JP2018006943A - Vehicle periphery monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To sufficiently clarify a captured image of the periphery of a vehicle as an image for drive support.SOLUTION: A vehicle periphery monitoring device according to an embodiment comprises: a periphery image acquisition part which acquires a periphery image outputted from an imaging part which images the periphery of a vehicle; a filter processing part which executes filter processing of a contour emphasis for a partial area of the periphery image; and a display control part which displays the periphery image for which the filter processing has been executed, on a display part.SELECTED DRAWING: Figure 4

Description

  Embodiments described herein relate generally to a vehicle periphery monitoring device.

  2. Description of the Related Art Conventionally, as a driving assistance technique for a vehicle, a technique has been proposed in which driving assistance is performed by imaging the periphery of a vehicle with an imaging device such as a camera mounted on the vehicle and displaying captured image data as a result of the imaging. Yes.

International Publication No. 2011/010346 JP 2016-21653 A

  However, in the prior art, the captured image data around the vehicle is displayed after being subjected to processing such as enlargement and distortion correction, and thus it cannot be said that the image for driving support is sufficiently clear, such as unevenness being difficult to understand. Improvement is desired.

  The vehicle periphery monitoring device according to the embodiment of the present invention includes, for example, a peripheral image acquisition unit that acquires a peripheral image output from an imaging unit that captures the periphery of the vehicle, and contour enhancement in a partial region of the peripheral image. A filter processing unit that executes a filter process; and a display control unit that displays a peripheral image on which the filter process has been performed on a display unit. According to this configuration, for example, by performing the contour enhancement filter process on a partial region of the peripheral image, it is possible to realize a sufficiently clear peripheral image as an image for driving support, such as making the unevenness easy to understand. be able to.

  Further, for example, a steering angle acquisition unit that acquires the steering angle of the vehicle is further provided, and the filter processing unit is configured to predict a predicted course of each wheel of the vehicle based on the steering angle as a partial region of the peripheral image. However, the filtering process may be executed. According to this configuration, for example, the unevenness of the predicted course of each wheel of the vehicle in the surrounding image can be easily understood, so that the driver can appropriately determine the course.

  In addition, for example, a partial region of the peripheral image includes a side image that represents a side of the vehicle, and the filter processing unit is configured to display the side image when the steering angle is equal to or greater than a predetermined value. The filter processing may be executed on the predicted course of each wheel of the vehicle based on the steering angle. According to this configuration, when the steering angle of the vehicle is equal to or greater than a predetermined value, the unevenness of the predicted course becomes easier to understand in the side image that can represent the predicted course larger than the traveling direction image. Can be determined appropriately.

  In addition, for example, the surrounding image includes a first region and a second region corresponding to a location farther from the vehicle than the first region, and the filter processing unit includes the first region. A stronger edge enhancement filter process than the second area may be executed for one area. According to this configuration, for example, in the surrounding image, the unevenness becomes easier to understand in the region representing the portion closer to the host vehicle, so that the perspective (depth feeling) becomes stronger, and the driver can drive more easily.

  In addition, for example, the imaging unit is a stereo camera, and the filter processing unit is stronger in a region representing a portion closer to the surrounding image than the surrounding image based on the parallax of the stereo camera. You may make it perform the filter process of an outline emphasis. According to this configuration, for example, by using the parallax of a stereo camera, in the surrounding image, the unevenness becomes easier to understand in a region representing a portion closer to the own vehicle according to the actual distance from the own vehicle. A feeling (depth feeling) becomes stronger, and it becomes easier for the driver to drive.

FIG. 1 is a perspective view illustrating an example of a state in which a part of a passenger compartment of a vehicle on which the vehicle periphery monitoring device according to the present embodiment is mounted is seen through. FIG. 2 is a plan view (overhead view) showing an example of a vehicle equipped with the vehicle periphery monitoring device according to the present embodiment. FIG. 3 is a block diagram illustrating an example of a vehicle periphery monitoring device according to the present embodiment. FIG. 4 is a block diagram showing each configuration realized in the ECU of the vehicle periphery monitoring device according to the present embodiment. FIG. 5 is an explanatory diagram of a calculation example in the case of calculating a rear wheel width locus in the vehicle periphery monitoring device according to the present embodiment. FIG. 6A is a diagram illustrating an example of an image before the contour emphasis filter process is executed in the vehicle periphery monitoring device according to the present embodiment. FIG. 6B is a diagram illustrating an example of an image after the contour emphasis filter process is performed on the predicted course of each wheel of the vehicle. FIG. 7A is a diagram similar to FIG. FIG. 7B is a diagram illustrating an example of an image after executing a contour enhancement filter process that is stronger in a portion closer to the host vehicle. FIG. 8A is a diagram illustrating an example of an image before the contour emphasis filter process is executed in the vehicle periphery monitoring device according to the present embodiment. FIG. 8B is a diagram illustrating an example of an image after the contour emphasis filter processing is performed on the predicted course of each wheel of the vehicle in both the traveling direction image and the side image. FIG. 9 is a flowchart showing a procedure of image processing of the vehicle periphery monitoring device according to the present embodiment.

  Hereinafter, an example in which the vehicle periphery monitoring device of the present embodiment is mounted on the vehicle 1 will be described. In the present embodiment, the vehicle 1 may be, for example, an automobile (an internal combustion engine automobile) that uses an internal combustion engine (engine, not shown) as a drive source, or an automobile that uses an electric motor (motor, not shown) as a drive source. (Electric vehicles, fuel cell vehicles, etc.) may be used. Moreover, the motor vehicle (hybrid vehicle) which uses those both as a drive source may be sufficient. The vehicle 1 may be mounted with various transmissions, and various devices (systems, parts, etc.) necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of the device related to driving of the wheels 3 in the vehicle 1 can be variously set.

  FIG. 1 is a perspective view showing an example of a state in which a part of a passenger compartment 2a of a vehicle 1 equipped with a vehicle periphery monitoring device according to the present embodiment is seen through. As shown in FIG. 1, the vehicle body 2 according to the present embodiment includes a passenger compartment 2 a in which an occupant (not shown) gets. In the passenger compartment 2a, a steering section 4, an acceleration operation section 5, a braking operation section 6, a speed change operation section 7 and the like are provided in a state facing the driver's seat 2b as an occupant. In the present embodiment, for example, the steering unit 4 is a steering wheel protruding from a dashboard (instrument panel). Further, the acceleration operation unit 5 is an accelerator pedal disposed under the driver's feet. The braking operation unit 6 is a brake pedal disposed under the driver's feet. The speed change operation unit 7 is a shift lever protruding from the center console. However, it is not limited to these.

  A display device 8 and an audio output device 9 are provided in the passenger compartment 2a. The display device 8 is, for example, an LCD (Liquid Crystal Display), an OELD (Organic Electro-Luminescent Display), or the like. The audio output device 9 is, for example, a speaker. In the present embodiment, for example, the display device 8 is covered with a transparent operation input unit 10 (for example, a touch panel). An occupant or the like can visually recognize a video (image) displayed on the display screen of the display device 8 via the operation input unit 10. The occupant or the like operates the operation input (instruction by touching, pushing, or moving the operation input unit 10 with a finger or the like at a position corresponding to an image (image) displayed on the display screen of the display device 8. Input). In the present embodiment, for example, the display device 8, the audio output device 9, the operation input unit 10, and the like are provided in the monitor device 11 disposed in the center of the dashboard in the vehicle width direction (left-right direction). . The monitor device 11 may have an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button. Moreover, you may provide an audio | voice output apparatus (not shown) in the other position in the compartment 2a different from the monitor apparatus 11. FIG. Moreover, you may output an audio | voice from both the audio | voice output device 9 of the monitor apparatus 11, and another audio | voice output device. In the present embodiment, for example, the monitor device 11 is also used as a navigation system or an audio system. However, a monitor device for a vehicle periphery monitoring device may be provided separately from these systems.

  Here, FIG. 2 is a plan view (overhead view) showing an example of the vehicle 1 equipped with the vehicle periphery monitoring device according to the present embodiment. As shown in FIGS. 1 and 2, in this embodiment, for example, the vehicle 1 is a four-wheeled vehicle (four-wheeled vehicle), and includes two left and right front wheels 3F (3) and two right and left rear wheels 3R ( 3). For example, the tire angle of the front wheel 3F changes (steers) in response to the operation of the steering unit 4 (steering wheel).

  Here, FIG. 3 is a block diagram showing an example of a vehicle periphery monitoring device according to the present embodiment. The steering system 12 is, for example, an electric power steering system or an SBW (Steer By Wire) system. The steering system 12 steers the front wheels 3F by adding torque (assist torque) to the steering unit 4 by the actuator 12a to supplement the steering force.

  In the present embodiment, for example, as shown in FIG. 2, the vehicle 1 (the vehicle body 2) is provided with a plurality of (for example, four in the present embodiment) imaging units 16 (16 a to 16 d). Yes. The imaging unit 16 is a digital camera including an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 16 can output captured image data (moving image data, frame data) at a predetermined frame rate. Each of the imaging units 16 includes a wide-angle lens, and can capture (capture) a range (viewing angle) of, for example, 140 ° to 220 ° in the horizontal direction. Moreover, the imaging part 16 is installed toward the direction which can image the surrounding environment including a road surface.

  In the present embodiment, for example, the imaging unit 16a is disposed at a front end 2c (an end in a plan view) of the vehicle body 2 and is provided on a front grill or the like. The imaging unit 16b is disposed on the left end 2d of the vehicle body 2 and is provided on the left door mirror 2g. The imaging unit 16c is disposed at the rear end 2e of the vehicle body 2 and is provided on a wall portion below the rear trunk door 2h. The imaging unit 16d is disposed at the right end 2f of the vehicle body 2 and provided on the right door mirror 2g. Note that the present embodiment does not limit the vehicle-mounted method of the imaging unit 16, and the imaging unit 16 captures captured image data in the front direction, captured image data in the left and right side directions, and captured image in the rear direction with respect to the vehicle 1. It may be installed so that data can be acquired.

  Further, as shown in FIG. 3, the ECU 14 (Electronic Control Unit) executes arithmetic processing and image processing based on captured image data obtained by the plurality of imaging units 16, and captured image data subjected to the image processing. Is displayed on the display device 8.

  In addition, in the periphery monitoring system 100 (vehicle periphery monitoring device), in addition to the ECU 14, the monitor device 11, and the like, the brake system 18, the steering angle sensor 19, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, the acceleration sensor 26, and the like. Are electrically connected via an in-vehicle network 23 (electric communication line). The in-vehicle network 23 is configured as a CAN (Controller Area Network), for example. The ECU 14 can control the brake system 18, the steering system 12, and the like by sending a control signal through the in-vehicle network 23. Further, the ECU 14 can receive detection results of the torque sensor 12b, the brake sensor 18b, the rudder angle sensor 19, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, the acceleration sensor 26, and the like via the in-vehicle network 23. . Further, the ECU 14 can receive an instruction signal (control signal, operation signal, input signal, data) from the operation input unit 10 or the like.

  The ECU 14 includes, for example, a CPU 14a (Central Processing Unit), a ROM 14b (Read Only Memory), a RAM 14c (Random Access Memory), a display control unit 14d, an audio control unit 14e, an SSD 14f (Solid State Drive, flash memory), and the like. Yes. The CPU 14a executes, for example, various kinds of calculation processing such as image processing related to an image displayed on the display device 8, calculation of a movement route of the vehicle 1, and determination of presence / absence of interference with an object. The CPU 14a reads a program stored in a nonvolatile storage device such as the ROM 14b, and executes arithmetic processing according to the program.

  The RAM 14c temporarily stores various types of data used in computations by the CPU 14a. The display control unit 14d mainly performs image processing using the captured image data obtained by the imaging unit 16 and arithmetic processing (for example, image processing of captured image data displayed on the display device 8) in the arithmetic processing performed by the ECU 14. Etc.). In addition, the voice control unit 14 e mainly executes processing of voice data output from the voice output device 9 among the calculation processes in the ECU 14. The SSD 14f is a rewritable nonvolatile storage unit, and can store data even when the ECU 14 is powered off. Note that the CPU 14a, ROM 14b, RAM 14c, and the like can be integrated in the same package. Further, the ECU 14 may be realized by another logical operation processor such as a DSP (Digital Signal Processor), a logic circuit, or the like instead of the CPU 14a. Further, an HDD (Hard Disk Drive) may be provided instead of the SSD 14f, and the SSD 14f and the HDD may be provided separately from the ECU 14.

  Here, FIG. 4 is a block diagram showing each configuration realized in the ECU 14 of the vehicle periphery monitoring device according to the present embodiment. As shown in FIG. 4, the CPU 14a includes various modules that are realized by reading a program installed and stored in a storage device such as the ROM 14b and executing the program. The CPU 14a includes, for example, a peripheral image acquisition unit 27, a steering angle acquisition unit 28, a course calculation unit 30, an index acquisition unit 32, a filter processing unit 33, and the like as modules related to display control in the present embodiment.

  The peripheral image acquisition unit 27 acquires captured image data (peripheral image) output from the imaging unit 16. The steering angle acquisition unit 28 acquires the detection result (the steering angle (steering angle) of the vehicle 1) of the steering angle sensor 19 supplied via the in-vehicle network 23. The course calculation unit 30 calculates the predicted course of each wheel 3 of the vehicle 1 based on the steering angle provided from the steering angle acquisition unit 28.

  Based on the steering angle provided from the steering angle acquisition unit 28, the index acquisition unit 32 reads an index indicating the external information of the vehicle 1 stored in a storage device such as the SSD 14f. The index indicating the external information of the vehicle 1 is, for example, information indicating the vehicle width of the vehicle 1, information indicating the ground contact position of the wheel 3, information indicating the distance in front of the vehicle, or the like. A specific description of the index will be described later.

The filter processing unit 33 performs a contour enhancement filter process on a partial region of the peripheral image. The filter processing unit 33 performs, for example, an edge enhancement filter process on the predicted course of each wheel 3 in the peripheral image (which may include the periphery thereof). A calculation example (n is a coefficient) of the filter processing for edge enhancement is as follows. However, the calculation method of the contour enhancement filter processing is not limited to this calculation example.

  Here, the peripheral image includes a traveling direction image representing the traveling direction of the vehicle 1 (for example, an image of the front image region 50 in FIG. 6) and a side image representing the side of the vehicle 1 (for example, the right side in FIG. 6). Image area 48a and left side image area 48b). For example, when the rudder angle is equal to or greater than a predetermined value, the filter processing unit 33 performs a filter process for contour enhancement on the predicted course of the wheel 3 for both the traveling direction image and the side image.

  In addition, the filter processing unit 33 executes, in the surrounding image, a stronger edge enhancement filter process for the first area than for the second area corresponding to a location farther away from the vehicle 1 than for the first area. You may make it (it mentions later using FIG. 7).

  Further, the imaging unit 16 may be realized by a stereo camera. In that case, based on the parallax of the stereo camera, the filter processing unit 33 may perform a stronger edge enhancement filter process on a peripheral image in a region representing a portion closer to the distance from the vehicle 1. Good.

  The display control unit 14d displays on the display unit (the display device 8 or the like) the peripheral image that has been subjected to the contour enhancement filter processing by the filter processing unit 33 (described later with reference to FIG. 9).

  Each module realized in the CPU 14a may be individually configured for each function as described above, or a plurality of functions may be realized by a single module. Conversely, the functions may be further subdivided and realized.

  Next, an example of a procedure for calculating the rear wheel width locus (predicted course) will be described with reference to FIG. FIG. 5 is an explanatory diagram of a calculation example in the case of calculating a rear wheel width locus in the vehicle periphery monitoring device according to the present embodiment. When the driver operates the steering unit 4 (steering wheel) to change the steering angle of the front wheel 3F, the direction orthogonal to the direction 3Fa of the front wheel 3F and the extension direction of the rear wheel axle 38 that supports the rear wheel 3R The intersection is the turning center G1 of the vehicle 1. That is, when the vehicle 1 turns according to the steering angle of the front wheel 3F, the center point 38a of the rear wheel axle 38 moves along an arc centered on the turning center G1. The rear wheel 3R also moves along an arc centered on the turning center G1. In accordance with this principle, the course calculation unit 30 can calculate the rear wheel width locus 36 of the rear wheel 3R based on the steering angle of the front wheel 3F.

  The course calculation unit 30 can also calculate a front wheel width locus (predicted course) of the front wheel 3F of the vehicle 1. And the display control part 14d can superimpose and display a front-wheel width locus | trajectory on the front captured image data output from the imaging part 16a which images the front image of the vehicle 1. FIG. The front wheel width trajectory can be displayed as an index indicating the direction in which the front wheel 3F is facing based on the steering angle provided from the rudder angle acquisition unit 28, for example. The display length of the front wheel width trajectory may be a predetermined value such as a length corresponding to 5 m on the superimposed front image, or may be set as appropriate by the user using the operation input unit 10. Also good.

  Since the direction of the rear wheel 3R is always in the front-rear direction of the vehicle, when the front wheel 3F is steered and the vehicle 1 turns, when the steering angle of the front wheel 3F is small, the rear wheel width trajectory 36 is turned inward. The amount of protrusion is small and it almost overlaps the side of the vehicle 1, making it difficult to recognize. Further, the rear wheel width trajectory 36 slightly protruding from the side portion of the vehicle 1 may give the user troublesomeness that it is difficult to distinguish it from the side contour line of the vehicle 1. Accordingly, the display control unit 14d displays the side captured image provided from the imaging unit 16b (imaging unit 16d) of the vehicle 1 when the steering angle of the vehicle 1 provided from the rear wheel axle 38 exceeds a predetermined value. The rear wheel width locus 36 is superimposed on the data. In other words, the display is made when the steering angle of the front wheel 3F is increased to some extent and the necessity of displaying the predicted course of the rear wheel 3R is increased. As a predetermined value of the steering angle at which the display of the rear wheel width locus 36 is started, for example, the steering angle can be 270 °. In this case, the rear wheel width trajectory 36 is displayed sufficiently away from the side contour of the vehicle 1, so that it is easy to grasp the predicted course of the rear wheel 3 </ b> R. Further, it is possible to prevent the rear wheel width trajectory 36 from giving the user the troublesomeness of being difficult to distinguish from the side contour of the vehicle 1.

  When the steering angle is less than 270 °, the rear wheel 3R is considered to pass substantially the same path as the front wheel 3F. As described above, the display control unit 14d can superimpose and display the front wheel width locus of the front wheel 3F on the front image. Therefore, even when the steering angle is less than the predetermined value and the rear wheel width locus 36 is not displayed, the user can estimate the predicted course of the rear wheel 3R by checking the front wheel width locus. The course calculation unit 30 may not calculate the rear wheel width locus 36 when the steering angle is less than a predetermined value, or may calculate even when the steering angle is less than the predetermined value. When the rear wheel width trajectory 36 is not calculated when it is less than the predetermined value, the processing load on the CPU 14a can be reduced. On the contrary, in the case of constant calculation, the superimposed display can be quickly executed when the steering angle becomes a predetermined value or more. Note that the steering angle at which the display of the rear wheel width trajectory 36 is started is 270 °, which is merely an example, and the user may be able to appropriately change the setting of the steering angle via the operation input unit 10 or the like.

  When the steering angle is less than the predetermined value and the rear wheel width trajectory 36 is not displayed, the display control unit 14d captures an index indicating the outer shape information of the vehicle 1 by the imaging unit 16b (imaging unit 16d). You may make it superimpose on. As described above, the index indicating the external information of the vehicle 1 is, for example, information indicating the vehicle width of the vehicle 1, information indicating the ground contact position of the wheel 3, information indicating the distance in front of the vehicle, or the like. The information indicating the vehicle width of the vehicle 1 is, for example, a vehicle width line 40a indicating the vehicle width, a vehicle width offset line 40b offset from the vehicle width line 40a by, for example, 0.35 m in the vehicle width outward direction, and the like. By displaying the vehicle width line 40a, the vehicle width offset line 40b, and the like, it is possible to make it easier for the user to grasp the relationship between the vehicle 1 and the surroundings, for example, the presence or absence of contact and the appropriateness of the interval. A ground line 42 (see FIG. 6) indicating the ground contact position of the wheel 3 is displayed, for example, on the vehicle width offset line 40b so that the vehicle width of the vehicle 1 and the ground contact position of the wheel 3 can be easily associated with each other. Is displayed. In addition, a plurality of interval lines 44 indicating the distance ahead of the vehicle are displayed at regular intervals, for example, with reference to the front end portion 2c of the vehicle 1 to make it easier to understand the sense of the front distance of the vehicle 1. A part of the interval line 44 may be displayed on the side screen. Since these indicators are fixed lines with respect to the vehicle 1, even if they are always displayed, it is difficult for the user to feel bothersome or uncomfortable.

  The indicators such as the vehicle width line 40a, the vehicle width offset line 40b, the ground line 42, and the spacing line 44 are displayed on the rear wheel width locus 36 when the rear wheel width locus 36 is not displayed, that is, when the steering angle is less than a predetermined value. Alternatively, it may be displayed. Further, even after the steering angle becomes a predetermined value or more and the rear wheel width locus 36 is displayed, it may be displayed together with the rear wheel axle 38. When either one of the index and the rear wheel width trajectory 36 is selectively displayed, it is possible to make each display stand out and make it easy for the user to recognize. On the other hand, when the index is displayed even after the rear wheel width trajectory 36 is displayed, there is an effect that the relationship between the predicted course of the rear wheel 3R and the outer shape of the vehicle 1 can be easily understood.

  Next, a first image example of this embodiment will be described. FIG. 6A is a diagram illustrating an example of an image before the contour emphasis filter process is executed in the vehicle periphery monitoring device according to the present embodiment. FIG. 6B is a diagram illustrating an example of an image after the contour emphasis filtering process is performed on the predicted course of each wheel 3 of the vehicle 1.

  6A and 6B are examples of images when the steering angle is less than a predetermined value. In FIG. 6 (a), the rear wheel width locus 36 is not displayed, and the right side image area 48a and the left side image area 48b have a vehicle width offset line 40b and a ground line 42, which are indices indicating the external information of the vehicle 1. The interval line 44 and the like are superimposed and displayed. In the front image area 50, the vehicle width offset line 40b and the interval line 44 are superimposed and displayed together with the front wheel width loci 52a and 52b. In addition, an attitude symbol display area 54a for displaying an attitude symbol 54 indicating the attitude of the vehicle 1 is assigned to a lower center portion between the right side image area 48a and the left side image area 48b.

  According to the display of the front image area 50 in FIG. 6A, the front wheel width trajectories 52a and 52b are displayed. However, since the entire image of the front image area 50 is displayed after being subjected to processing such as enlargement and distortion correction, it is difficult to understand the unevenness of the road surface and the object on the road surface in the portions of the front wheel width trajectories 52a and 52b. It is not clear enough as an image for driving support.

  Accordingly, with respect to the front image region 50 in FIG. 6A, the contour enhancement by the filter processing unit 33 is performed on the front wheel width locus 52a and the region 60a including the periphery thereof, and the front wheel width locus 52b and the region 60b including the periphery thereof. FIG. 6B shows the result of performing the filtering process. In this way, according to the front image area 50 in FIG. 6B, the unevenness of the predicted courses (areas 60a and 60b) in the peripheral images can be easily understood, so that the driver can appropriately determine the course. In FIG. 6B, regions 60a and 60b are approximate regions and are not limited thereto. For example, the peripheral width can be arbitrarily set.

  Next, a second image example of this embodiment will be described. FIG. 7A is a diagram similar to FIG. FIG. 7B is a diagram illustrating an example of an image after executing a filter process for emphasizing contour enhancement that is closer to the own vehicle (vehicle 1).

  According to the display of the front image area 50 in FIG. 7A, since the entire image is displayed after being subjected to processing such as enlargement and distortion correction, the road surface and the unevenness of the object on the road surface are generally difficult to understand. The sense of depth (feeling of depth) is weak and it cannot be said that the image is sufficiently clear for driving support.

  Therefore, the following image processing is performed on the front image region 50 in FIG. 7A by the filter processing unit 33 to obtain the front image region 50 in FIG. 7B. That is, the strongest edge enhancement filter process is performed on the first region 61 closest to the vehicle 1 (the host vehicle). Further, a contour enhancement filter process weaker than that of the first region 61 is performed on the second region 62 next closest to the vehicle 1 (the host vehicle). Further, a contour enhancement filter process weaker than that of the second region 62 is performed on the third region 63 next closest to the vehicle 1 (the host vehicle). The other regions may not be subjected to contour emphasis filter processing, or may be subjected to contour emphasis filter processing weaker than that of the third region 63.

  In this way, according to the front image area 50 in FIG. 7B, the unevenness becomes easier to understand in the peripheral image as the area that is closer to the vehicle 1 (the host vehicle) has a sense of perspective (depth feeling). It becomes stronger and it becomes easier for the driver to drive. In FIG. 7B, regions 61, 62, and 63 indicate approximate regions, and are not limited thereto. For example, the width of the region can be arbitrarily set.

  Next, a third image example of this embodiment will be described. FIG. 8A is a diagram illustrating an example of an image before the contour emphasis filter process is executed in the vehicle periphery monitoring device according to the present embodiment. FIG. 8B is a diagram illustrating an example of an image after the contour emphasis filter process is performed on the predicted course of each wheel 3 of the vehicle 1 in both the traveling direction image and the side image.

  FIGS. 8A and 8B are examples of images when the steering angle is greater than or equal to a predetermined value. First, regarding FIG. 8A, differences from FIG. 6A will be mainly described, and description of common points will be omitted as appropriate. In FIG. 8A, a right side image area 48a is allocated from the upper right end to the lower end of the display area of the display device 8, and a left side image area 48b is allocated from the upper left end to the lower end of the display area. . This is because the front wheel 3F and the rear wheel 3R (part) are displayed in the right side image region 48a and the left side image region 48b. In the right-side image area 48a, a rear wheel width locus 36 extending from the rear wheel 3R and a front wheel width locus 36a extending from the front wheel 3F are superimposed and displayed. Since the rear wheel width trajectory 36 and the front wheel width trajectory 36a are trajectories extending from the wheels, the driver can easily recognize the predicted course.

  A front image area 50 is assigned to an upper center portion between the right side image area 48a and the left side image area 48b. In the front image area 50, the vehicle width offset line 40b is superimposed and displayed together with the front wheel width loci 52a and 52b.

  According to the display of the right side image area 48a in FIG. 8A, the rear wheel width locus 36 and the front wheel width locus 36a are displayed in a superimposed manner. However, since the entire image in the right-side image area 48a is displayed after being subjected to processing such as enlargement and distortion correction, the rear wheel width locus 36 and the front wheel width locus 36a are also uneven in the road surface and on the road surface. It is not clear enough as an image for driving support.

  Therefore, with respect to the right-side image region 48a in FIG. 8A, the filter processing unit 33 performs the processing on the rear wheel width locus 36 and the region 65 including the periphery thereof, and the front wheel width locus 36a and the region 64 including the periphery thereof. FIG. 8B shows the result of executing the edge enhancement filter processing. Thus, according to the front image area 50 of FIG. 8B, when the steering angle of the vehicle 1 is equal to or greater than a predetermined value, the predicted course is expressed larger than the traveling direction image (image of the front image area 50). Since the unevenness of the predicted course (areas 64 and 65) can be easily understood in the side image (image of the right side image area 48a) that can be used, the driver can appropriately determine the course. In FIG. 8B, regions 64 and 65 are approximate regions and are not limited thereto. For example, the peripheral width can be arbitrarily set. Further, in FIGS. 8A and 8B, the front wheel width locus 36a and the region 64 may not be displayed.

  An example of the image processing procedure of the periphery monitoring system 100 configured as described above will be described with reference to the flowchart of FIG. FIG. 9 is a flowchart showing a procedure of image processing of the vehicle periphery monitoring device according to the present embodiment. Note that the processing shown in the flowchart of FIG. 9 is repeatedly executed at a predetermined cycle when the front image region 50, the right side image region 48a, and the left side image region 48b are displayed. In addition, it is assumed that each imaging unit 16, the steering angle sensor 19, and the like continuously provide detection data to the ECU 14 at a predetermined control cycle.

  First, when display of the display device 8 including the right side image region 48a, the left side image region 48b, and the front image region 50 is requested, the surrounding image acquisition unit 27 of the ECU 14 acquires captured image data around the vehicle 1. (S100). Subsequently, the steering angle acquisition unit 28 acquires the current steering angle based on the detection data of the steering angle sensor 19 (S102). Further, the index acquisition unit 32 reads (acquires) an index to be displayed corresponding to the current steering angle from the SSD 14f, and provides it to the display control unit 14d (S104). The display control unit 14d displays the front image in the front image area 50, the right side image in the right side image area 48a, the left side image in the left side image area 48b (S106), and index information in each display area. Superimposed display (S108).

  Further, the course calculation unit 30 calculates the front wheel width trajectories 52a and 52b based on the steering angle provided from the rudder angle acquisition unit 28 (S110), and the display control unit 14d calculates the calculated front wheel width trajectory 52a, 52b is superimposed and displayed on the front image area 50 (S112).

  Furthermore, the course calculation unit 30 calculates the rear wheel width locus 36 based on the steering angle when the steering angle provided from the steering angle acquisition unit 28 is equal to or greater than a predetermined value, for example, 270 ° or more (Yes in S114). (S116). Then, the display control unit 14d superimposes and displays the calculated rear wheel width locus 36 on the side image (the images of the right side image region 48a and the left side image region 48b) (S118).

  In the process of S114, when the steering angle provided from the steering angle acquisition unit 28 is less than a predetermined value, for example, less than 270 ° (No), the process proceeds to S120.

  In step S120, the filter processing unit 33 performs a contour enhancement filter process on the predetermined region. The predetermined regions are, for example, the regions 60a and 60b in FIG. 6B, the regions 61, 62, and 63 in FIG. 7B, and the regions 60a, 60b, 64, and 65 in FIG.

  When the rear wheel width locus 36 is displayed in a superimposed manner in the process of S118, the index information superimposed in the process of S108 may be hidden. In this way, by displaying the display contents that the user wants to pay attention to according to the situation, the situation around the vehicle 1 can be more easily recognized by the user.

  In the process of S120, the contour emphasis filter process need not be executed for lines indicating the front wheel width trajectories 52a and 52b, the vehicle width offset line 40b, the interval line 44, and the like in the image.

  Although the embodiments of the present invention have been described, these embodiments are presented as examples, and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 3 ... Wheel, 3F ... Front wheel, 3R ... Rear wheel, 8 ... Display device, 14 ... ECU, 14a ... CPU, 14b ... ROM, 14c ... RAM, 14d ... Display control part, 14f ... SSD, 16, 16a, 16b, 16c, 16d ... imaging unit, 27 ... peripheral image acquisition unit, 28 ... rudder angle acquisition unit, 30 ... course calculation unit, 32 ... index acquisition unit, 33 ... filter processing unit, 48a ... right side image region, 48b: Left side image area, 50: Front image area, 100: Perimeter monitoring system.

Claims (5)

A peripheral image acquisition unit that acquires a peripheral image output from an imaging unit that images the periphery of the vehicle;
A filter processing unit that performs contour emphasis filter processing on a partial region of the peripheral image;
A display control unit that displays a peripheral image on which the filtering process has been performed on a display unit;
A vehicle periphery monitoring device. A steering angle acquisition unit for acquiring the steering angle of the vehicle;
2. The vehicle periphery monitoring according to claim 1, wherein the filter processing unit executes the filter processing on a predicted course of each wheel of the vehicle based on the steering angle as a partial region of the surrounding image. apparatus. The surrounding image includes a side image representing a side of the vehicle,
The said filter process part performs the said filter process with respect to the estimated course of each wheel of the said vehicle based on the said steering angle in the said side image, when the said steering angle is more than predetermined value. The vehicle periphery monitoring device according to claim 1. The partial region of the peripheral image includes a first region and a second region corresponding to a location farther from the vehicle than the first region,
2. The vehicle periphery monitoring device according to claim 1, wherein the filter processing unit executes a filter processing for contour enhancement stronger than the second region for the first region. The imaging unit is a stereo camera,
2. The filter processing unit according to claim 1, wherein the filter processing unit performs, on the basis of the parallax of the stereo camera, a stronger edge enhancement filter process for a region representing a portion closer to the distance from the vehicle. Vehicle periphery monitoring device.

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