JP2019180074A - Driving support system, image processing device, and image processing method - Google Patents

Abstract

To provide a driving support system that allows a driver to easily confirm other succeeding vehicles existing in a blind spot generated in a rear camera due to the approach of a first succeeding vehicle from an image of the rear camera.SOLUTION: A driving support system measures distance between a host vehicle and a first succeeding vehicle within a photographing range of a rear camera, turns on an alert display mode when detecting a second succeeding vehicle within a photographing range of a side camera and existing behind the first succeeding vehicle relative to the rear camera in the state in which the distance between the host vehicle and the first succeeding vehicle is equal to or less than a first threshold value, and causes a display unit to display an image of the second succeeding vehicle photographed by the side camera by superposing it at a corresponding position of an image taken with the rear camera in the state of the alert display mode being on.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to a driving support system, an image processing apparatus, and an image processing method that display an image of another succeeding vehicle existing at a blind spot generated in a rear camera due to the approach of the following vehicle superimposed on the image of the rear camera.

  There are known rearview mirrors and side mirrors that allow a driver to visually recognize the surrounding situation mainly behind the vehicle body. In the case of an optical rearview mirror, the rear seat of the passenger car becomes a barrier and the rearward view range is limited.In particular, in the case of trucks, buses, etc., there is a problem that the rear view cannot be seen from the optical rearview mirror in the car. there were.

  Therefore, as shown in Patent Document 1, an electronic mirror system has been proposed in which images of cameras installed in advance on the left and right side surfaces and the rear side of a vehicle body are respectively displayed on a display device in the vehicle. In the electronic mirror system, since an image of a camera installed at an appropriate position is projected, a clear field of view without a barrier compared to a conventional optical mirror can be provided to the driver. Further, by attaching a wide-angle lens to the camera, the driver can visually recognize a wider range.

  By the way, even in the electronic mirror system, when the following vehicle approaches, there is a problem that the imaging range of the rear camera is cut off and the situation behind the following vehicle cannot be visually recognized. It is a schematic diagram which shows an example of the condition where a driving assistance system is applied. In FIG. 1, a rear camera 110 that captures the rear of the vehicle body, a right side camera 120 that captures the rear right side of the vehicle body, and a left side camera 130 that captures the rear left side of the vehicle body are installed in the vehicle. Here, the right side camera 120 and the left side camera 130 may be installed at positions of a right side mirror and a left side mirror of the vehicle, respectively. An image captured by the rear camera 110 is displayed on a display device 140 provided in the vehicle. However, when the following vehicle V1 approaches the own vehicle, the following vehicle V2 accelerating from the rear of the right lane of the own vehicle is hidden behind the following vehicle V1, so that the screen as shown in FIG. 140. At this time, if the driver suddenly changes the lane to the right lane without noticing the presence of the following vehicle V2, there is a danger of a collision. Note that the images taken by the right side camera 120 and the left side camera 130 may be displayed on two display devices (not shown). At this time, the display device that displays the image captured by the right side camera 120 may be installed on the front right side in the vehicle. In addition, the display device that displays the image captured by the left side camera 130 may be installed on the front left side in the vehicle.

  In this situation, the right side camera 120 installed at the position of the right side mirror of the own vehicle can capture the following vehicle V2, and therefore, if the driver checks the image of the right side camera 120, an accident is avoided. be able to. However, the driver usually confirms the image of the rear camera 110 that first captures a wide range in front of the vehicle rear. Originally, the image of the right side camera 120 should also be confirmed after that, but for that purpose, the line of sight must be moved, and this is often neglected. Especially for beginners of driving, there are many cases where there is no room for sequentially checking the two display devices within a short time immediately before the lane change. The problem is that the side camera 120 and the left side camera 130 are not installed in the vehicle, and the driver checks the right side rear and left side rear of the vehicle using the right side mirror and the left side mirror as usual. This is also a problem that occurs in the same way.

  In order to overcome this problem, the display device can be divided into three to display images acquired by the rear camera 110, the right side camera 120, and the left side camera 130, respectively. The individual images that divide the device become smaller and less visible, and are not efficient because the same object may appear in two cameras at the same time. Furthermore, as shown in Patent Document 2, a technique for combining and displaying these images on one display device has been proposed, but the entire screen often looks unnatural.

JP 2009-083618 A Japanese Patent Laid-Open No. 2006-213759

  The present disclosure has been devised in view of the above-described conventional circumstances, and allows the driver to easily check other succeeding vehicles existing in the blind spot generated in the rear camera due to the approach of the following vehicle from the image of the rear camera. It is an object to provide a system, an image processing apparatus, and an image processing method.

  The present disclosure provides a driving support system including a rear camera that captures the rear side of the host vehicle, at least one side camera that captures a rear side of the host vehicle, a processing unit, and a display unit. The distance between the vehicle and the first succeeding vehicle within the photographing range of the rear camera is measured, and the distance between the own vehicle and the first succeeding vehicle is equal to or less than the first threshold and is within the photographing range of the side camera and the rear The alert display mode is turned on when the second succeeding vehicle existing behind the first succeeding vehicle is detected with respect to the camera, and in a state where the alert display mode is on, the corresponding position of the image acquired by the rear camera is Provided is a driving support system in which an image of a second succeeding vehicle photographed by a side camera is superimposed and displayed on a display unit.

  Further, the present disclosure is an image processing apparatus for controlling a driving support system including a rear camera that captures the rear side of the host vehicle, at least one side camera that captures a rear side of the host vehicle, and a display unit. The distance between the own vehicle and the first succeeding vehicle within the photographing range of the rear camera is measured, and the distance between the own vehicle and the first succeeding vehicle is within the photographing range of the side camera when the distance between the own vehicle and the first succeeding vehicle is equal to or less than the first threshold. And the alert display mode is turned on when the second succeeding vehicle existing behind the first succeeding vehicle is detected with respect to the rear camera, and the correspondence of the image acquired by the rear camera when the alert display mode is on Provided is an image processing device that superimposes an image of a second succeeding vehicle photographed by a side camera and displays it on a display unit.

  In addition, the present disclosure is an image processing method for controlling a driving support system including a rear camera that captures the rear side of the host vehicle, at least one side camera that captures the rear side of the host vehicle, and a display unit. The step of measuring the distance between the host vehicle and the first succeeding vehicle within the shooting range of the rear camera and the shooting range of the side camera in a state where the distance between the host vehicle and the first succeeding vehicle is equal to or less than the first threshold value. Acquired by the rear camera in a state where the alert display mode is on and the alert display mode is on when the second succeeding vehicle existing behind the first succeeding vehicle is detected with respect to the rear camera. And a step of superimposing an image of a second succeeding vehicle photographed by a side camera on a corresponding position of the image displayed on a display unit.

  It should be noted that any combination of the above-described components and a representation of the present disclosure converted between a method, an apparatus, a system, a recording medium, a computer program, and the like are also effective as an aspect of the present disclosure.

  According to the present disclosure, a driving support system, an image processing device, and image processing that enable a driver to easily check other subsequent vehicles existing in a blind spot generated in the rear camera due to the approach of the first subsequent vehicle from an image of the rear camera. Provide a method.

Schematic diagram showing an example of a situation where the driving support system is applied The schematic diagram which shows an example of the image displayed on the display apparatus of the conventional driving assistance system in the condition shown in FIG. Block diagram of a driving support system according to the present disclosure Flowchart showing an image processing method in the present disclosure Schematic diagram showing an example of an image displayed on the display device of the image processing method according to the present disclosure Schematic diagram showing an example of an image displayed on the display device of the image processing method according to the present disclosure Schematic diagram showing an example of an image displayed on the display device of the image processing method according to the present disclosure Schematic diagram showing an example of an image displayed on the display device of the image processing method according to the present disclosure Schematic diagram showing an example of an image displayed on the display device of the image processing method according to the present disclosure

  Hereinafter, an embodiment that specifically discloses a driving support system, an image processing device, and an image processing method according to the present disclosure will be described in detail with reference to the accompanying drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

  The driving support system according to the present disclosure will be described below using an electronic mirror system as an example, but a system for allowing any driver, such as a display that superimposes an image on another windshield, to visually recognize the state of a predetermined area around the vehicle body. But you can. In the following description, the host vehicle is described as a general passenger car. However, the present disclosure is not limited to this, and can be applied to other vehicles such as a bus, a truck, a motorcycle, a train, a ship, and an aircraft. The image processing apparatus according to the present disclosure may be a processing unit in the driving support system. The image processing method in the present disclosure may be various steps executed by the image processing device in the driving support system. In the following, for convenience of explanation, the same means are denoted by the same reference numerals in each drawing.

  A hardware configuration of the driving support system in the present disclosure will be described. FIG. 3 is a block diagram of a driving support system according to the present disclosure. The driving support system 100 according to the present disclosure includes, for example, a rear camera 110, a right side camera 120, a left side camera 130, a display device 140 (display unit), an image processing device 150 (processing unit), and a rear distance sensor. 160, right rear distance sensor 170, left rear distance sensor 180, and speed sensor 190 may be included.

  The rear camera 110, the right side camera 120, and the left side camera 130 may all be small cameras installed on a vehicle body, and preferably have a wide-angle lens attached thereto. As shown in FIG. 1, the rear camera 110 captures the rear side of the vehicle body, the right side camera 120 captures the rear side of the right side of the vehicle body, and the left side camera 130 captures the rear side of the left side of the vehicle body. In the present embodiment, a case where one side camera is provided on each of the left and right side surfaces of the vehicle body will be described as an example. However, the present disclosure is not limited to this, and a plurality of side cameras are provided on the left and right sides. Alternatively, it may be a case where one side camera captures one of the left and right rear sides, that is, if at least one side camera is provided. Since the camera itself may be a conventional one, a detailed description is omitted here.

  The display device 140 is preferably provided at a position where the viewpoint is less moved from the state where the driver is driving while looking forward, and may be an independent display or a head-up that projects an image on the windshield. It may be a display (HUD). In the case of an independent display, it may be a display having a shape similar to that of a conventional optical rearview mirror, and a type that can be used as a normal optical mirror by switching a switch is preferable.

  The image processing device 150 is a microprocessor, for example, and controls the driving support system 100 by performing various calculations. Processing (steps) executed by the image processing apparatus 150 constitutes an image processing method according to the present disclosure, and details thereof will be described later. In the present disclosure, for convenience of explanation, the image processing apparatus will be described as one means. However, the present disclosure is not necessarily physically realized by one processor, and each apparatus has a respective processing apparatus. These image processing apparatuses may constitute the image processing apparatus 150 jointly. In addition, the central processing unit (CPU) and the processing device of each device may perform the processing in cooperation.

  The rear distance sensor 160, the right rear distance sensor 170, and the left rear distance sensor 180 can measure the distances between the subject and the vehicle in the imaging range of the rear camera 110, the right side camera 120, and the left side camera 130, respectively. . These distance sensors may be any type of sensor capable of measuring the distance to the host vehicle, and typically include an optical sensor, an ultrasonic sensor, and a millimeter wave radar. Moreover, these sensors may be incorporated in the rear camera 110, the right side camera 120, and the left side camera 130, or may be provided independently on the vehicle body. In the present embodiment, an example will be described in which the distance to the object is measured by three independent sensors, the rear distance sensor 160, the right rear distance sensor 170, and the left rear distance sensor 180. In the driving support system, the various cameras described above may serve as a distance sensor. The distance may be calculated from image information of a plurality of cameras, or the distance may be calculated from the lower end of the succeeding vehicle in the image based on the ground vanishing point of the camera video.

  The speed sensor 190 is a sensor that measures the traveling speed of the host vehicle, and typically measures the speed based on the circumference of the wheel and the rotational speed. Moreover, the speed sensor 190 may function as a simple input unit to which wheel rotation information included in information communicated in the in-vehicle network is input. At this time, the in-vehicle network may be, for example, a CAN (Controller Area Network). Since the specific configuration of the speed sensor 190 may be conventional, a detailed description is omitted here.

  Next, various processes (steps) in the driving support system 100 will be described in detail by taking the situation shown in FIG. 1 as an example. Note that each step described below may constitute an image processing method according to the present disclosure, and these steps may be executed by the image processing device 150 (processing unit) according to the present disclosure.

  FIG. 4 is a flowchart illustrating an image processing method according to the present disclosure. As shown in FIG. 4, the image processing method according to the present disclosure includes the following steps.

  First, the image processing apparatus 150 measures the distance between the host vehicle and the first succeeding vehicle that is within the imaging range of the rear camera 110 (step S410). Specifically, the rear distance sensor 160 measures the distance between the host vehicle and the following vehicle V <b> 1 within the imaging range of the rear camera 110. As an exemplary method, the image processing apparatus 150 first detects the presence or absence of a following vehicle by the rear camera 110, and confirms that the following vehicle V1 exists, and then detects the presence of the vehicle and the following vehicle V1 by the rear distance sensor 160. The distance may be measured. As another exemplary method, the distance to the rear object is directly measured by the rear distance sensor 160, and when the object is not detected, the distance may be set to infinity (∞).

  Subsequently, the image processing apparatus 150 determines whether or not the distance between the host vehicle and the first subsequent vehicle V1 is equal to or less than the first threshold (step S420). The first threshold is such that if the first succeeding vehicle V1 approaches further, a large area of the image photographed by the rear camera 110 is blocked by the first succeeding vehicle V1, and it is recognized that there is a problem in safety. A distance (for example, 20 m) may be set. Moreover, you may make it change a 1st threshold value based on the speed of the own vehicle. Preferably, the higher the traveling speed of the host vehicle, the higher the driver's attention must be. Therefore, the first threshold value may be set larger.

  When the distance between the vehicle and the first succeeding vehicle V1 is greater than the first threshold (“NO” in step S420), the image processing apparatus 150 does not have the following vehicle or has the following vehicle V1 but does not exist. It is recognized that the image taken by the rear camera 110 is not cut off at least so that it can be safely hindered by the following vehicle V1, and therefore it is determined that there is no need to display an alert. The process ends.

  On the other hand, as shown in FIG. 1, when the distance between the vehicle and the first succeeding vehicle V1 is equal to or less than the first threshold (“YES” in step S420), the image processing device 150 captures the shooting range of the side camera. It is determined whether there is a second succeeding vehicle V2 that is within and behind the first succeeding vehicle V1 with respect to the rear camera 110 (step S430). For example, for each of the rear camera 110, the right side camera 120, and the left side camera 130, all subsequent vehicles included in the captured image are detected and detected from the images of the right side camera 120 or the left side camera 130. It may be determined whether or not a subsequent vehicle having the same characteristics as the subsequent vehicle is included in the subsequent vehicle detected from the image of the rear camera 110.

  If there is no second succeeding vehicle V2 that is within the shooting range of the side camera and is behind the first succeeding vehicle V1 with respect to the rear camera 110 (“NO” in step S430), the driver is alerted. Therefore, it is determined that it is not necessary to perform alert display for the purpose, and the process is terminated.

  On the other hand, as shown in FIG. 1, when there is a second subsequent vehicle V2 that is within the shooting range of the side camera and is behind the first subsequent vehicle V1 with respect to the rear camera 110 (“YES” in step S430). Determines that it is necessary to inform the driver of the presence of the second succeeding vehicle V2, and turns on the alert display mode.

  As one preferred embodiment, the image processing apparatus 150 may turn on the alert display mode only when the distance between the host vehicle and the second succeeding vehicle V2 is equal to or smaller than the second threshold value. At this time, the distance between the vehicle and the second succeeding vehicle V2 may be measured by the right rear distance sensor 170 or the left rear distance sensor 180, for example. The second threshold is preferably set to a safe distance (for example, 40 m) at which there is no risk of collision with the second succeeding vehicle V2 even if the driver changes lanes. Moreover, you may make it change a 2nd threshold value based on the speed of the own vehicle. Specifically, since the safe distance must be increased as the traveling speed of the host vehicle increases, it is preferable to set the second threshold higher than normal. If the distance between the vehicle and the second succeeding vehicle V2 is equal to or greater than the second threshold value, there is no risk of a collision even if the driver changes the lane to the right lane without noticing the presence of the second succeeding vehicle V2. To provide the driver with a natural view by avoiding unnecessary alert display by turning on the alert display mode only when the distance between the vehicle and the second succeeding vehicle V2 is equal to or less than the second threshold value. Can do.

  Further, as another preferred embodiment, the image processing apparatus 150 may turn on the alert display mode only when the speed of the second succeeding vehicle V2 is faster than the speed of the host vehicle. That the speed of the 2nd succeeding vehicle V2 is faster than the speed of the own vehicle means that it approaches the own vehicle. Therefore, the image processing apparatus 150 may determine that the speed of the second succeeding vehicle V2 is faster than the speed of the own vehicle by measuring a change in the distance between the own vehicle and the second succeeding vehicle V2 using a distance sensor. . Further, when the second succeeding vehicle V2 approaches the host vehicle, the second succeeding vehicle V2 gradually appears larger in the image of the side camera. Therefore, the image processing apparatus 150 may determine that the speed of the second subsequent vehicle V2 is faster than the speed of the host vehicle due to a change in the size of the second subsequent vehicle V2 reflected in the side camera. If the speed of the second succeeding vehicle V2 is slower than the speed of the host vehicle, there is no danger of a collision even if the driver changes the lane to the right lane without noticing the presence of the second succeeding vehicle V2. By turning on the alert display mode only when the speed of the succeeding vehicle V2 is higher than the speed of the own vehicle, it is possible to avoid unnecessary alert display and provide the driver with a natural view.

  Finally, the image processing device 150 superimposes the image of the second succeeding vehicle V2 captured by the side camera on the corresponding position of the image acquired by the rear camera in the state where the alert display mode is on, and the display device 140 (Step S440). 5 to 9 are schematic diagrams illustrating examples of images displayed on the display device 140 of the image processing method according to the present disclosure in the situation of FIG. At this time, the image processing device 150 may combine the image of the rear camera 110 with the image of the second succeeding vehicle V2 captured by the right side camera 120 and display the image on the display device 140 as shown in FIG. As shown in FIG. 6, the image of the second succeeding vehicle V2 taken by the right side camera 120 may be directly put on the image of the rear camera 110 (ie, “PinP”).

  In addition, the image processing device 150 displays the side image at the corresponding position of the image acquired by the rear camera 110 in order to display the presence of the second succeeding vehicle V2 more clearly to the driver when the alert display mode is on. The enhanced image may be superimposed on the second succeeding vehicle V2 photographed by the camera and displayed on the display device 140. There are various specific methods for the emphasis process. For example, as shown in FIG. 7, the outline of the second succeeding vehicle V2 may be displayed thickly. Further, the second succeeding vehicle V2 may be clarified by edge processing such as extracting and displaying only the outline. Furthermore, the image processing apparatus 150 may display icons such as “□” and “◯” around the second succeeding vehicle V2, as shown in FIG. More preferably, the image processing device 150 may display distance information between the second succeeding vehicle V2 and the host vehicle on the display device 140 as shown in FIG. When the distance between the second succeeding vehicle V2 and the host vehicle is within a certain range, the image processing device 150 blinks the second succeeding vehicle V2 displayed on the display device 140 and icons displayed around it, The driver's attention may be further raised by a method such as coloring the second succeeding vehicle V2 or an icon displayed around the second succeeding vehicle V2 in red or reproducing an alarm sound. However, it is clear that the display of distance information is not limited to the position shown in FIG.

  By the way, even if it is the same target object, if it image | photographs with a camera with a different angle of view, the magnitude | size of the said target object in the acquired image will differ. Specifically, the object looks larger in an image taken with a telephoto lens with a smaller angle of view than an image taken with a wide-angle lens with a larger angle of view. Therefore, the image processing apparatus 150 places the second succeeding vehicle V2 photographed by the side camera based on the relationship between the angle of view of the side camera and the angle of view of the rear camera 110 at a corresponding position of the image acquired by the rear camera 110. It is preferable to display the enlarged or reduced image on the display device 140 in a superimposed manner. For example, when the angle of view of the rear camera 110 is smaller than the angle of view of the right side camera 120, the second succeeding vehicle V2 photographed by the side camera 110 is reduced and superimposed on the corresponding position of the image acquired by the rear camera 110. Let By correcting the angle of view, it is possible to provide the driver with a natural image as if the second succeeding vehicle V2 was captured by the rear camera 110.

  Further, even if the same object is captured by cameras with different distances, the size of the object in the acquired image is different. Specifically, the object in the image appears smaller in the image taken with the camera far away from the image taken with the camera closer to the object. Therefore, the image processing device 150 is based on the relationship between the distance between the side camera and the second succeeding vehicle V2 and the distance between the rear camera 110 and the second succeeding vehicle V2 at the corresponding position of the image acquired by the rear camera 110. It is preferable that an image obtained by enlarging or reducing the second succeeding vehicle V <b> 2 captured by the side camera 110 is superimposed and displayed on the display device 140. This not only provides the driver with a natural image as if the second succeeding vehicle V2 was captured by the rear camera 110, but also provides the driver with the second succeeding vehicle V2 reflected on the display device 140. The distance from the vehicle can be grasped according to the size, and further improvement in safety can be expected.

  Further, the image processing device 150 has a relationship between a field angle of the side camera and the rear camera 110, a distance between the side camera and the second succeeding vehicle V2, and a relationship between the distance between the rear camera 110 and the second succeeding vehicle V2. Based on both, an image obtained by enlarging or reducing the second succeeding vehicle V <b> 2 captured by the side camera 110 may be superimposed on the corresponding position of the image acquired by the rear camera 110 and displayed on the display device 140.

  As mentioned above, although this indication was explained using an embodiment, the technical scope of the invention concerning this indication is not limited to the range given in the embodiment mentioned above. It will be apparent to those skilled in the art that various modifications and improvements can be made to the embodiment described above. It is also apparent from the scope of the claims that the embodiment added with such changes or improvements can be included in the technical scope of the present invention.

  The execution order of each process such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. ”And the like, and can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it does not mean that it is essential to carry out in this order. Absent.

  The present disclosure is useful as a driving support system that allows a driver to easily check other succeeding vehicles existing in a blind spot generated in a rear camera due to the approach of the following vehicle from an image of the rear camera.

100 Driving support system 110 Rear camera 120 Right side camera 130 Left side camera 140 Display device 150 Image processing device 160 Rear distance sensor 170 Right rear distance sensor 180 Left rear distance sensor 190 Speed sensor

Claims (10)

In a driving support system comprising a rear camera that captures the rear of the vehicle, at least one side camera that captures the rear side of the vehicle, a processing unit, and a display unit,
The processor is
Measure the distance between the vehicle and the first following vehicle within the shooting range of the rear camera,
In a state where the distance between the host vehicle and the first succeeding vehicle is equal to or smaller than a first threshold, the second succeeding vehicle is within the photographing range of the side camera and is behind the first succeeding vehicle with respect to the rear camera. When alert is detected, alert display mode is turned on,
Driving support in which the image of the second succeeding vehicle photographed by the side camera is superimposed on the corresponding position of the image obtained by the rear camera and displayed on the display unit when the alert display mode is on. system. The processor is
The driving support system according to claim 1, wherein the alert display mode is turned on only when a distance between the host vehicle and the second succeeding vehicle is equal to or less than a second threshold value. The processor is
The alert display mode is turned on only when the speed of the second succeeding vehicle is higher than the speed of the own vehicle.
The driving support system according to claim 2. The processor is
Changing at least one of the first threshold and the second threshold based on the speed of the host vehicle;
The driving support system according to any one of claims 1 to 3. The processor is
In the state where the alert display mode is on, the first image captured by the side camera based on the relationship between the angle of view of the side camera and the angle of view of the rear camera at a corresponding position of the image acquired by the rear camera. (2) An image obtained by enlarging or reducing the succeeding vehicle is superimposed and displayed on the display unit.
The driving support system according to any one of claims 1 to 4. The processor is
In the state where the alert display mode is on, the relationship between the distance between the side camera and the second succeeding vehicle and the distance between the rear camera and the second succeeding vehicle at the corresponding position of the image acquired by the rear camera. An image obtained by enlarging or reducing the second succeeding vehicle photographed by the side camera based on the image is superimposed and displayed on the display unit.
The driving support system according to any one of claims 1 to 5. The processor is
In the state where the alert display mode is on, an image obtained by emphasizing the second succeeding vehicle photographed by the side camera is superimposed and displayed on the display unit at a corresponding position of the image obtained by the rear camera. The driving support system according to any one of claims 1 to 6. The processor is
The driving support system according to any one of claims 1 to 7, wherein distance information between the second succeeding vehicle and the host vehicle is displayed on the display unit in a state where the alert display mode is on. An image processing apparatus for controlling a driving support system comprising a rear camera that captures the rear of the host vehicle, at least one side camera that captures a rear side of the host vehicle, and a display unit,
Measure the distance between the vehicle and the first following vehicle within the shooting range of the rear camera,
In a state where the distance between the host vehicle and the first succeeding vehicle is equal to or smaller than a first threshold, the second succeeding vehicle is within the photographing range of the side camera and is behind the first succeeding vehicle with respect to the rear camera. When alert is detected, alert display mode is turned on,
Image processing in which the image of the second succeeding vehicle photographed by the side camera is superimposed on the corresponding position of the image acquired by the rear camera and displayed on the display unit in a state where the alert display mode is on apparatus. An image processing method for controlling a driving support system comprising a rear camera that captures the rear of the host vehicle, at least one side camera that captures a rear side of the host vehicle, and a display unit,
Measuring the distance between the vehicle and a first succeeding vehicle that is within the imaging range of the rear camera;
In a state where the distance between the host vehicle and the first succeeding vehicle is equal to or smaller than a first threshold, the second succeeding vehicle is within the photographing range of the side camera and is behind the first succeeding vehicle with respect to the rear camera. The step of turning on the alert display mode when detecting
A step of superimposing an image of the second succeeding vehicle captured by the side camera on the corresponding position of the image acquired by the rear camera and displaying the image on the display unit in a state where the alert display mode is on; An image processing method.

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