JP2018171953A - Image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image display device that enables intuitive and correct grasping of situation on both sides of an own vehicle.SOLUTION: An image display device comprises: surrounding recognition means 30 that recognizes the surroundings of an own vehicle; image producing means 50 that produces a first display image I1 that indicates information about substantially all directions of the own vehicle and a second display image I2 indicating information about one direction including at least a sidewise direction of the own vehicle, on the basis of a recognition result of the surrounding recognition means; an image display device 70 that shows an image to an occupant in the vehicle; danger determining means that determines a dangerous state in the sidewise direction of the own vehicle on the basis of the recognition result of the surrounding recognition means; and display control means that, in a case where the danger determining means determines the dangerous state, causes the image display device to display the first display image and the second display image which are adjacent to each other.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an image display device mounted on a vehicle, and particularly to an apparatus capable of intuitively and accurately grasping a situation on the side of a host vehicle.

In a vehicle such as an automobile, an image that displays an image captured by a camera provided on the side part of the vehicle body, the rear part, or the like, instead of or in combination with existing mirrors, as rear side monitoring means of the vehicle It has been proposed to use a display device (camera monitoring system).
As a conventional technique related to such an image processing apparatus, for example, Patent Document 1 discloses image display in an inner region and an outer region of a steering wheel rim portion in front view of a driver, and each captured image straddles a rim portion. What is configured to move is described.

  In Patent Document 2, an overhead image generation unit generates an overhead image from captured images of a plurality of cameras, and the overhead image is displayed in a sub display area of a monitor. A main display area for displaying an overhead image, an enlarged image, etc., and a sub display area, and by touching the sub display area where the overhead image is displayed with a finger etc. What is enlarged and displayed in the display area is described.

Patent No. 5903319 JP 2011-205513 A

As an alternative to indirect viewing using a mirror, in a camera monitoring system that performs indirect viewing using a camera image, if a monitor is disposed on the side of the user, the line of sight needs to be directed to the side.
On the other hand, when the monitor is arranged in front of the user, the user can check the situation on the side with the line-of-sight direction facing forward. Is difficult to recognize because the relative positional relationship is different from the user's line-of-sight direction, and there is a concern that the possibility of contact with the risk object may be misidentified.
In view of the above-described problems, an object of the present invention is to provide an image display device capable of intuitively and accurately grasping the situation on the side of the host vehicle.

The present invention solves the above-described problems by the following means.
The invention according to claim 1 is an environment recognition unit that recognizes an environment around the host vehicle, and a first display image that shows information on substantially all directions of the host vehicle based on a recognition result of the environment recognition unit. , An image generation means for generating a second display image showing information on a part of the direction including at least the side of the own vehicle, an image display device for displaying an image on a vehicle occupant, and a recognition result of the environment recognition means A risk determination unit that determines a danger state on the side of the host vehicle based on the vehicle, and when the risk determination unit determines the danger state, the first display image and the second display image are adjacent to each other. An image display device comprising display control means for displaying on the image display device.
According to this, the second display image indicating the side information of the host vehicle is displayed adjacent to the first display image indicating the substantially omnidirectional state of the host vehicle, whereby the second display image is displayed. It is possible to intuitively understand where the object displayed in the display image is located with respect to the host vehicle, and it is possible to intuitively and accurately grasp the situation on the side of the host vehicle.

According to a second aspect of the present invention, the risk determination unit has a function of setting a region having a predetermined degree of risk around the host vehicle as a risk region, and the image generation unit includes the first display image and the first display image. 2. The image display device according to claim 1, wherein an area corresponding to the danger area in the second display image has a display mode different from that of the other areas.
According to this, it becomes possible to make a user intuitively understand the area where the own vehicle should be prevented from entering, and it is possible to appropriately avoid contact with an obstacle such as another vehicle.

According to a third aspect of the present invention, the risk determination unit has a function of setting a region having a safety level around the host vehicle as a movable region in which the host vehicle can move, and the image generation unit includes: The image according to claim 1 or 2, wherein a region corresponding to the movable region in the first display image and the second display image has a display mode different from other regions. It is a display device.
According to this, it is possible to make the user intuitively understand the area where the host vehicle can safely enter, and to facilitate the planning of the travel route during manual driving and the appropriateness of the automatic driving control during automatic driving. it can.

According to a fourth aspect of the present invention, the display control means displays the first display image regardless of the determination result of the danger determination means, and the second display image indicates that the danger determination means indicates the dangerous state. 4. The image display device according to claim 1, wherein the image display device displays only when the determination is made. 5.
According to this, it is possible to monitor the situation of substantially all directions around the host vehicle with the minimum line-of-sight movement in the normal state by the first display image, and when the dangerous state is determined, the second display The user can grasp the danger state by the appearance of the display image, and the risk object can be visually observed by the second display image.

The invention according to claim 5 is characterized in that the image display device is provided on the front side of the occupant, and displays the first display image and the second display image on the same or adjacent screens. The image display device according to any one of claims 1 to 4.
According to this, the surroundings of the vehicle can be appropriately monitored without the user turning around to the side or rear, and the physical burden on the user can be reduced.

  As described above, according to the present invention, it is possible to provide an image display device capable of intuitively and accurately grasping the situation on the side of the host vehicle.

It is a block diagram which shows the structure of embodiment of the image display apparatus to which this invention is applied. It is a typical perspective view which shows arrangement | positioning of the rear side camera etc. in the image display apparatus of embodiment. It is a figure which shows an example of the user visual field in the vehicle which has the image display apparatus of embodiment. It is a block diagram which shows the structure of the driving | running control apparatus provided in the vehicle which has the image display apparatus of embodiment. It is a flowchart which shows operation | movement of the image display apparatus of embodiment. It is a figure which shows an example of the bird's-eye view display in the image display apparatus of embodiment. It is a figure which shows an example of the rear side display in the image display apparatus of embodiment.

Hereinafter, embodiments of an image display device to which the present invention is applied will be described.
The image display apparatus according to the embodiment is a camera monitoring system that is provided in an automobile such as a passenger car, for example, and presents an image or the like obtained by capturing the rear side of the vehicle body with a camera to a user such as a driver.

FIG. 1 is a block diagram illustrating a configuration of an image display apparatus according to an embodiment.
The image display apparatus 1 includes a rear side image processing unit 10, a rear camera 11, a left rear side camera 12, a right rear side camera 13, a stereo camera processing unit 20, a left front camera 21, a right front camera 22, and environment recognition. The unit 30 includes a left rear side radar 31, a right rear side radar 32, a driver monitoring unit 40, a driver monitoring camera 41, a display image generation unit 50, a display control unit 60, an LCD 70, and the like.

The rear side image processing unit 10 is a digital signal processing device that processes output signals of the rear camera 11, the left rear side camera 12, and the right rear side camera 13 and outputs them as image data.
The video signal output from the rear side image processing unit 10 is transmitted to the environment recognition unit 30 and the display image generation unit 50.
The rear camera 11, the left rear side camera 12, and the right rear side camera 13 shoot a moving image of the situation around the vehicle and output a video signal in real time. A solid-state imaging device such as a CMOS, its driving device, and lens Etc.

FIG. 2 is a schematic perspective view illustrating the arrangement of the rear side camera and the like in the image display apparatus according to the embodiment.
The rear camera 11 is disposed at the center in the vehicle width direction at the rear end of the vehicle body B with the optical axis direction facing the vehicle rear side.
The left rear side camera 12 is arranged on the left side surface portion of the vehicle body B with the optical axis direction facing the rear side and the vehicle width direction outside.
The left rear side camera 12 is disposed at a location adjacent to the side mirror 130, for example.
The field of view (imagingable range) F12 of the left rear side camera 12 partially wraps with the field of view F11 of the rear camera 11, and the entire range from the rear to the left side of the host vehicle is substantially determined by at least one of the cameras. The image is taken so that there is no blind spot.
The right rear side camera 13 (not shown in FIG. 2) is disposed substantially symmetrically with the left rear side camera 12.

The stereo camera processing unit 20 performs known stereo camera processing on the images captured by the left front camera 21 and the right front camera 22, respectively, and detects an object ahead of the host vehicle and its distance from the host vehicle.
The output of the stereo camera processing unit 20 is transmitted to the environment recognition unit 30.
The left front camera 21 and the right front camera 22 capture a moving image of the situation in front of the vehicle and output a video signal in real time. The left front camera 21 and the right front camera 22 include a solid-state imaging device such as a CMOS, a driving device thereof, a lens and the like.
The left front camera 21 and the right front camera 22 are disposed, for example, in the vicinity of the upper end portion of the front window glass in the vehicle interior and spaced apart in the left-right direction.

The environment recognition unit 30 recognizes the environment around the host vehicle based on information provided from the rear side image processing unit 10, the stereo camera processing unit 20, the left rear side radar 31, the right rear side radar 32, and the like. To do.
The environment recognition unit 30 functions as an environment recognition unit and a risk determination unit according to the present invention in cooperation with the left rear side radar 31 and the right rear side radar 32.
Here, as recognized environments, the lane shape of the own vehicle traveling lane in which the own vehicle travels, the lane shape of the adjacent lane adjacent to the own vehicle traveling lane, other vehicles traveling around the own vehicle, pedestrians, buildings (For example, buildings, guardrails, signs, traffic lights, bridges, tunnels, median strips, roadside strips, etc.).

The left rear side radar 31 and the right rear side radar 32 are for detecting an object such as another vehicle existing behind the host vehicle.
As the left rear side radar 31 and the right rear side radar 32, for example, a millimeter wave radar can be used.
The left rear side radar 31 and the right rear side radar 32 can detect the relative position of the other vehicle with respect to the host vehicle when the other vehicle exists, and based on the transition of the relative position, the other vehicle It is possible to calculate the relative speed with respect to the own vehicle.
The left rear side radar 31 and the right rear side radar 32 are arranged on the left and right (for example, inside the rear bumper) at the rear of the vehicle body.

The driver monitoring unit 40 detects the posture, behavior, line-of-sight direction, etc. of the user (driver during manual operation) based on the image captured by the driver monitoring camera 41.
The driver monitoring camera 41 is provided in front of the driver in the passenger compartment.

The display image generation unit 50 generates a display image to be displayed on the LCD 70 based on inputs from the rear side image processing unit 10, the environment recognition unit 30, and the driver monitoring unit 40.
The function of the display image generation unit 50 and an example of the generated display image will be described in detail later.
The display image may be a real image obtained by performing predetermined image processing on the video imaged by the rear camera 11, the left rear side camera 12, and the right rear side camera 13, and corresponds to the real image. It may be computer graphics or the like for displaying information. Further, the photographed image and computer graphics may be combined and used.

The display control unit 60 is a display driving device that causes the LCD 70 to display the display image generated by the display image generation unit 50.
The LCD 70 is a display unit that is provided in front of the user (occupant / driver during manual operation) and displays a display image to the user.
The arrangement of the LCD 70 in the vehicle interior will be described in detail later.

FIG. 3 is a diagram illustrating an example of a user field of view in a vehicle including the image display device according to the embodiment.
As shown in FIG. 3, the vehicle includes a windshield 110, a front door glass 120, a side mirror 130, an instrument panel 140, a steering wheel 150, an A pillar 160, a roof 170, a room mirror 180, and the like.

The windshield 110 is disposed on the front side of the driver.
The windshield 110 is a secondary curved glass that is formed in a substantially horizontally long rectangular shape and is curved in a direction in which the front is convex.
The windshield 110 is disposed so as to be tilted rearward so that the upper end portion is on the vehicle rear side with respect to the lower end portion.

The front door glass 120 is provided in the upper part of the left and right front doors used for passengers getting on and off and on the side of the driver.
The front door glass 120 includes a liftable main body 121 and a fixed triangular window 122 provided at the front of the main body 121.

The side mirror 130 is used by the driver to check the left / right rear view.
The side mirror 130 protrudes outward in the vehicle width direction from the outer panels of the left and right front doors.
In the user field of view, for example, the side mirror 130 is visible in the vicinity of the front end portion of the main body 121 of the front door glass 120.

The instrument panel 140 is an interior member provided below the windshield 110 in the vehicle interior.
The instrument panel 140 also functions as a housing that accommodates various instruments, display devices, switches, air conditioners, front passenger airbag devices, knee protection airbag devices, and the like.
The instrument panel 140 includes a combination meter 141, a multi-function display 142, a navigation device display 143, and the like.

The combination meter 141 is provided in front of the driver's seat and is a unit of various instruments such as a speedometer, an engine tachometer, and a distance meter.
The combination meter 141 has a built-in LCD 70.
The multi-function display 142 is image display means such as an LCD provided at the upper part of the instrument panel 140 in the center in the vehicle width direction.
The navigation device display 143 is provided at the lower portion of the instrument panel 140 in the center in the vehicle width direction.

The steering wheel 150 is an annular operation member that inputs a steering operation when the driver manually operates.
The steering wheel 150 is provided substantially in front of the driver.
The combination meter 141 is visible from the inner diameter side of the upper half of the steering wheel 150 in the user view.

The A-pillar 160 is a columnar vehicle body structural member disposed along the side end portion of the windshield 110 and the front end portion of the front door glass 120.
The surface of the A pillar 160 on the vehicle interior side is covered with a resin pillar trim.

The roof 170 is formed to extend rearward from the upper end portion of the windshield 110.
A surface portion of the roof 170 on the vehicle interior side is covered with a resin roof trim.
A stereo camera housing portion 171 in which the left front camera 21 and the right front camera 22 are housed is provided at the front end portion of the roof 170 in the vehicle width direction central portion.

The rearview mirror 180 is a rearward confirmation mirror provided in the vehicle interior.
The room mirror 180 is provided in the vicinity of the upper end portion of the windshield 110 in the vehicle width direction central portion via a stay (not shown).

The vehicle includes an operation control device described below.
This driving control device constitutes an automatic driving system having an automatic driving function for automatically performing driving operations such as steering and acceleration / deceleration according to the recognition result by the environment recognition unit 30.
FIG. 4 is a block diagram illustrating a configuration of an operation control device provided in a vehicle having the image display device of the embodiment.
As shown in FIG. 4, the operation control device includes an automatic operation control unit 200, an engine control unit 210, a transmission control unit 220, a behavior control unit 230, an electric power steering (EPS) control unit 240, and the like.
Each unit described above is configured as a unit having information processing means such as a CPU, storage means such as RAM and ROM, an input / output interface, a bus connecting these, and the like. These units can communicate with each other via an in-vehicle LAN system such as a CAN communication system.

  When the automatic operation mode is selected by the user, the automatic operation control unit 200 outputs a control command to the engine control unit 210, the transmission control unit 220, the behavior control unit 230, the EPS control unit 240, etc. The automatic operation control for running the vehicle automatically is executed.

When the automatic driving mode is selected, the automatic driving control unit 200 advances the own vehicle according to information about the situation around the own vehicle provided from the environment recognition unit 30 and a command from a driver (not shown). Set the target driving locus.
The automatic operation control unit 200 automatically performs acceleration (start), deceleration (stop), forward / reverse switching, steering, etc. of the vehicle so that the actual travel locus of the host vehicle substantially matches the target travel locus. Then, automatic driving is executed in which the vehicle automatically travels to a preset destination.
In addition, the automatic operation mode is a manual operation in which a manual operation by a driver is performed when the user desires a manual operation or when it is difficult to continue the automatic operation in response to a predetermined release operation from the user. Return to operation mode is possible.

An input / output device 201 is connected to the automatic operation control unit 200.
The input / output device 201 outputs information such as warnings and various messages to the user from the automatic operation control unit 200 and accepts input of various operations from the user.
The input / output device 201 includes, for example, an image display device such as an LCD, an audio output device such as a speaker, and an operation input device such as a touch panel.
For example, the input / output device 201 can be used as the touch panel such as the LCD 70 and the multi-function display 142.

The engine control unit 210 comprehensively controls an engine that is a power source for driving the vehicle and its auxiliary equipment.
For example, a 4-stroke gasoline engine is used as the engine.
The engine control unit (ECU) 210 can control the output torque of the engine by controlling the throttle valve opening, fuel injection amount and injection timing, ignition timing, and the like of the engine.
In a state where the vehicle is driven in accordance with the driving operation of the driver, the engine control unit 210 outputs the engine so that the actual torque of the engine approaches the driver required torque set based on the operation amount of the accelerator pedal. To control.
Further, when the vehicle performs automatic driving, the engine control unit 210 controls the output of the engine in accordance with a command from the automatic driving control unit 200.

The transmission control unit (TCU) 220 shifts the rotational output of the engine, and comprehensively controls a transmission and auxiliary equipment (not shown) that switch between forward and reverse of the vehicle.
When the vehicle performs automatic driving, the transmission control unit 220 performs range switching such as forward / backward travel and setting of the gear ratio in response to a command from the automatic driving control unit 200.
As the transmission, for example, chain-type, belt-type, toroidal-type CVT, and various automatic transmissions such as a step AT having a plurality of planetary gear sets, a dual clutch transmission, and an AMT can be used.
In addition to a transmission mechanism such as a variator, the transmission includes a starting device such as a torque converter, a dry clutch, a wet clutch, and a forward / reverse switching mechanism that switches between a forward travel range and a reverse travel range. Yes.

The transmission control unit 220 is connected to a forward / reverse switching actuator 221, a range detection sensor 222, and the like.
The forward / reverse switching actuator 221 drives a forward / reverse switching valve for switching an oil passage that supplies hydraulic pressure to the forward / reverse switching mechanism, and switches forward / backward travel of the vehicle.
The forward / reverse switching actuator 221 is an electric actuator such as a solenoid, for example.
The range detection sensor 222 is a sensor (switch) that determines whether the currently selected range in the transmission is for forward movement or reverse movement.

The behavior control unit 230 individually controls the wheel cylinder hydraulic pressures of the hydraulic service brakes provided on the left and right front and rear wheels, respectively, to control the vehicle behavior such as understeer and oversteer, and wheel lock during braking. Anti-lock brake control to recover
A hydraulic control unit (HCU) 231 and a vehicle speed sensor 232 are connected to the behavior control unit 230.

The HCU 231 includes an electric pump that pressurizes brake fluid that is a working fluid of a hydraulic service brake, a valve that individually adjusts the hydraulic pressure supplied to the wheel cylinder of each wheel, and the like.
When the vehicle performs automatic driving, the HCU 231 generates braking force on the wheel cylinder of each wheel in response to a braking command from the automatic driving control unit 200.
The vehicle speed sensor 232 is provided at the hub portion of each wheel, and generates a vehicle speed pulse signal having a frequency proportional to the rotational speed of the wheel.
It is possible to calculate the traveling speed (vehicle speed) of the vehicle by detecting the frequency of the vehicle speed pulse signal and performing a predetermined calculation process.

The electric power steering (EPS) control unit 240 comprehensively controls an electric power steering device that assists a steering operation by a driver with an electric motor and its auxiliary devices.
The EPS control unit 240 is connected to a motor 241, a steering angle sensor 242, and the like.

The motor 241 is an electric actuator that applies an assist force to the steering system of the vehicle to assist the steering operation by the driver, or changes the steering angle during automatic driving.
When the vehicle performs automatic driving, the motor 241 applies torque to the steering system in accordance with the steering command from the automatic driving control unit 200 so that the steering angle of the steering system approaches a predetermined target steering angle. Turn the steering.
The steering angle sensor 242 detects the current steering angle in the vehicle steering system.
The steering angle sensor 242 includes, for example, a position encoder that detects the angular position of the steering shaft.

Hereinafter, the operation of the image display apparatus according to the embodiment will be described.
FIG. 5 is a flowchart illustrating the operation of the image display apparatus according to the embodiment.
Hereinafter, the steps will be described step by step.

<Step S01: Recognize surrounding environment of vehicle>
The environment recognition unit 30 recognizes the environment around the host vehicle using sensors such as cameras and radars.
The environment recognition unit 30 detects obstacles such as a traveling lane of the host vehicle, the lane shape of an adjacent lane, other vehicles that are running or stopped, pedestrians, bicycles, buildings, and the like.
The environment recognition unit 30 recognizes the attribute of each obstacle, the relative position with respect to the own vehicle, the relative speed with respect to the own vehicle, and the like.
Thereafter, the process proceeds to step S02.

<Step S02: Determination of presence or absence of side risk object>
The environment recognition unit 30 is located on the side of the host vehicle from the obstacle recognized in step S01, and has a possibility of collision with the host vehicle (risk potential) greater than or equal to a predetermined value (side risk object). ).
If the side risk object does not exist, the process proceeds to step S03 because it is not in a dangerous state, and if the side risk object exists, the process proceeds to step S04 as a dangerous state.

<Step S03: Display overhead view>
The environment recognition unit 30 gives an instruction to the display image generation unit 50 to generate an overhead view (bird's eye view (bird view) view) when the host vehicle is viewed from the rear side and obliquely upward as a display image I1 (see FIG. 6). It is displayed on the LCD 70.
The overhead view display will be described in detail later.
Thereafter, the series of processing is terminated (returned).

<Step S04: Hazardous Area Setting>
The environment recognition unit 30 sets an area that is dangerous to enter because the risk of contact and collision with the side risk object increases when the host vehicle enters, as a dangerous region on the side of the host vehicle.
For example, if the side risk object is approaching the adjacent lane from the rear side of the own vehicle at a higher speed than the own vehicle, the risk of a rear-end collision increases if the own vehicle changes the lane to the adjacent lane. In addition, on the adjacent lane on the side of the vehicle is set as a dangerous area.
Thereafter, the process proceeds to step S05.

<Step S05: Display overhead view + rear side display>
The environment recognition unit 30 instructs the display image generation unit 50 to display the display image I2 (see FIG. 7), which is a rear side image indicating the situation behind the host vehicle.
The display image generation unit 50 causes the LCD 70 to display the display image I2 that is the rear side image adjacent to the display image I1 that is the overhead view display.
At this time, the dangerous areas set in step S04 are displayed on the display images I1 and I2, respectively.
Thereafter, the series of processing is terminated.

Hereinafter, specific examples of the overhead view display and the rear side display will be described in detail.
FIG. 6 is a diagram illustrating an example of an overhead view display in the image display apparatus according to the embodiment.
In the overhead view display image I1, for example, the host vehicle 310, the host vehicle traveling lane 320, the adjacent lane 330, the other vehicle 340, and the like are displayed.
Such an overhead view is obtained by combining the images captured by the cameras with predetermined image processing, or in the display image generation unit 50 based on the environment recognition result of the environment recognition unit 30. Generated by rendering as graphics.
Further, instead of such a bird's-eye view (bird's-eye view), for example, a plan view showing a state in which the host vehicle and its periphery including substantially all directions are viewed from directly above may be used.

FIG. 6 shows a state in which the host vehicle 310 is traveling on a high-standard road (such as a highway) having two lanes on one side having the host vehicle traveling lane 320 and the adjacent lane 330 running in parallel in the same direction.
The host vehicle 310 is traveling in the host vehicle travel lane 320.
The adjacent lane 330 is adjacent to the right side of the host vehicle traveling lane 320 and is provided in parallel.

The other vehicle 340 is a car such as a passenger car that travels in the same direction as the host vehicle 310 in the adjacent lane 330.
In the state shown in FIG. 6, the other vehicle 340 travels behind the host vehicle 310 at a higher speed than the host vehicle 310, and tries to line up to the side of the host vehicle 310.
In this state, the other vehicle 340 is recognized as a side risk object, and a dangerous area 350 is set on the side of the own vehicle 310 on the adjacent lane 330 side.
The dangerous area 350 is displayed with a display mode such as a display color different from that of the other areas to alert the user.

FIG. 7 is a diagram illustrating an example of rear side display in the image display apparatus according to the embodiment.
In FIG. 7, a side situation image I <b> 2 indicating the situation of the right rear side of the host vehicle 310 captured by the right rear side camera 13 is displayed.
The side situation image I2 includes at least a part of the adjacent lane 330 in a range in which the position of the host vehicle 310 in the front-rear direction overlaps with the host vehicle within the display range, and can cover a field of view substantially equivalent to the side mirror 130. It has become.
Such a side situation image I2 is, for example, a real image obtained by performing image processing such as adjustment of brightness, luminance, contrast, color tone, etc. on the image captured by the right rear side camera 13 and correction of distortion caused by lens aberration. Images can be used.
Alternatively, an image captured by the right rear side camera 13 or computer graphics rendered based on the output of the right rear side radar 32 may be used.
In the embodiment, the side situation image is a left-right reverse image because it does not give a sense of incongruity to the appearance when the rear side is visually recognized using a general side mirror 130.
Also in FIG. 7, the own vehicle 310, the own vehicle travel lane 320, the adjacent lane 330, the other vehicle 340, and the danger area 350 are displayed.

According to the embodiment described above, the following effects can be obtained.
(1) By displaying the display image I2 indicating the side information of the host vehicle 310 adjacent to the display image I1 indicating the substantially omnidirectional state of the host vehicle, the other displayed on the display image I2 It is possible to intuitively understand where the vehicle 340 or the like is located with respect to the host vehicle 310, and it is possible to intuitively and accurately grasp the situation on the side of the host vehicle 310.
(2) By setting the dangerous area 350 and displaying it in a display mode different from the other areas, it becomes possible for the user to intuitively understand the area where the host vehicle 310 should be avoided, and the other vehicle 340. It is possible to appropriately avoid contact with obstacles such as.
(3) The display image I1 is always displayed and the display image I2 is displayed only when the side risk object is recognized, so that the display image I1 is normally substantially omnidirectional around the host vehicle 310 by the display image I1. Can be monitored by a minimum line-of-sight movement, and if a dangerous state is determined, the user can grasp the danger state by the appearance of the display image I2, and the display image I2 The risk object can be visually observed.
(5) Since the LCD 70 on which the display images I1 and I2 are displayed is provided on the front surface of the user, the user can appropriately monitor the surroundings of the vehicle without turning around to the side or rear, and the physical burden on the user Can be reduced.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) The configuration of the image display device and the vehicle on which the image display device is mounted is not limited to the above-described embodiment, and can be changed as appropriate.
For example, the quantity and arrangement of cameras and radars can be changed as appropriate. In the embodiment, one rear camera and one left and right rear side camera are provided, but a plurality of rear cameras may be provided. Further, for example, a single wide-angle camera may be used to serve as a rear camera and a rear side camera.
(2) In the embodiment, the display image is displayed on the LCD 70 provided in front of the user (driver during manual operation). However, the display image is not limited to this, and a display device provided in the center of the instrument panel ( For example, it may be displayed by a multifunction display 142, a navigation device display 143, or the like.
Moreover, you may make it project on a windshield, for example using a head-up display apparatus.
(3) In the embodiment, an area having a predetermined or higher risk around the host vehicle is set as the danger area and displayed in a display mode different from the other areas. An area having a safety level equal to or higher than a predetermined level may be set as a movable area (safe area) where the host vehicle can move, and the movable area may be displayed in a display mode different from other areas.
(4) In the embodiment, when the side risk object exists, the rear side display described above is displayed, but instead of this or in combination with this, the side of the host vehicle is displayed. You may make it display the side display which shows. For example, an image captured using a super-wide-angle camera that can image the side of the host vehicle and is arranged with the optical axis direction substantially aligned with the vehicle width direction, or generated based on this image Computer graphics or the like can be used for side display.
In this case, the other vehicle traveling in the adjacent lane can be configured to be substantially displayed as a side view.

DESCRIPTION OF SYMBOLS 1 Image display apparatus 10 Rear side image processing unit 11 Rear camera 12 Left rear side camera 13 Right rear side camera 20 Stereo camera processing unit 21 Left front camera 22 Right front camera 30 Environment recognition unit 31 Left rear side radar 32 Right rear side radar 40 Driver monitoring unit 41 Driver monitoring camera 50 Display image generation unit 60 Display control unit 70 LCD
DESCRIPTION OF SYMBOLS 110 Front glass 120 Front door glass 121 Main body part 122 Triangular window part 130 Side mirror 140 Instrument panel 141 Combination meter 142 Multifunction display 143 Navigation apparatus display 150 Steering wheel 160 A pillar 170 Roof 171 Stereo camera housing part 180 Room mirror 200 Automatic Operation control unit 201 Input / output device 210 Engine control unit 220 Transmission control unit 221 Forward / reverse switching actuator 222 Range detection sensor 230 Behavior control unit 231 Hydraulic control unit (HCU)
232 Vehicle speed sensor 240 Electric power steering (EPS) control unit 241 Motor 242 Steering angle sensor I1 Display image (overhead image) I2 Display image (rear side image)
310 Own vehicle 320 Own vehicle travel lane 330 Adjacent lane 340 Other vehicle 350 Danger area

Claims (5)

Environment recognition means for recognizing the environment around the vehicle,
Based on the recognition result of the environment recognizing means, a first display image showing information on substantially all directions of the own vehicle and a second display image showing information on partial directions including at least the side of the own vehicle Image generating means for generating
An image display device for displaying an image to a vehicle occupant;
A danger determination means for determining a danger state on the side of the host vehicle based on the recognition result of the environment recognition means;
Display control means for displaying the first display image and the second display image adjacent to each other on the image display device when the danger determination means determines the danger state. Image display device. The danger determination means has a function of setting an area having a predetermined degree of danger or more around the host vehicle as a dangerous area,
The said image generation means makes the area | region equivalent to the said danger area in the said 1st display image and the said 2nd display image into a display mode different from another area | region. Image display device. The risk determination means has a function of setting a region having a safety level around the host vehicle as a movable region in which the host vehicle can move.
The image generating means sets a region corresponding to the movable region in the first display image and the second display image to a display mode different from other regions. Item 3. The image display device according to Item 2. The display control means displays the first display image regardless of the determination result of the danger determination means, and displays the second display image only when the danger determination means determines the dangerous state. The image display apparatus according to any one of claims 1 to 3, wherein The image display device is provided on a front side of the occupant, and displays the first display image and the second display image on the same or adjacent screens. The image display device according to any one of the above.

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