comprising display control means (11) for displaying on the display means;
A driving assistance device characterized by the above. The driving support device according to claim 9, wherein
Vehicle judging means (11, S204) for judging whether or not another vehicle exists at a position corresponding to the target area in the captured image;
The display control unit corresponds to the target region while performing the smoothing process on the captured image when the vehicle determination unit determines that no other vehicle exists at a position corresponding to the target region. When it is determined that there is another vehicle at a position, the captured image is displayed on the display means without performing the smoothing process;
A driving assistance device characterized by the above. In the driving support device according to claim 9 or 10,
A determination means (11, S202) for determining whether it is daytime;
The display control unit performs the smoothing process on the captured image when the determination unit determines that it is daytime, whereas the display control unit performs the smoothing process when the determination unit determines that it is not daytime. Displaying the captured image on the display means without performing
A driving assistance device characterized by the above. In the driving assistance device according to any one of claims 9 to 11,
The target area is an area corresponding to the ground in the captured image, and is set to an area where the distance from the position of the imaging unit to the ground in the imaging range becomes a value in a predetermined range;
A driving assistance device characterized by the above. The driving support device according to claim 12,
Comprising storage means for storing information;
Information in which a distance from the position of the imaging unit to the ground is measured in advance in the display range displayed on the display unit as an area corresponding to the ground is stored in the storage unit;
A driving assistance device characterized by the above. The driving support device according to claim 13,
Adjusting means (23) for accepting a user operation and adjusting the position of the display range;
Corresponding to the ground corresponding to each display range when adjusted by the adjusting means so that the area corresponding to the ground is unchanged with respect to the display range before and after adjustment by the adjusting means. The area to be stored in advance in the storage means;
A driving assistance device characterized by the above. In the driving assistance device according to any one of claims 9 to 11,
The target area is set to an area in which a distance on the image from a specific position of the captured image corresponds to a value in a predetermined range;
A driving assistance device characterized by the above. In the driving assistance device according to any one of claims 9 to 11,
It is communicably connected to measuring means (21) for measuring the distance to an object within the imaging range of the imaging means,
Comprising setting means (11, S203) for setting, as the target area, a partial area of the imaging range corresponding to a place where the distance measured by the measuring means is a value within a predetermined range;
A driving assistance device characterized by the above. The driving support device according to any one of claims 9 to 16,
The display control means increases the degree of smoothing in the smoothing process as the position is farther from the predetermined reference position on the captured image with respect to the target region.
A driving assistance device characterized by the above. The driving support device according to claim 17,
The display control means increases the degree of smoothing in the smoothing process as a position farther from the center of the captured image as the reference position,
A driving assistance device characterized by the above.