JP2021111956A - Display control apparatus for vehicle, display control system for vehicle, and display control method for vehicle - Google Patents

Abstract

To make less likely to occur the situation where a moving object is not displayed on any display in a case where images captured by a plurality of imaging devices, of which capturing ranges for the area around the vehicle are overlapped each other, mounted on a vehicle are displayed together on one display.SOLUTION: A display control unit 25 collectively displays display images of images captured by a rear camera, a rear right camera, and a rear left camera, of which capturing ranges partially overlap, on one display 4 mounted in the vehicle. When a presence determination unit 24 detects the presence of a target moving object in an area that is a blind spot area blocked by a just proximal moving object in the imaging range of the rear camera and an overlapping area where the imaging ranges of the rear camera and the rear right camera and the rear left camera overlap, the display control unit displays the image captured by the rear right camera or the rear left camera so as to give priority to the image captured by the rear camera.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to a vehicle display control device, a vehicle display control system, and a vehicle display control method.

There is known a technique for collectively displaying images around the own vehicle captured by a plurality of in-vehicle imaging devices on the same display. For example, in Patent Document 1, one image is taken by three cameras, one is a left and right side camera that takes an image of the left and right rear sides of the vehicle, and the other is a rear camera that takes an image of the rear of the vehicle. A technique for displaying in the left and right outer display areas and the center display area of a display is disclosed. Further, Patent Document 1 discloses that the image displayed on the display is an image obtained by cutting out a part from the image captured by the camera. Further, Patent Document 1 discloses that the central display area is wider than the outer display area.

Japanese Patent No. 5321711

In the technique disclosed in Patent Document 1, since the image displayed on the display is an image obtained by cutting out a part from the image taken by the camera, it is included in both the imaging ranges of the rear camera and the side camera. Even if it is a moving object, it may be displayed only in the display area of either the rear camera or the side camera. In order to reduce the complexity of displaying two identical moving objects on one display, even if the moving object is included in both the rear camera and side camera imaging ranges. , It is considered preferable to display only in the display area of either the rear camera or the side camera.

However, if the position of the target moving object included in both the rear camera and the side camera's imaging range is a position that is displayed only in the center display area (hereinafter referred to as a specific position), the image is captured by the side camera. However, there is a risk that the situation will not be displayed on the display. The details are as follows.

As the following vehicle of the own vehicle approaches the own vehicle, the ratio of the following vehicle to the image taken by the rear camera increases, and the blind spot area where the image behind the following vehicle is not reflected by the rear camera increases. When the above-mentioned specific position is included in this blind spot area, although the image range of the rear camera includes the specific position, the target moving object is not imaged by the rear camera because it is blocked by the following vehicle, and the target moves to the central display area. The body is not displayed. On the other hand, even if the imaging range of the side camera includes a specific position and the target moving object is imaged by the side camera, the specific position is not displayed in the display area of the side camera, so the target moves to the outer display area. The body is not displayed. Therefore, there may be a situation where the moving object included in the imaging range of both the rear camera and the side camera is not displayed in either the left and right outer display areas and the center display area of the display. It is considered that such a situation is more likely to occur in the technique disclosed in Patent Document 1 in which the central display area is wider than the outer display area.

One object of this disclosure is any of the cases where the captured images of a plurality of imaging devices provided in the own vehicle and having partially overlapping imaging ranges for imaging the surroundings of the own vehicle are collectively displayed on one display. It is an object of the present invention to provide a vehicle display control device, a vehicle display system, and a vehicle display control method, which make it possible to prevent a situation in which a moving body located within an imaging range is not displayed on a display.

The above object is achieved by a combination of the features described in the independent claims, and the sub-claims provide for further advantageous embodiments of the disclosure. The reference numerals in parentheses described in the claims indicate, as one embodiment, the correspondence with the specific means described in the embodiments described later, and do not limit the technical scope of the present disclosure. ..

In order to achieve the above object, the vehicle display control device of the present disclosure is used in a vehicle, and is provided in the vehicle to image the surroundings of the vehicle, and a plurality of imaging devices (51) in which a part of each other's imaging range overlaps. The captured image acquisition unit (21) that acquires the captured image captured in) and the captured image acquisition unit from the plurality of imaging devices so that the captured images of some of the imaging devices among the plurality of imaging devices are prioritized. A display control unit (25, 25a, 25b) for collectively displaying display images for each of the captured images acquired in the vehicle on one display (4) provided in the vehicle, and one of a plurality of imaging devices. The second imaging device (511), which is an imaging device that is a blind spot region blocked by a moving body around the vehicle in the imaging range of the first imaging device (511), which is an imaging device, and is different from the first imaging device. A presence determination unit (24) for determining whether or not a target moving body, which is a moving body different from the moving body, exists in the overlapping region where the imaging range overlaps with 512,513) is provided and displayed. When the existence determination unit determines that the target moving object exists, the control unit sets the display image on the display so that the image captured by the second image pickup device has priority over the image captured by the first image pickup device. Display all together.

In order to achieve the above object, the vehicle display control method of the present disclosure is used in a vehicle, and is provided in the vehicle to image the surroundings of the vehicle, and a plurality of image pickup devices (51) in which a part of each other's imaging range overlaps. ) Is acquired, and it is a blind spot region blocked by a moving body around the vehicle in the imaging range of the first imaging device (511), which is one of the plurality of imaging devices. In addition, the target moving object, which is a moving body different from the moving body, is located in an area where the imaging range overlaps with the second imaging device (512,513), which is an imaging device different from the first imaging device. When it is determined that the target moving body is present, the image captured by the second imaging device is prioritized over the image captured by the first imaging device. The display images for each of the captured images obtained from the above are collectively displayed on one display (4) provided in the vehicle.

An imaging device that is a blind spot region that is blocked by a moving object around the vehicle in the imaging range of the first imaging device, which is one of the plurality of imaging devices, and is different from the first imaging device. When a target moving body, which is a moving body different from the moving body, exists in an overlapping region where the imaging range overlaps with that of a second imaging device, the target moving bodies are the first imaging device and the second imaging device. Although it is included in any of the imaging ranges of the above, it is not reflected in the image captured by the first imaging device. On the other hand, the target moving body is not blocked by the moving body around the vehicle in the imaging range of the second imaging device, and may be reflected in the captured image of the second imaging device. That is, even a target moving object that cannot be displayed on the display image of the captured image of the first imaging device can be displayed on the display image of the captured image of the second imaging device. On the other hand, when it is determined that the target moving body exists, the captured images acquired from the plurality of imaging devices are prioritized over the captured images of the first imaging device. Since the display images for each of the above are collectively displayed on one display provided in the vehicle, it is possible to display the target moving object by the display image for the image captured by the second imaging device that is prioritized. .. As a result, when displaying the captured images of a plurality of imaging devices provided in the own vehicle having partially overlapping imaging ranges around the own vehicle on one display, the images are located within any of the imaging ranges. It is possible to reduce the situation where the moving object is not displayed on the display.

In order to achieve the above object, the vehicle display system of the present disclosure is used in a vehicle, and is provided in the vehicle to image the surroundings of the vehicle, and a plurality of imaging devices (51, 511 and 512,513), one indicator (4) provided in the vehicle interior of the vehicle, and the vehicle display control device (2,2a, 2b) described above.

According to this, since the vehicle display system includes the above-mentioned vehicle display control device, the captured images of a plurality of imaging devices provided in the own vehicle and having partially overlapping imaging ranges for capturing the periphery of the own vehicle can be captured. When displaying on one display, it is possible to make it difficult to cause a situation in which a moving body located in any imaging range is not displayed on the display.

It is a figure which shows an example of the schematic structure of the driving support system 1. It is a figure which shows an example of the imaging range of the rear camera 511, the right rear side camera 521, and the left rear side camera 513. It is a figure which shows an example of the schematic structure of HCU2. It is a figure for demonstrating an example of a blind spot region. It is a figure for demonstrating an example of the overlap area. It is a figure for demonstrating an example of cutting out the image from the captured image of the rear camera 511, the right rear side camera 512, and the left rear side camera 513. It is a figure for demonstrating an example of the display of the display image of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 on the display 4. It is a figure for demonstrating an example of changing the cut-out range of the image from the captured image of the right rear side camera 512. It is a figure for demonstrating an example of switching the size of the display area of the display image of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 in the display 4. It is a figure for demonstrating an example of the captured image of the rear camera 511. It is a figure for demonstrating an example of the display of the display image of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 on the display 4. It is a figure for demonstrating an example of the display of the display image of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 on the display 4. It is a figure for demonstrating an example of a warning display. It is a flowchart which shows an example of the flow of the display control-related processing in HCU2. It is a figure which shows an example of the schematic structure of HCU2a. It is a figure which shows an example of the schematic structure of HCU2b.

A plurality of embodiments for disclosure will be described with reference to the drawings. For convenience of explanation, the parts having the same functions as the parts shown in the drawings used in the explanations up to that point may be designated by the same reference numerals and the description thereof may be omitted. be. For the parts with the same reference numerals, the description in other embodiments can be referred to.

(Embodiment 1)
<Outline configuration of driving support system 1>
Hereinafter, this embodiment will be described with reference to the drawings. First, the driving support system 1 will be described with reference to FIG. The driving support system 1 is used in a vehicle. Hereinafter, the vehicle using the driving support system 1 is referred to as a own vehicle.

As shown in FIG. 1, the driving support system 1 includes an HCU (Human Machine Interface Control Unit) 2, a vehicle sensor 3, a display 4, a peripheral monitoring sensor 5, and a peripheral monitoring ECU 6. The driving support system 1 corresponds to a vehicle display control system. The HCU 2, the vehicle sensor 3, and the peripheral monitoring ECU 6 may be connected to each other by, for example, an in-vehicle LAN.

The vehicle sensor 3 is a group of sensors for detecting various states of the own vehicle. The vehicle sensor 3 includes a sensor for detecting a running state, an operating state, and the like of the own vehicle. Such sensors include a vehicle speed sensor that detects the vehicle speed of the own vehicle, a steering angle sensor that detects the steering angle of the own vehicle, and the like.

The vehicle sensor 3 also includes a switch for detecting various states of the own vehicle. For example, the vehicle sensor 3 may include a blinker switch for detecting the lighting operation of the blinker lamp which is a direction indicator. In the following, the blinker switch for detecting the lighting operation of the left blinker lamp will be referred to as a left blinker switch, and the blinker switch for detecting the lighting operation of the right blinker lamp will be referred to as a right blinker switch. For example, when the left turn signal lamp is turned on and the left turn signal switch is turned on, a signal indicating that the left turn signal switch is on is output to the in-vehicle LAN. Further, when the right turn signal lamp is turned on and the right turn signal switch is turned on, a signal indicating that the right turn signal switch is on is output to the in-vehicle LAN. The vehicle sensor 3 may be configured to be connected to the in-vehicle LAN via the ECU.

The display 4 is installed in the vehicle interior. The display 4 is a display that displays an image captured by the peripheral surveillance camera 51 described later. The display 4 is an electronic mirror that sequentially displays the captured images of the rear side and the left and right rear sides of the vehicle that are sequentially imaged by the peripheral monitoring camera 51. The display 4 may be configured so that the display screen can be confirmed by the occupant (that is, the driver) in the driver's seat of the own vehicle. It is preferable that the display 4 is in a position where the display can be confirmed by suppressing the movement of the line of sight from the direction of the line of sight when gazing at the front of the own vehicle. As the display device 4, a liquid crystal display, a HUD (Head-Up Display), or the like can be used. When the HUD is used as the display 4, the surface on which the display image is projected on the projection member on which the HUD projects the display image corresponds to the display screen.

The peripheral monitoring sensor 5 is a sensor for monitoring the surrounding environment of the own vehicle. The peripheral monitoring sensor 5 includes a peripheral monitoring camera 51 and an exploration wave sensor 52. The peripheral monitoring camera 51 is, for example, a monocular camera, and sequentially images a predetermined range around the vehicle. The peripheral surveillance camera 51 corresponds to the imaging device. Peripheral surveillance cameras 51 include a rear camera 511, a right rear side camera 512, and a left rear side camera 513 in which a part of each other's imaging range overlaps.

The rear camera 511 sequentially images a predetermined range behind the own vehicle. The rear camera 511 is provided at the rear of the vehicle such as a roof spoiler. The rear camera 511 is provided with the optical axis directed to the rear of the own vehicle. As an example, the rear camera 511 may be configured to use a wide-angle lens so that the shooting range is wide. The captured image captured by the rear camera 511 is output to the peripheral monitoring ECU 6.

The right rear side camera 512 sequentially images a predetermined range on the right rear side of the own vehicle. The right rear side camera 512 is provided on the right side surface of the own vehicle. The right rear side camera 512 is provided, for example, at a mounting position of the right door mirror of the vehicle in place of the right door mirror. The right rear side camera 512 is provided with the optical axis directed toward the right rear side of the own vehicle. As an example, the right rear side camera 512 may be configured to use a wide-angle lens so that the shooting range is wide. The captured image captured by the right rear side camera 512 is output to the peripheral monitoring ECU 6.

The left rear side camera 513 sequentially images a predetermined range on the left rear side of the own vehicle. The left rear side camera 513 is provided on the left side surface of the own vehicle. The left rear side camera 513 is provided, for example, at a mounting position of the left door mirror of the vehicle in place of the left door mirror. The left rear side camera 513 is provided with the optical axis directed toward the left rear side of the own vehicle. As an example, the left rear side camera 513 may be configured to use a wide-angle lens so that the shooting range is wide. The captured image captured by the left rear side camera 513 is output to the peripheral monitoring ECU 6.

Here, an example of the imaging range of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 will be described with reference to FIG. The HV in FIG. 2 indicates the own vehicle. The range surrounded by the alternate long and short dash line in FIG. 2 indicates the imaging range of the rear camera 511 (hereinafter, the rear imaging range R). The range surrounded by the broken line in FIG. 2 indicates the imaging range of the right posterior camera 512 (hereinafter, the right posterior imaging range RRS). The range surrounded by the dotted line in FIG. 2 indicates the imaging range of the left posterior camera 513 (hereinafter, the left posterior imaging range RLS).

As shown in FIG. 2, the rear imaging range R and the right rear lateral imaging range RRS partially overlap. Further, as shown in FIG. 2, the rear imaging range R and the left rear lateral imaging range RLS partially overlap. The region where the imaging ranges of the plurality of peripheral surveillance cameras 51 overlap each other is hereinafter referred to as an overlapping region. The right posterior lateral imaging range RRS and the left posterior imaging range RLS do not overlap each other.

Returning to FIG. 1, the exploration wave sensor 52 is a sensor for detecting an obstacle using the exploration wave. The exploration wave sensor 52 transmits an exploration wave, and outputs a sensing result based on a received signal obtained when the exploration wave is reflected by an obstacle to the peripheral monitoring ECU 6. Examples of the sensing result include the reception intensity of the reflected wave, the time from the transmission of the exploration wave to the reception of the reflected wave, the direction in which the exploration wave is transmitted, and the like. As the exploration wave, ultrasonic waves, light, electromagnetic waves, electric field magnetic fields and the like can be used. Examples of the exploration wave sensor 52 include sonar, LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), millimeter wave radar, and the like. In the present embodiment, a case where a millimeter wave radar is used as the exploration wave sensor 52 will be described as an example.

The peripheral monitoring ECU 6 is an electronic control device that executes various processes related to monitoring the surrounding environment of the own vehicle. The peripheral monitoring ECU 6 sequentially sends captured images sequentially input from the peripheral monitoring cameras 51 such as the rear camera 511, the right rear side camera 512, and the left rear side camera 513 to the HCU 2. Further, the peripheral monitoring ECU 6 recognizes obstacles based on the captured images sequentially input from the peripheral monitoring camera 51 and the sensing results sequentially input from the exploration wave sensor 52.

The peripheral monitoring ECU 6 recognizes obstacles around the own vehicle by performing image recognition processing on the captured image input from the peripheral monitoring camera 51. A machine learning method such as deep learning may be used for the image recognition process. The peripheral monitoring ECU 6 recognizes at least a moving body around the own vehicle. Examples of moving objects include vehicles, people, animals, drones, and the like. Examples of people include pedestrians and the like. The vehicle recognized as a moving object by the peripheral monitoring ECU 6 is not limited to an automobile. For example, it may be a bicycle, a motorcycle, or the like. In the following, the description will be continued by taking the case where the moving body is an automobile as an example.

The peripheral monitoring ECU 6 uses image recognition processing to reach the size of the moving body, the relative position of the moving body with respect to the own vehicle (hereinafter, simply the relative position of the moving body), and the distance from the own vehicle to the moving body (hereinafter, the moving body distance). You may recognize it. For example, the peripheral monitoring ECU 6 may recognize the size of the moving body by estimating the size of the moving body from the size of the license plate of the moving body, the silhouette of the passenger, the emblem, and the like. The size recognized by the peripheral monitoring ECU 6 may be, for example, at least the vehicle width. The size recognized by the peripheral monitoring ECU 6 may be a vehicle width and a vehicle height, or may be an index indicating another size. Further, the peripheral monitoring ECU 6 may specify the vehicle type from the classification number written on the license plate of the moving body and recognize the size of the moving body from the correspondence between the vehicle type and the size. In addition, the peripheral monitoring ECU 6 may determine the vehicle type from the vehicle shape of the moving body that has been image-recognized, and may recognize the size of the moving body from the correspondence between the vehicle type and the size.

The peripheral monitoring ECU 6 determines the relative position of the moving body and the moving body distance from the installation position of the peripheral monitoring camera 51 and the direction of the optical axis with respect to the own vehicle and the position of the moving body in the captured image of the peripheral monitoring camera 51. , Just recognize. In addition, the moving body distance may be recognized from the ratio of the moving body in the captured image.

Further, the peripheral monitoring ECU 6 may recognize the existence of the moving body, the size of the moving body, the relative position of the moving body, and the moving distance by using the information of the moving body acquired from the moving body around the own vehicle by communication. .. The communication may be direct wireless communication or indirect communication via a public communication network or the like. As an example, by acquiring the information on the position of the moving body from the moving body, the existence of the moving body, the relative position of the moving body, and the distance of the moving body may be recognized. The information on the position of the moving body may be, for example, the coordinates of the latitude and longitude measured by the positioning device used in the moving body. When recognizing the relative position and moving distance of a moving body using the information on the position of the moving body obtained by communication, the coordinates of the latitude and longitude of the own vehicle measured by the positioning device used in the own vehicle and the movement It should be recognized from the coordinates of the latitude and longitude of the body. The relative position of the moving body may be represented, for example, as a coordinate point on the coordinates with respect to the own vehicle. Regarding the size of the moving body, the peripheral monitoring ECU 6 may recognize the size of the moving body based on the information that can specify the size of the moving body from the moving body.

In addition, the peripheral monitoring ECU 6 may recognize the moving body distance and the relative position of the moving body from the sensing result input from the exploration wave sensor 52. As an example, the peripheral monitoring ECU 6 may recognize the moving body distance based on the time from the transmission of the exploration wave from the exploration wave sensor 52 to the reception of the reflected wave. Further, the peripheral monitoring ECU 6 may recognize the relative position of the moving body from the direction in which the exploration wave is transmitted and the distance of the moving body.

The peripheral monitoring ECU 6 uses at least one of the image recognition result, the information acquired by communication, and the sensing result of the exploration wave sensor 52, and uses at least one of the presence of the moving body, the size of the moving body, and the relative of the moving body. All you have to do is recognize the position and the distance of the moving body. The peripheral monitoring ECU 6 complementarily uses a plurality of the image recognition result, the information acquired by communication, and the sensing result of the exploration wave sensor 52 to determine the existence of the moving body, the size of the moving body, and the moving body. You may recognize the relative position of and the distance of the moving body.

The HCU 2 includes, for example, a processor, a memory, an I / O, and a bus connecting these, and executes various processes related to information presentation by executing a control program stored in the memory. The memory referred to here is a non-transitory tangible storage medium for storing programs and data that can be read by a computer non-transitoryly. Further, the non-transitional substantive storage medium is realized by a semiconductor memory, a magnetic disk, or the like. This HCU2 corresponds to a vehicle display control device. The details of HCU2 will be described below.

<Outline configuration of HCU2>
Subsequently, the schematic configuration of HCU2 will be described with reference to FIG. As shown in FIG. 3, the HCU 2 includes a captured image acquisition unit 21, a recognition information acquisition unit 22, a blind spot area identification unit 23, an existence determination unit 24, and a display control unit 25 as functional blocks. In addition, a part or all of the functions executed by HCU2 may be configured in hardware by one or a plurality of ICs or the like. Further, a part or all of the functional blocks included in the HCU 2 may be realized by a combination of software execution by a processor and hardware members.

The captured image acquisition unit 21 acquires the captured image of the peripheral monitoring camera 51 sequentially sent from the peripheral monitoring ECU 6. The captured images of the peripheral surveillance camera 51 acquired by the captured image acquisition unit 21 are captured images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513. As an example, if the captured image acquisition unit 21 sequentially acquires the captured images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 captured at substantially the same timing on a frame-by-frame basis. good.

The recognition information acquisition unit 22 acquires the recognition information of the moving body such as the existence of the moving body, the size of the moving body, the relative position of the moving body, and the moving body distance recognized by the peripheral monitoring ECU 6. The recognition information acquisition unit 22 may acquire at least the existence of movement, the distance of the moving body, and the relative position of the moving body as recognition information. Since the relative position of the moving body is for an existing moving body, the information on the existence of the moving body may be included in the information on the relative position of the moving body. Further, since the moving body distance can be calculated from the relative position of the moving body, the information on the moving body distance may be included in the information on the relative position of the moving body. The recognition information acquisition unit 22 may be configured to acquire recognition information indicating that the sensing has failed when the peripheral monitoring ECU 6 fails in sensing.

The blind spot area specifying unit 23 identifies a blind spot area blocked by a moving object around the own vehicle in the imaging range of one of the plurality of peripheral surveillance cameras 51. In the present embodiment, a case where the blind spot area specifying unit 23 specifies a blind spot area blocked by a moving object around the own vehicle in the imaging range of the rear camera 511 (that is, the rear imaging range R) will be described as an example. I do. As an example, the blind spot area specifying unit 23 will continue the following description assuming that the blind spot area is specified by the immediately following moving body of the own vehicle (hereinafter, the most recent following moving body). It should be noted that the most recent trailing moving body may be determined from the moving body distance acquired by the recognition information acquisition unit 22 by the blind spot area specifying unit 23. The blind spot area specifying unit 23 may calculate the moving body distance from the relative position of the moving body acquired by the recognition information acquisition unit 22. Examples of the most recent following moving object include vehicles, people, animals, drones, and the like. Examples of people include pedestrians and the like. The vehicle is not limited to an automobile, but may be a bicycle, a motorcycle, or the like. In the following, the description will be continued by taking the case where the most recent following moving body is an automobile as an example.

Here, the blind spot region will be described with reference to FIG. The FV in FIG. 4 shows the most recent trailing mobile. The SV in FIG. 4 shows a peripheral moving body other than the nearest succeeding moving body FV. In FIG. 4, the peripheral moving body SV is located on the right rear side of the own vehicle HV. DAA in the rear imaging range R of FIG. 4 indicates a blind spot region. As shown in FIG. 4, when the nearest succeeding moving body FV is present, the angle of view of the rear camera 511 is blocked by the latest succeeding moving body FV in the rear imaging range R, which is behind the latest succeeding moving body FV. The area of is the blind spot area DAA. The peripheral moving body SV located in the blind spot region DAA is blocked by the nearest succeeding moving body FV and is not reflected in the captured image of the rear camera 511. Such a situation is likely to occur when the distance between the vehicle and the nearest following moving body FV is short on a road having two or more lanes on each side regardless of the speed of the own vehicle HV.

The blind spot area specifying unit 23 determines a blind spot area blocked by the nearest succeeding moving body in the rear imaging range R from the relative position of the latest succeeding moving body and the size of the latest succeeding moving body acquired by the recognition information acquisition unit 22. Identify. An example will be described below.

The blind spot area specifying unit 23 arranges the nearest following moving body on the coordinates with respect to the own vehicle (hereinafter, the map around the own vehicle) based on the relative position and size of the latest following moving body. The arrangement of the latest succeeding moving body may be updated every time the recognition information acquisition unit 22 acquires a new relative position of the latest succeeding moving body. Further, the blind spot area specifying unit 23 arranges the installation position of the rear camera 511, the direction of the optical axis, and the rear imaging range R on the map around the own vehicle. The installation position of the rear camera 511, the direction of the optical axis, and the rear imaging range R may be configured to use information stored in advance in the non-volatile memory of the HCU2. Then, the blind spot area specifying unit 23 is the closest trailing moving object with the rear camera 511 as the base point, in which the angle of view of the rear camera 511 is blocked by the closest trailing moving body in the rear imaging range R arranged on the vehicle peripheral map. The area behind is specified as a blind spot area.

The blind spot area specifying unit 23 may specify the blind spot area by a method other than the above-mentioned method. For example, the blind spot region may be estimated from the position and size occupied by the nearest following moving object in the image captured by the rear camera 511. In the present embodiment, an example of specifying a blind spot region blocked by a moving body around the own vehicle in the rear imaging range R of the rear camera 511 is shown, but the present invention is not necessarily limited to this. The blind spot region, which is blocked by the moving body around the own vehicle in the imaging range of the peripheral surveillance camera 51 other than the rear camera 511, may be similarly specified.

The existence determination unit 24 is a blind spot area blocked by a moving object around the own vehicle in the imaging range of one of the plurality of peripheral surveillance cameras 51, and the peripheral surveillance camera 51 and the peripheral surveillance camera 51. Determines whether or not a target moving body, which is a moving body different from the moving body, exists in an area which is an overlapping area where the imaging range overlaps with another peripheral surveillance camera 51. In the example of the present embodiment, the existence determination unit 24 is a blind spot area specified by the blind spot area identification unit 23, and is an overlapping area in which the imaging range overlaps with the peripheral surveillance camera 51 different from the rear camera 511. It is determined whether or not the target moving body exists in the region.

The existence determination unit 24 includes a first determination unit 241 and a second determination unit 242 as sub-functional blocks. The first determination unit 241 determines whether or not the target moving body exists in the blind spot region specified by the blind spot region identification unit 23. The first determination unit 241 moves the target to the blind spot area when the relative position of the moving body other than the nearest succeeding moving body acquired by the recognition information acquisition unit 22 is included in the blind spot area specified by the blind spot area specifying unit 23. It may be determined that the body exists. On the other hand, when the relative position of the moving body other than the nearest succeeding moving body acquired by the recognition information acquisition unit 22 is not included in the blind spot area specified by the blind spot area specifying unit 23, the first discriminating unit 241 is a blind spot area. It may be determined that the target moving body does not exist in.

The second discrimination unit 242 determines whether or not the target moving object exists in the overlapping region where the imaging range overlaps with the peripheral monitoring camera 51 different from the rear camera 511. The second determination unit 242 targets the overlapping area when the relative position of the moving body other than the nearest following moving body acquired by the recognition information acquisition unit 22 is included in the overlapping area arranged on the map around the own vehicle. It may be determined that a moving body exists. On the other hand, in the second determination unit 242, when the relative position of the moving body other than the nearest succeeding moving body acquired by the recognition information acquisition unit 22 is not included in the overlapping area, the target moving body does not exist in the overlapping area. It should be determined that. The overlapping region can be obtained in advance because the rear imaging range R, the right rear side imaging range RRS, and the left rear side imaging range RLS with respect to the own vehicle are fixed. Therefore, for the overlapping area, the information stored in the non-volatile memory of the HCU2 in advance may be used.

Here, the overlapping region will be described with reference to FIG. The RRA in FIG. 5 shows the overlapping region of the rear imaging range R and the right rear lateral imaging range RRS. The LRA in FIG. 5 shows the overlapping region between the rear imaging range R and the left posterior lateral imaging range RLS. As shown in FIG. 5, the overlapping regions RRA and LRA are included in any of the imaging ranges of the two peripheral surveillance cameras 51. Therefore, as shown in FIGS. 4 and 5, the peripheral moving body SV is located in the overlapping region RRA even when the peripheral moving body SV is located in the blind spot region DDA and is not reflected in the image captured by the rear camera 511. In that case, there is a situation in which the captured image of the right rear side camera 512 can be reflected. This is because the nearest trailing moving body FV that causes a blind spot region in the imaging range of the rear camera 511 may not generate a blind spot region in the imaging range of the right rear side camera 512.

The display control unit 25 displays the display images of each of the captured images acquired by the captured image acquisition unit 21 from the plurality of peripheral monitoring cameras 51 on one display 4 provided in the own vehicle. That is, the display control unit 25 displays a display image for each of the captured images sequentially acquired by the captured image acquisition unit 21 from the rear camera 511, the right rear side camera 512, and the left rear side camera 513. Display on the display screen of 4.

As shown in FIG. 6, the display control unit 25 cuts out and displays an image from each of the captured images acquired by the captured image acquisition unit 21 from the rear camera 511, the right rear side camera 512, and the left rear side camera 513. An image may be generated. In FIG. 6, LRCi shows an image captured by the left rear side camera 513, RCi shows an image captured by the rear camera 511, and RRCi shows an image captured by the right rear side camera 512. The part where LRCp of FIG. 6 is cut out from the captured image of the left rear side camera 513 and used as a display image is shown. The RCp in the figure shows a portion cut out from the captured image of the rear camera 511 and used as a display image. The portion where RRCp in FIG. 6 is cut out from the captured image of the right rear side camera 512 and used as a display image is shown.

It is preferable that the display control unit 25 cuts out an image from the captured image to generate a display image so that the same area corresponding to the above-mentioned overlapping area is not included in the display images of the plurality of peripheral surveillance cameras 51. This is because when the display images of the plurality of peripheral surveillance cameras 51 are collectively displayed on one display 4, the same moving object located in the overlapping area is included in the display images of the plurality of peripheral surveillance cameras 51. This is because the complexity increases.

The display control unit 25 cuts out a rectangular display image from the captured image when the display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 are collectively displayed on one display 4. As shown in FIG. 7, the road marking lines may be deformed so as to be smoothly connected at the boundary of the display image, and displayed together on one display 4. In FIG. 7, LDi shows a display image of the left rear side camera 513, RDi shows a display image of the rear camera 511, and RRDi shows a display image of the right rear side camera 512.

The method of grouping the display images of the plurality of peripheral surveillance cameras 51 is as described above if the display images are arranged in order according to the positional relationship of the imaging ranges of the plurality of peripheral surveillance cameras 51. Not exclusively. For example, the boundary portion between the display images may be masked. Further, the other display image may be superimposed on the upper layer of a part of the display images.

By displaying the display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 together on one display 4, the range around the vehicle that can be confirmed by one display 4 can be displayed. It becomes possible to make it wider. According to this, it becomes possible to confirm a wider range around the own vehicle while further suppressing the movement of the line of sight of the driver who gazes at the front of the own vehicle.

The display control unit 25 receives images captured by the image acquisition unit 21 from the plurality of peripheral surveillance cameras 51 so that the images captured by some of the peripheral surveillance cameras 51 among the plurality of peripheral surveillance cameras 51 are prioritized. The display images for each are displayed together on one display 4. By default, the display control unit 25 collectively displays the display images on the display 4 so that the images captured by the rear camera 511 are prioritized over the images captured by the right rear side camera 512 and the left rear side camera 513. Let me. The rear camera 511 corresponds to the first imaging device, and the right rear side camera 512 and the left rear side camera 513 correspond to the second imaging device.

As an example, by default, the display control unit 25 cuts out an image that does not include the above-mentioned overlapping region from the images captured by the right rear side camera 512 and the left rear side camera 513, and generates a display image. On the other hand, by default, the display control unit 25 cuts out an image including the above-mentioned overlapping region from the captured image of the rear camera 511 to generate a display image. That is, the display images of the right rear side camera 512 and the left rear side camera 513 do not include the image of the overlapping area, while the display image of the rear camera 511 includes the image of the overlapping area, so that the right rear side side is included. The image captured by the rear camera 511 is prioritized over the images captured by the camera 512 and the left rear side camera 513.

Further, by default, the display control unit 25 makes the display area of the display image of the right rear side camera 512 and the left rear side camera 513 smaller than the display area of the display image of the rear camera 511, thereby making the display area of the right rear side camera 512 and the left rear side camera 513 smaller. The captured image of the rear camera 511 may be prioritized over the captured images of the side camera 512 and the left rear side camera 513. The display area of the display image corresponds to the display range of the display image on the display device 4.

In the following, by default, the display control unit 25 cuts out an image that does not include an overlapping region from the captured images of the right rear side camera 512 and the left rear side camera 513 to generate a display image, while the rear camera 511. The case where an image including an overlapping region is cut out from the captured image to generate a display image will be described as an example. Further, in the following, the display control unit 25 exemplifies a case where the display area of the display image of the right rear side camera 512 and the left rear side camera 513 is made smaller than the display area of the display image of the rear camera 511. I will explain.

According to the above configuration, by default, the display area of the display image of the rear camera 511 can be widened. Therefore, the moving body appears smaller in the displayed image than when the driver confirms the moving body behind the vehicle with an optical mirror, and the driver feels that this moving body is farther from the vehicle than it actually is. It becomes possible to prevent the problem of becoming.

When the display control unit 25 determines that the target moving object exists in the blind spot area and the overlapping area by the existence determination unit 24, the right rear side camera 512 and the left rear side of the captured image of the rear camera 511. The displayed images are collectively displayed on the display 4 so that the captured image of the side camera 513 is prioritized. Specifically, the display control unit 25 does not increase the range cut out from the captured image of the rear camera 511, while increasing the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513. The images captured by the right rear side camera 512 and the left rear side camera 513 may be prioritized over the images captured by the rear camera 511.

In this case, the display control unit 25 may be configured to increase the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513 toward the vehicle body of the own vehicle. This is so that the target moving object is displayed in either the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513. For example, if it is a range to be cut out from the captured image of the right rear side camera 512, it may be increased in the left direction as shown in FIG. RRCpa in FIG. 8 shows the default cutout range. RRCpb in FIG. 8 shows the cutting range after the cutting range is increased. The SVP in FIG. 8 shows the target moving object in the captured image. Further, the range cut out from the captured image of the left rear side camera 513 may be increased in the right direction. The display control unit 25 is preferably configured to increase the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513 toward the vehicle body of the own vehicle until the target moving object is included.

As described above, even if the target moving object is located in the blind spot area of the rear camera 511 and cannot be displayed in the display image of the rear camera 511, if it is located in the overlapping area, it is on the right rear side. It can be displayed on the display image of the square camera 512 or the left rear side camera 513. On the other hand, according to the above configuration, when the existence determination unit 24 determines that the target moving object exists in the blind spot region and the overlapping region, the right rear side camera 512 and the left rear side The range to be cut out from the captured image of the camera 513 is increased. Therefore, by increasing the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513, it becomes easy to display the display image including the image of the overlapping region. Therefore, the target moving object can be displayed by the display image of the right rear side camera 512 or the left rear side camera 513. As a result, when the captured images of the plurality of peripheral monitoring cameras 51 provided in the own vehicle and the imaging ranges for imaging the surroundings of the own vehicle partially overlap are displayed on one display 4, they are within any of the imaging ranges. It is possible to make it difficult to cause a situation in which the moving body located at the same position is not displayed on the display 4.

When the display control unit 25 determines that the target moving body exists in the blind spot region and the overlapping region by the existence determination unit 24, it is preferable to perform the following. The range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513 is increased, and the display area of the display images of the right rear side camera 512 and the left rear side camera 513 on the display 4 is increased. It is preferable to let it. On the other hand, it is preferable to reduce the range cut out from the captured image of the rear camera 511 and reduce the display area of the display image of the rear camera 511 on the display device 4. As shown in FIG. 9, it is preferable to switch from the state A in FIG. 9 to the state B. In FIG. 9, LDa indicates a display area of the display image of the left rear side camera 513, RDa indicates a display area of the display image of the rear camera 511, and RRDa indicates a display area of the display image of the right rear side camera 512.

According to this, even when the size of the display screen of the display 4 is fixed, it is possible to expand the display area of the display image of the right rear side camera 512 and the left rear side camera 513. .. Therefore, it is possible to increase the cropping range from the captured image without reducing the captured images of the right rear side camera 512 and the left rear side camera 513. Therefore, even when the size of the display screen of the display 4 is fixed, it is possible to display the target moving object by the display images of the right rear side camera 512 and the left rear side camera 513. It is possible to prevent the problem that the driver feels that the target moving object is farther from the own vehicle than it actually is.

Here, when the range for cutting out the image from the captured images of the right rear side camera 512 and the left rear side camera 513 is increased, the range for cutting out the image from the captured image of the rear camera 511 is shown. Not necessarily limited to this. For example, when increasing the range for cutting out an image from the images captured by the right rear side camera 512 and the left rear side camera 513, the range for cutting out an image from the captured image of the rear camera 511 may not be changed. Even in this case, by increasing the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513, the target moving body located in the blind spot area of the rear camera 511 can be moved to the right rear side. It can be displayed by the display image of the camera 512 or the left rear side camera 513.

The display control unit 25 determines that the target moving object exists in the blind spot area and the overlapping area by the existence determination unit 24, and reduces the range to be cut out from the captured image of the rear camera 511. When the display area of the display image of the rear camera 511 on the display 4 is reduced, the image captured by the rear camera 511 may be reduced and then the image may be cut out from the captured image to generate the display image. In this case, as the moving body distance of the moving body causing the blind spot region becomes shorter, the image captured by the rear camera 511 is reduced to a smaller magnification, and then the image is cut out from the captured image to display the display image. The configuration may be generated. The moving body that causes the blind spot region is the most recent moving body in the present embodiment.

The closer the closest following moving object is to the own vehicle, the larger the size in the captured image of the rear camera 511. Therefore, when the closest following moving object approaches the own vehicle, as shown in FIG. 10, the most recent following moving object may occupy most of the captured image of the rear camera 511. FIG. 10 is an image captured by the rear camera 511. The FVP of FIG. 10 shows the most recent trailing moving object in the captured image of the rear camera 511.

In the situation shown in FIG. 10, when the range for cutting out the image from the captured image of the rear camera 511 is reduced and the display area of the display image of the rear camera 511 on the display 4 is reduced, as shown in FIG. In the display image of the rear camera 511, there arises a problem that the most recent moving object is largely cut off. FIG. 11 is a diagram for explaining an example of displaying the display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 on the display 4. The FVP of FIG. 11 shows the most recent moving object in the displayed image. The SVP in FIG. 11 shows a peripheral moving body other than the nearest succeeding moving body in the display image.

On the other hand, in the above-described configuration in which the captured image of the rear camera 511 is reduced and then the image is cut out from the captured image to generate the display image, the most recent moving object in the captured image of the rear camera 511 is reduced. Above, it becomes possible to cut out an image from the captured image and generate a display image. Therefore, even when the nearest following moving object is close to the own vehicle, as shown in FIG. 12, it is possible to display the latest following moving object so as not to be cut off in the display image of the rear camera 511. become.

When the display control unit 25 reduces the captured image of the rear camera 511 and then cuts out the image from the captured image to generate the display image, the display control unit 25 also reduces the captured images of the right rear side camera 512 and the left rear side camera 513. After that, an image is cut out from the captured image to generate a display image, and the boundary line of the road is deformed so as to be smoothly connected at the boundary of the display image, and the display can be displayed collectively on one display 4. good. Further, when the display control unit 25 reduces the captured image of the rear camera 511 and cuts out the image from the captured image to generate a display image, the captured image of the right rear side camera 512 and the left rear side camera 513 is generated. May be configured to be displayed collectively on one display 4 without being reduced and deformed so that the road marking lines are smoothly connected at the boundary of the display image.

The display control unit 25 may be configured to change the size of the immediately following moving body displayed in the display image so as to match the size when it is confirmed by the optical mirror and the estimated size. In this case, the correspondence between the moving body distance of the most recent following moving body and the size when confirmed by the optical mirror and the estimated size is stored in the non-volatile memory of the HC2 in advance. The size of the most recent moving object displayed in the displayed image may be changed.

When the display control unit 25 reduces the size of the nearest following moving body displayed in the display image of the rear camera 511, the display control unit 25 moves the target displayed in the display images of the right rear side camera 512 and the left rear side camera 513. It is preferable to display it so that it is not smaller than the size of the body. According to this, it becomes difficult for the driver to erroneously recognize the positional relationship between the closest following moving body and the target moving body with respect to the own vehicle.

In addition, when the rear camera 511 is a wide-angle camera, the display control unit 25 may be configured to change the image of the nearest trailing moving object displayed in the display image so as to correct the distortion of the rear camera 511. This is because, when the rear camera 511 is a wide-angle camera, the distortion of the nearest succeeding moving body in the captured image increases as the moving body distance of the nearest succeeding moving body becomes shorter.

When the display control unit 25 determines that the target moving object does not exist in the overlapping region by the second determination unit 242, the display control unit 25 may be configured not to change from the default. By default in the example of this embodiment, the display images are collectively displayed on the display 4 so that the captured image of the rear camera 511 is prioritized over the captured image of the right rear side camera 512 and the left rear side camera 513. Is to let.

When the target moving object does not exist in the overlapping area, the presence / absence of the target moving object on the display image does not change by the process of giving priority to the captured images of the right rear side camera 512 and the left rear side camera 513. Considered the situation. Therefore, according to the above configuration, it is possible to prevent the display area from being changed by unnecessarily changing the cutout range from the captured image. If the display area is frequently changed due to the change of the cutout range, it is considered that the driver may feel the display of the display 4 complicated.

The display control unit 25 also has a case where a moving body exists in the overlapping region and also when the moving body that causes a blind spot area including the position of the moving body does not exist within the imaging range of the rear camera 511. The display images may be collectively displayed on the display 4 so that the images captured by the rear camera 511 are prioritized over the images captured by the right rear side camera 512 and the left rear side camera 513. For example, when the second determination unit 242 determines that the target moving body exists in the overlapping area, it may be assumed that the moving body exists in the overlapping area. Further, when the first determination unit 241 determines that the target moving body does not exist in the blind spot area, the moving body that causes the blind spot area including the position of the moving body existing in the overlapping area is within the imaging range of the rear camera 511. It may be assumed that it does not exist in.

According to this, the display area of the display image of the rear camera 511 is wider than the display area of the display image of the right rear side camera 512 and the left rear side camera 513, and the target is moved to the display image of the rear camera 511. It becomes possible to display the body. Therefore, the same target moving object appears in the displayed images of the plurality of peripheral monitoring cameras 51 while preventing the moving object from appearing smaller in the displayed image than when the driver confirms the moving object behind the own vehicle with an optical mirror. It is possible to suppress the display of each.

The display speed of the display control unit 25 for displaying the display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 on the display 4 can be set to an arbitrary time. Is preferable. The arbitrary time may be, for example, 0 to 2 seconds. This time setting may be changed by the operation input received from the driver by the operation input unit.

The display control unit 25 sets the right rear side camera 512 and the left rear as the moving body distance of the target moving body determined to exist in the blind spot area and the overlapping area by the existence determination unit 24 becomes shorter. The cutout range from the captured image of the side camera 513 and the display area of the display image may be made wider.

The display control unit 25 includes, among the right rear side camera 512 and the left rear side camera 513, the target moving body determined by the existence determination unit 24 to exist in the blind spot area and the overlapping area. The cutout range from the captured image on the side of the image and the display area of the display image may be made wider. For example, in the display control unit 25, among the right rear side camera 512 and the left rear side camera 513, the target moving body determined by the existence determination unit 24 to exist in the blind spot area and the overlapping area is the imaging range. The cutout range from the captured image and the display area of the display image on the side not included in the display image may not be changed.

The display control unit 25 sets out a cutout range from the captured image of the peripheral monitoring camera 51 on the side of the right rear side camera 512 and the left rear side camera 513 where the course change of the own vehicle is predicted, and a display area of the display image. May be configured to be wider. The direction of the course change of the own vehicle may be predicted by the HCU 2 based on the signals of the left and right turn signal switches of the vehicle sensor 3, for example.

When the display control unit 25 determines that the target moving object exists in the blind spot area and the overlapping area by the existence determination unit 24, the display control unit 25 alerts the display 4 that the target moving object exists. (Hereinafter referred to as a warning display) is preferably displayed. For example, as shown in FIG. 13, as a warning display, a frame WP surrounding the position of the target moving body in the display image may be displayed. The caution display may be performed by displaying a mark or the like corresponding to the position of the target moving object on the edge of the display screen of the display device 4. According to this, even when the target moving object cannot be sufficiently displayed in the display image of the right rear side camera 512 or the left rear side camera 513, the driver can easily recognize the target moving object.

When the display control unit 25 can identify that the target moving body is located in a blind spot area and not an overlapping area by the HCU2 from the peripheral monitoring sensors 5 other than the peripheral monitoring camera 51 and the information acquired by communication. , A warning display may be performed to call attention to the existence of this target moving body. In this case, among the images displayed by the rear camera 511, a frame or the like surrounding the position where the target moving body is presumed to be located may be displayed on the display screen of the display 4. According to this, even if there is a target moving object that cannot be displayed in any of the display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513, the driver can use this target moving object. Is easier to recognize.

The display control unit 25 once determines that the target moving object exists in the blind spot area and the overlapping area by the existence determination unit 24, and then moves the target to the blind spot area and the overlapping area by the existence determination unit 24. Even when it becomes impossible to determine whether or not the body exists, it is preferable to continue the display for calling attention to the existence of the target moving body for a predetermined time. The predetermined time may be any time. The predetermined time may be, for example, 3 seconds. As an example, the case where the recognition information acquisition unit 22 acquires the recognition information indicating that the sensing in the peripheral monitoring ECU 6 has failed may be the case where the above-mentioned determination becomes impossible. In addition, the case where the size of the target moving object acquired by the recognition information acquisition unit 22 is smaller than the previous frame by a predetermined ratio or more may be the case where the above-mentioned determination becomes impossible. The predetermined ratio is, for example, 70%. According to the above configuration, it is possible to prevent the warning display from ending even though the target moving body continues to be located in the blind spot area and the overlapping area.

If it is estimated that the target moving object is out of the imaging range of the peripheral surveillance camera 51, or if the target moving object is away from the own vehicle, the size of the target moving object is the same as that of the front frame. Even if the size is 70% or more smaller than that of the case, the above-mentioned determination may not be possible. The fact that the target moving object is out of the imaging range of the peripheral monitoring camera 51 may be estimated from the transition of the target moving object distance. It may be estimated from the transition of the target moving body distance that the target moving body is in a state of being away from the own vehicle.

The HCU 2 is not limited to a configuration in which a warning display is displayed on the display screen of the display device 4. For example, the HCU 2 may be configured to display the warning display in the vehicle interior other than the display 4. For example, a plurality of LEDs or the like arranged in the left-right direction of the own vehicle may be made to emit light so as to indicate the direction of the target moving body. Further, when the existence determination unit 24 determines that the target moving body exists in the blind spot area and the overlapping area, the HCU 2 outputs a voice to call attention to the existence of the target moving body. It may be configured to be performed.

<Display control related processing in HCU2>
Subsequently, an example of the flow of the process related to the display control of the display 4 in the HCU 2 (hereinafter, the display control related process) will be described with reference to the flowchart of FIG. Executing the steps included in the display control-related processing by the computer corresponds to executing the display control method for the vehicle. The flowchart of FIG. 14 may be configured to start when a switch for starting the internal combustion engine or the motor generator of the own vehicle (hereinafter, power switch) is turned on.

First, in step S1, the captured image acquisition unit 21 acquires the captured images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 sent from the peripheral monitoring ECU 6. Further, in step S1, the recognition information acquisition unit 22 acquires the recognition information of the moving body recognized by the peripheral monitoring ECU 6. Note that the acquisition of the captured image and the acquisition of the recognition information may be performed at different timings as long as the information at substantially the same time can be linked to each other.

In step S2, the display control unit 25 takes images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 acquired in S1 according to the default settings described above. Generate a display image for the image. Then, the generated display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 are collectively displayed on the display screen of one display device 4.

In step S3, if the recognition information that the moving body exists is acquired in S1 and there is a moving body (YES in S3), the process proceeds to step S2. On the other hand, in the case of no moving body (NO in S3) in which the recognition information that the moving body does not exist is acquired in S1, the process proceeds to step S15. In step S4, the blind spot area specifying unit 23 identifies the blind spot area by using the recognition information acquired in S1.

In step S5, the second determination unit 242 determines whether or not the target moving body exists in the overlapping area by using the recognition information acquired in S1 and the information of the overlapping area stored in the non-volatile memory. do. Then, when it is determined that the target moving body exists in the overlapping region (YES in S5), the process proceeds to step S6. On the other hand, when it is determined that the target moving body does not exist in the overlapping region (NO in S5), the process proceeds to step S15.

In step S6, the first determination unit 241 determines whether or not the target moving object exists in the blind spot region by using the recognition information acquired in S1 and the information in the blind spot region specified in S4. Then, when it is determined that the target moving body exists in the blind spot region (YES in S6), the process proceeds to step S7. On the other hand, when it is determined that the target moving body does not exist in the blind spot region (NO in S6), the process proceeds to step S15.

In step S7, the display control unit 25 increases the range cut out from the captured images of the right rear side camera 512 and the left rear side camera 513 from the default. On the other hand, the display control unit 25 reduces the range cut out from the captured image of the rear camera 511 from the default. In step S8, the display control unit 25 increases the display area of the display image of the right rear side camera 512 and the left rear side camera 513 on the display device 4. On the other hand, the display control unit 25 reduces the display area of the display image of the rear camera 511 on the display device 4. The display control unit 25 displays the display images of the rear camera 511, the right rear side camera 512, and the left rear side camera 513 that are collectively displayed on the display screen of one display 4 by the processing of S7 and S8. , The images captured by the right rear side camera 512 and the left rear side camera 513 are prioritized over the images captured by the rear camera 511. In step S9, the display control unit 25 causes the display screen of the display 4 to display a warning.

In step S10, the captured image acquisition unit 21 acquires the captured image of the next frame of the rear camera 511, the right rear side camera 512, and the left rear side camera 513. Further, in step S10, the recognition information acquisition unit 22 acquires the recognition information of the moving body corresponding to the captured image of the next frame.

In step S11, if it becomes impossible for the existence determination unit 24 to determine whether or not the target moving object exists in the blind spot area and the overlapping area (YES in S11), the process proceeds to step S12. On the other hand, if this determination is not impossible (NO in S11), the process proceeds to step S14.

In step S12, when the elapsed time from when the existence determination unit 24 cannot determine whether or not the target moving object exists in the blind spot area and the overlapping area is a timeout when the predetermined time is reached (step S12). If YES in S12), the process proceeds to step S13. On the other hand, if there is no timeout (NO in S12), the process returns to S10 and the process is repeated. That is, the display control unit 25 returns to S10 while continuing the warning display, and repeats the process. In step S13, the display control unit 25 ends the warning display and proceeds to step S15.

In step S14, when the recognition information that the moving body exists is acquired in S10 and there is a moving body (YES in S14), the process returns to S4 and the process is repeated. On the other hand, when the recognition information that the moving body does not exist is acquired in S10 and there is no moving body (NO in S14), the process proceeds to S13.

In step S15, when it is the end timing of the display control-related processing (YES in S15), the display control-related processing is ended. On the other hand, if it is not the end timing of the display control related processing (NO in S15), the process returns to S3 and the processing is repeated. An example of the end timing of display control-related processing is that the power switch of the own vehicle is turned off.

<Summary of Embodiment 1>
According to the configuration of the first embodiment, when the existence determination unit 24 determines that the target moving object exists in the blind spot region and the overlapping region, the right rear side camera 512 and the left rear side camera 513 By increasing the range cut out from the captured image, even if the target moving object cannot be displayed in the display image of the rear camera 511, it can be displayed in the display image of the right rear side camera 512 or the left rear side camera 513. It becomes possible to display it. As a result, when the captured images of the plurality of peripheral monitoring cameras 51 provided in the own vehicle and the imaging ranges for imaging the surroundings of the own vehicle partially overlap are displayed on one display 4, they are within any of the imaging ranges. It is possible to make it difficult to cause a situation in which the moving body located at the same position is not displayed on the display 4.

(Embodiment 2)
In the first embodiment, by increasing the range to be cut out from the captured images of the right rear side camera 512 and the left rear side camera 513, the right rear side camera 512 and the left rear side camera are larger than the captured images of the rear camera 511. Although the configuration for switching so that the captured image of 513 is prioritized is shown, the present invention is not necessarily limited to this. For example, by superimposing the display images of the right rear side camera 512 and the left rear side camera 513 on the upper layer than the display image of the rear camera 511, the right rear side camera 512 and the right rear side camera 512 and the image captured by the rear camera 511 are displayed. The configuration may be such that the captured image of the left rear side camera 513 is switched so as to give priority (hereinafter, embodiment 2).

Hereinafter, an example of the second embodiment will be described with reference to the drawings. The driving support system 1 of the second embodiment is the same as the driving support system 1 of the first embodiment except that the HCU2a is included instead of the HCU2. The driving support system 1 of the second embodiment also corresponds to the vehicle display control system.

Here, an example of a schematic configuration of HCU2a will be described with reference to FIG. As shown in FIG. 15, the HCU2a includes a captured image acquisition unit 21, a recognition information acquisition unit 22, a blind spot area identification unit 23, an existence determination unit 24, and a display control unit 25a as functional blocks. The HCU2a is the same as the HCU2 of the first embodiment except that the display control unit 25a is provided instead of the display control unit 25. This HCU2a also corresponds to a vehicle display control device.

The display control unit 25a generates images from the images captured by the plurality of peripheral surveillance cameras 51, instead of switching the captured images that are prioritized by cutting out the images captured by the plurality of peripheral surveillance cameras 51 and changing the range in which the display images are generated. This is the same as the display control unit 25 of the first embodiment, except that the captured images that are prioritized are switched by changing the order of superimposing the display images to be displayed. Hereinafter, the points different from the display control unit 25 of the display control unit 25a will be described.

The display control unit 25a may cut out an image from the captured image of the peripheral monitoring camera 51 to generate a display image, or may generate a display image without cutting out an image from the captured image of the peripheral monitoring camera 51. When the display control unit 25a cuts out an image from the captured image of the peripheral monitoring camera 51, the display control unit 25a cuts out the image so that at least the image of the overlapping region remains in the display image of each peripheral monitoring camera 51. Even when the display control unit 25a generates a display image without cutting out an image from the image captured by the peripheral surveillance camera 51, the display control unit 25a deforms the road markings so that the road markings are smoothly connected at the boundary of the display image. The display may be configured to be displayed collectively on the display 4.

The display control unit 25a sets an image corresponding to the overlapping area of the display images of the peripheral monitoring cameras 51 having overlapping imaging ranges so that the same area corresponding to the overlapping area is not included in the display images of the plurality of peripheral monitoring cameras 51. It is preferable to superimpose them and display them collectively on the display 4. This is because when the display images of the plurality of peripheral surveillance cameras 51 are collectively displayed on one display 4, the same moving object located in the overlapping area is included in the display images of the plurality of peripheral surveillance cameras 51. This is because the complexity increases.

By default, the display control unit 25a sets, for example, an area including a part of the overlapping area of the display image of the rear camera 511 and a part of the overlapping area of the display images of the right rear side camera 512 and the left rear side camera 513. The included area is superimposed on the display screen of one display 4 so that the display image of the rear camera 511 is higher than the display images of the right rear side camera 512 and the left rear side camera 513. Display all together. That is, by superimposing the display image of the rear camera 511 on the upper layer than the display image of the right rear side camera 512 and the left rear side camera 513, the right rear side camera 512 and the left rear side camera 513 are superimposed. The image captured by the rear camera 511 is prioritized over the image captured by.

According to the above configuration, by default, the rear camera is displayed by superimposing the display image of the rear camera 511 on the upper layer of a part of the display images of the right rear side camera 512 and the left rear side camera 513. The display area of 511 can be widened. Therefore, the moving body appears smaller in the displayed image than when the driver confirms the moving body behind the vehicle with an optical mirror, and the driver feels that this moving body is farther from the vehicle than it actually is. It becomes possible to prevent the problem of becoming.

On the other hand, when the display control unit 25a determines that the target moving object exists in the blind spot area and the overlapping area by the existence determination unit 24, the display control unit 25a includes an area including a part of the overlapping area of the display image of the rear camera 511. And the area including a part of the overlapping area of the display images of the right rear side camera 512 and the left rear side camera 513, the right rear side camera 512 and the left rear side camera with respect to the display image of the rear camera 511. The display images of 513 are superimposed so as to be on the upper layer, and are collectively displayed on the display screen of one display device 4.

Even if the target moving object is located in the blind spot area of the rear camera 511 and cannot be displayed in the display image of the rear camera 511, if it is located in the overlapping area, the right rear side camera 512 or the left It can be displayed on the display image of the rear side camera 513. On the other hand, according to the above configuration, when the existence determination unit 24 determines that the target moving object exists in the blind spot region and the overlapping region, the right rear side camera 512 and the left rear side The display image of the camera 513 is superimposed so as to be higher than the display image of the rear camera 511. Therefore, by increasing the range of the display images of the right rear side camera 512 and the left rear side camera 513 that can be visually recognized by the driver, the right rear side camera 512 and the left rear side camera 513 including the image of the overlapping region It becomes easier to display the displayed image. Therefore, the target moving object can be displayed by the display image of the right rear side camera 512 or the left rear side camera 513. As a result, when the captured images of the plurality of peripheral monitoring cameras 51 provided in the own vehicle and the imaging ranges for imaging the surroundings of the own vehicle partially overlap are displayed on one display 4, they are within any of the imaging ranges. It is possible to make it difficult to cause a situation in which the moving body located at the same position is not displayed on the display 4.

The display control unit 25a may be configured to perform the processing that can be performed in the second embodiment among the processing of the display control unit 25 described in the first embodiment.

(Embodiment 3)
In addition to the configuration of the second embodiment, the transparency of the display image of the right rear side camera 512 and the left rear side camera 513 is displayed lower than the transparency of the display image of the rear camera 511, so that the rear camera 511 is displayed. The configuration may be such that the captured images of the right rear side camera 512 and the left rear side camera 513 are prioritized over the captured images (hereinafter, embodiment 3).

Hereinafter, an example of the third embodiment will be described with reference to the drawings. The driving support system 1 of the third embodiment is the same as the driving support system 1 of the first embodiment except that the HCU 2b is included instead of the HCU 2. The driving support system 1 of the third embodiment also corresponds to the vehicle display control system.

Here, an example of a schematic configuration of HCU2b will be described with reference to FIG. As shown in FIG. 16, the HCU2b includes a captured image acquisition unit 21, a recognition information acquisition unit 22, a blind spot area identification unit 23, an existence determination unit 24, and a display control unit 25b as functional blocks. The HCU2b is the same as the HCU2 of the first embodiment except that the display control unit 25b is provided instead of the display control unit 25. This HCU2b also corresponds to a vehicle display control device.

The display control unit 25b generates images from the images captured by the plurality of peripheral surveillance cameras 51, instead of switching the captured images that are prioritized by cutting out the images captured by the plurality of peripheral surveillance cameras 51 and changing the range in which the display images are generated. This is the same as the display control unit 25 of the first embodiment, except that the captured image that is prioritized is switched by changing the transmission rate when superimposing the display image to be displayed. Hereinafter, the points different from the display control unit 25 of the display control unit 25b will be described.

The display control unit 25b may cut out an image from the captured image of the peripheral monitoring camera 51 to generate a display image, or may generate a display image without cutting out an image from the captured image of the peripheral monitoring camera 51. When the display control unit 25b cuts out an image from the captured image of the peripheral monitoring camera 51, the display control unit 25b cuts out the image so that at least the image of the overlapping region remains in the display image of each peripheral monitoring camera 51. Even when the display control unit 25b generates a display image without cutting out an image from the image captured by the peripheral surveillance camera 51, the display control unit 25b deforms the road markings so that the road markings are smoothly connected at the boundary of the display image. The display may be configured to be displayed collectively on the display 4.

The display control unit 25b sets an image corresponding to the overlapping area of the display images of the peripheral monitoring cameras 51 having overlapping imaging ranges so that the same area corresponding to the overlapping area is not included in the display images of the plurality of peripheral monitoring cameras 51. It is preferable to superimpose them and display them collectively on the display 4. This is because when the display images of the plurality of peripheral surveillance cameras 51 are collectively displayed on one display 4, the same moving object located in the overlapping area is included in the display images of the plurality of peripheral surveillance cameras 51. This is because the complexity increases.

By default, the display control unit 25b sets, for example, an area including a part of the overlapping area of the display image of the rear camera 511 and a part of the overlapping area of the display images of the right rear side camera 512 and the left rear side camera 513. The area including the area is superimposed, and the transparency of the display image of the rear camera 511 is lower than that of the display images of the right rear side camera 512 and the left rear side camera 513, and the display screen of one display 4 is combined. To display. That is, by making the transparency of the display image of the rear camera 511 lower than the display image of the right rear side camera 512 and the left rear side camera 513, the image of the right rear side camera 512 and the left rear side camera 513 is captured. The image captured by the rear camera 511 is prioritized over the image.

Among the superimposed images, the image with low transmittance is more easily visible to the observer. On the other hand, according to the above configuration, by default, the display image of the rear camera 511 is displayed with a lower transmittance than the display images of the right rear side camera 512 and the left rear side camera 513. The display image of the rear camera 511 is easier for the driver to see. Therefore, it is possible to widen the display area so that the display image of the rear camera 511 can be easily seen by the driver. Therefore, the moving body appears smaller in the displayed image than when the driver confirms the moving body behind the vehicle with an optical mirror, and the driver feels that this moving body is farther from the vehicle than it actually is. It becomes possible to prevent the problem of becoming.

On the other hand, when the display control unit 25b determines that the target moving object exists in the blind spot area and the overlapping area by the existence determination unit 24, the display control unit 25b includes an area including a part of the overlapping area of the display image of the rear camera 511. And the area including a part of the overlapping area of the display images of the right rear side camera 512 and the left rear side camera 513 are superimposed, and the right rear side camera 512 and the left rear side of the display image of the rear camera 511 are superimposed. The transparency of the display images of the side camera 513 is lowered so that they are collectively displayed on the display screen of one display unit 4. If the transmittance of the display images of the right rear side camera 512 and the left rear side camera 513 is lower than that of the display image of the rear camera 511, it may be realized by increasing the transmittance of the rear camera 511. , It may be realized by lowering the transmittance of the right rear side camera 512 and the left rear side camera 513.

Even if the target moving object is located in the blind spot area of the rear camera 511 and cannot be displayed in the display image of the rear camera 511, if it is located in the overlapping area, the right rear side camera 512 or the left It can be displayed on the display image of the rear side camera 513. On the other hand, according to the above configuration, when the existence determination unit 24 determines that the target moving object exists in the blind spot region and the overlapping region, the right rear side camera 512 and the left rear side The transmittance of the display image of the camera 513 is set to be lower than the transmittance of the display image of the rear camera 511. Therefore, by increasing the range of the display images of the right rear side camera 512 and the left rear side camera 513 that can be visually recognized by the driver, the right rear side camera 512 and the left rear side camera 513 including the image of the overlapping region It becomes easier to display the displayed image. Therefore, the target moving object can be displayed by the display image of the right rear side camera 512 or the left rear side camera 513. As a result, when the captured images of the plurality of peripheral monitoring cameras 51 provided in the own vehicle and the imaging ranges for imaging the surroundings of the own vehicle partially overlap are displayed on one display 4, they are within any of the imaging ranges. It is possible to make it difficult to cause a situation in which the moving body located at the same position is not displayed on the display 4.

The display control unit 25b may be configured to perform the processing that can be performed in the third embodiment among the processing of the display control unit 25 described in the first embodiment.

(Embodiment 4)
Not limited to the above-described embodiment, the images acquired by the captured image acquisition unit 21 from the plurality of peripheral monitoring cameras 51 are prioritized so that the captured images of some of the peripheral monitoring cameras 51 among the plurality of peripheral monitoring cameras 51 are prioritized. Other configurations may be adopted as long as the display images for each of the images are collectively displayed on one display 4 provided in the own vehicle. Further, the peripheral surveillance camera 51 is not limited to the rear camera 511, the right rear side camera 512, and the left rear side camera 513. If the peripheral surveillance cameras 51 have part of the imaging range overlapping each other, a plurality of peripheral surveillance cameras 51 in different imaging directions from the rear camera 511, the right rear side camera 512, and the left rear side camera 513 are used. It may be configured.

(Embodiment 5)
In the above-described embodiment, the configuration in which the HCUs 2, 2a, 2b and the peripheral monitoring ECU 6 are separate bodies is shown, but the configuration is not necessarily limited to this. For example, the HCUs 2, 2a, and 2b may also have the function of the peripheral monitoring ECU 6. In this case, the HCUs 2, 2a, and 2b may be configured to include a functional block for recognizing a moving object carried by the peripheral monitoring ECU 6 instead of the recognition information acquisition unit 22.

The present disclosure is not limited to the above-described embodiment, and various modifications can be made within the scope of the claims, and can be obtained by appropriately combining the technical means disclosed in the different embodiments. Embodiments are also included in the technical scope of the present disclosure. Further, the control unit and the method thereof described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

1 Driving support system (vehicle display control system), 2, 2a, 2b HCU (vehicle control device), 4 display, 5 peripheral monitoring sensor, 21 captured image acquisition unit, 23 blind spot area identification unit, 24 presence determination unit , 25, 25a, 25b Display control unit, 51 Peripheral monitoring camera (imaging device), 241 1st discrimination unit, 242 2nd discrimination unit, 511 Rear camera (imaging device, 1st imaging device), 512 Right rear side camera (Imaging device, second imaging device) 513 Left rear side camera (imaging device, second imaging device)

Claims (12)

Used in vehicles
An image acquisition unit (21) that acquires images taken by a plurality of image pickup devices (51) that are provided in the vehicle and that image the surroundings of the vehicle and that partially overlap each other's imaging ranges.
Display images of each of the captured images acquired by the captured image acquisition unit from the plurality of imaging devices are displayed so that the captured images of some of the imaging devices are prioritized. Display control units (25, 25a, 25b) that are collectively displayed on one display (4) provided on the vehicle, and
The first imaging device is a blind spot region blocked by a moving body around the vehicle in the imaging range of the first imaging device (511), which is one of the plurality of imaging devices. Whether or not there is a target moving body that is a moving body different from the moving body in a region that is an overlapping region where the imaging range overlaps with the second imaging device (512,513) which is another image pickup device. It is equipped with an existence determination unit (24) for determination.
When the display control unit determines that the target moving object is present in the existence determination unit, the captured image of the second imaging device is prioritized over the captured image of the first imaging device. A vehicle display control device that collectively displays the display images on the display. The display control unit (25) cuts out an image from the captured image to generate the display image, and when the existence determination unit determines that the target moving body is present, the second display control unit (25) By increasing the range cut out from the captured image of the imaging device, the displayed image is displayed on the display so that the captured image of the second imaging device has priority over the captured image of the first imaging device. The vehicle display control device according to claim 1, wherein the display is collectively displayed. When the presence determination unit determines that the target moving object is present, the display control unit increases the range to be cut out from the captured image of the second imaging device and the second imaging with the display. While increasing the display range of the display image for the device, the range cut out from the captured image of the first image pickup device is decreased, and the display range of the display image for the first image pickup device on the display device is reduced. The vehicle according to claim 2, wherein the displayed images are collectively displayed on the display so that the captured image of the second imaging device has priority over the captured image of the first imaging device. Display control device for. The display control unit reduces the range cut out from the captured image of the first imaging device and reduces the range cut out from the captured image of the first imaging device when the presence determination unit determines that the target moving object exists, and the display controls the display control unit. 3. Claim 3 to generate the display image by reducing the captured image of the first imaging device and then cutting out the image from the captured image when the display range of the displayed image of the first imaging device is reduced. Display control device for vehicles described in. The display control unit (25a) collectively displays the display images of each of the captured images acquired by the captured image acquisition unit from the plurality of the imaging devices on the display so as to partially overlap the display images. When the presence determination unit determines that the target moving object is present, the display image of the captured image of the second imaging device is the display of the captured image of the first imaging device. A request for displaying the displayed images collectively on the display so that the captured image of the second imaging device has priority over the captured image of the first imaging device by superimposing the image on the upper layer of the image. Item 4. The display control device for a vehicle according to Item 1. The display control unit (25b) collectively displays the display images of each of the captured images acquired by the captured image acquisition unit from the plurality of imaging devices on the display so as to partially overlap the display images. When the presence determination unit determines that the target moving object is present, the transmission rate of the display image for the captured image of the second imaging device is determined with respect to the captured image of the first imaging device. The display image is put together in the display so that the captured image of the second imaging device is prioritized over the captured image of the first imaging device by lowering the transparency of the displayed image. The vehicle display control device according to claim 1. Among the imaging devices that acquire the captured image by the captured image acquisition unit, the first imaging device is the imaging device that images the rear of the vehicle, and the second imaging device is the rear side of the vehicle. The vehicle display control device according to any one of claims 1 to 6, which is the image pickup device for capturing an image. In the display control unit, when a moving body exists in the overlapping region, and the moving body that causes the blind spot region including the position of the moving body exists within the imaging range of the first imaging device. The seventh aspect of claim 7, wherein the displayed images are collectively displayed on the display so that the captured image of the first imaging device has priority over the captured image of the second imaging device. Display control device for vehicles. A claim that the display control unit causes the display to display to call attention to the existence of the target moving body when the presence determination unit determines that the target moving body exists. The vehicle display control device according to any one of 1 to 8. This is a case where the display control unit once determines the existence of the target moving body by the existence determination unit, and then the existence determination unit cannot determine whether or not the target moving body exists. However, the display control device for a vehicle according to claim 9, wherein the display for calling attention to the existence of the target moving body is continued for a predetermined time. Used in vehicles
A plurality of imaging devices (51) provided in the vehicle to image the surroundings of the vehicle and having partially overlapping imaging ranges of each other.
One indicator (4) provided in the passenger compartment of the vehicle and
A vehicle display control system including the vehicle display control device (2, 2a, 2b) according to any one of claims 1 to 10. Used in vehicles
An image taken by a plurality of image pickup devices (51) provided in the vehicle and taking an image of the periphery of the vehicle and having a part of each other's imaging range overlapping with each other is acquired.
The first imaging device is a blind spot region blocked by a moving body around the vehicle in the imaging range of the first imaging device (511), which is one of the plurality of imaging devices. Whether or not there is a target moving body that is a moving body different from the moving body in a region that is an overlapping region where the imaging range overlaps with the second imaging device (512,513) which is another image pickup device. Determine and
The acquisition from the plurality of imaging devices so that the captured image of the second imaging device has priority over the captured image of the first imaging device when it is determined that the target moving body is present. A display control method for a vehicle in which display images for each of the captured images are collectively displayed on one display (4) provided on the vehicle.

Images