JP2018174383A - Image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image display device which allows for easy and intuitive recognition of change in situation on the side of a vehicle.SOLUTION: In an image display device 1 including environment recognition means 30 for recognizing the environment around own vehicle 310, image generation means 50 for generating display images I1, I2, I3 indicating the information around the own vehicle, based on the recognition results from the environment recognition means, image display means 70 for displaying the display image generated by the image generation means to the crewman of the vehicle, and danger discrimination means for determining dangerous state on the own vehicle side based on the recognition results from the environment recognition means, the image generation means is configured to shift the display image from a first aspect I1 indicating the substantially omnidirectional information of the own vehicle, to a second aspect I3 performing enlarged display of information in some directions including at least the side of the own vehicle, when the danger discrimination means discriminates dangerous state.SELECTED DRAWING: Figure 5

Description

  The present invention relates to an image display apparatus mounted on a vehicle, and more particularly to an apparatus capable of intuitively and easily recognizing a change in a situation on the side of a 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, an overhead view showing the omnidirectional situation of the host vehicle is generated and displayed based on a plurality of images taken around the vehicle. It has been proposed.
However, for example, when a vehicle travels using automatic driving or advanced driving support, if the user (driver during manual driving) performs a peripheral check with a bird's-eye view, it is difficult to grasp the change status and content. There was a problem.
In view of the above-described problems, an object of the present invention is to provide an image display device capable of intuitively and easily recognizing a situation change on the side of a 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, an image generation unit that generates a display image indicating information around the host vehicle based on a recognition result of the environment recognition unit, and An image display device comprising: an image display unit that displays a display image generated by the image generation unit to a vehicle occupant; and a risk determination unit that determines a danger state on the side of the host vehicle based on a recognition result of the environment recognition unit. The image generation means, when the danger determination means determines the danger state, displays the display image from the first aspect indicating information on substantially all directions of the own vehicle, at least of the own vehicle. It is an image display device characterized by shifting to a second mode in which information of a partial orientation including the side is enlarged and displayed.
According to this, by changing the display image from the first mode indicating the omnidirectional of the host vehicle to the second mode in which the side of the host vehicle is enlarged and displayed, the situation of the omnidirectional state is normally displayed on one screen. When a situation change occurs on the side of the host vehicle while monitoring, the situation and contents of the change can be recognized intuitively and easily.

In the invention according to claim 2, the display image of the first aspect is a bird's-eye view or a top view showing the state of the host vehicle viewed from above, and the display image of the second aspect is the The image display device according to claim 1, wherein the image display device shows a state in which the side of the host vehicle is viewed from a viewpoint set at a low position with respect to the first mode.
According to this, by lowering the viewpoint position in the second mode than in the first mode, it is possible to obtain an image that is close to the viewpoint height with the naked eye of the user (driver) and that can easily recognize the change status. The situation can be recognized more intuitively.

The invention according to claim 3 is characterized in that the image generating device changes the display image from the first mode to the second mode continuously or stepwise. 2. The image display device according to 2.
According to this, it becomes possible to make the user surely recognize that the display image has changed from the first mode to the second mode, and the state in any direction in the first mode is the second mode. It is possible to prevent the user from recognizing whether the display is going to be displayed and to confuse the user due to a sudden change in display mode.

  As described above, according to the present invention, it is possible to provide an image display device capable of intuitively and easily recognizing a situation change on the side of a 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 state in the middle of the transition from a bird's-eye view display to a side display in the image display apparatus of an embodiment. It is a figure which shows an example of the 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 instructs the display image generation unit 50 to generate a bird's-eye view (bird's eye view) obtained by viewing the host vehicle from the rear side and obliquely upward as a display image I1 (see FIG. 6) and display it 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: Transition from overhead view display to side display>
The environment recognition unit 30 instructs the display image generation unit 50 to view the display image displayed on the LCD 70 from the same overhead view as in step S03, from the viewpoint position lower than the side view and the overhead view. Transition to the side display showing the status.
This transition is performed by continuous or stepwise change.
At this time, in each display image that is sequentially displayed, the dangerous area set in step S04 is displayed in a display mode (for example, display color) that is different from the other areas.
Thereafter, the series of processing is terminated (returned).

Hereinafter, specific examples of the display image 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 top view (plan view) showing a state in which the 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 a state during the transition from the overhead view display to the side display in the image display apparatus according to the embodiment.
FIG. 8 is a diagram illustrating an example of a side display in the image display apparatus according to the embodiment.
A side display image I3 shown in FIG. 8 shows a state in which the host vehicle 310 is viewed from the left side, and its viewpoint position is set lower than the overhead view display image I1.
Further, the display magnification indicating the situation on the side of the host vehicle is enlarged with respect to the display image I1.
The state shown in FIG. 7 shows an example in the middle of the transition from the display image I1 in FIG. 6 to the display image I3 in FIG. 8, and shows a state in which the host vehicle 310 is seen from the diagonally upper side on the left diagonally rear side. Yes.
Also in the display images I2 and I3 in FIGS. 7 and 8, the host vehicle 310, the host vehicle traveling 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 changing the display images I1 to I3 from an overhead view (I1) indicating all directions of the host vehicle to a side display (I3) in which the side of the host vehicle is enlarged, the display image I1 to I3 is normally displayed on a single screen. While the situation of the azimuth is monitored, when a situation change occurs on the side of the host vehicle, the situation and content of the change can be recognized intuitively and easily.
(2) In the side display (I3), by lowering the viewpoint position compared to the overhead view display (I1), it is possible to obtain an image that is close to the viewpoint height with the naked eye of the user (driver) and can easily recognize the change state. , The change situation can be recognized more intuitively.
(3) From the overhead view display (I1) to the side display (I3), the display image changes from the overhead view display to the side display by continuously changing the display using the intermediate display (I2 etc.). The user can be surely recognized that the display mode is changed, and the display mode can be prevented from changing suddenly.

(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, the side image is an image viewed from the outside of the host vehicle. However, the present invention is not limited to this, and an image corresponding to the state viewed from the vehicle interior side of the host vehicle is generated. May be displayed. At this time, the virtual viewpoint of the image can be configured to be coincident with or adjacent to the viewpoint position of the user detected by the driver monitoring system.

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 to I3 Display image 310 Own vehicle 320 Own vehicle traveling lane 330 Adjacent lane 340 Other vehicle 350 Danger area

Claims (3)

Environment recognition means for recognizing the environment around the vehicle,
Image generating means for generating a display image showing information around the host vehicle based on the recognition result of the environment recognizing means;
Image display means for displaying a display image generated by the image generation means to a vehicle occupant;
An image display device comprising: a risk determination unit that determines a dangerous state on the side of the host vehicle based on a recognition result of the environment recognition unit;
The image generation means, when the danger determination means determines the danger state, displays the display image from at least a side of the own vehicle from the first aspect indicating information on substantially all directions of the own vehicle. An image display device, wherein the information is shifted to a second mode in which information on a partial orientation including the information is enlarged and displayed. The display image of the first aspect is a bird's-eye view or a top view showing a state where the host vehicle is viewed from above,
The image display according to claim 1, wherein the display image of the second aspect shows a state in which the side of the host vehicle is viewed from a viewpoint set at a lower position than the first aspect. apparatus. The image display device according to claim 1, wherein the image generation device changes the display image from the first mode to the second mode continuously or stepwise.

Images