JP4179018B2 - Vehicle monitoring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention relates to a vehicle monitoring apparatus.
[0002]
[Prior art]
  It is important from the viewpoint of safe driving and the like to make it possible to visually check the surrounding conditions of the vehicle, in particular, the surrounding conditions that are likely to cause blind spots from the driver. For this reason, it has been proposed to provide an omnidirectional camera for imaging the external situation of the vehicle and display the image captured by this camera on display means provided in the vehicle. In this case, the omnidirectional camera usually has a convex mirror and an imaging means (camera) such as a CCD that images the surrounding situation of the vehicle via the convex mirror, and displays the surrounding situation over a wide range of the vehicle. It has been proposed to display on the means. In Patent Document 1, since the image captured by the omnidirectional camera is considerably distorted and is not easily recognized by the driver, the omnidirectional image is converted into a cylindrical projection image. It has been proposed to display the image after the change on the display means.
[0003]
  Further, in Patent Document 2, a front omnidirectional camera is provided at the front end of the vehicle, a rear omnidirectional camera is provided at the rear end of the vehicle, and an image displayed on the display means is a front omnidirectional camera. It is disclosed that either one of an imaged image and an image imaged by a rear omnidirectional camera is selectively displayed. It is also disclosed that the selection of the video to be displayed on the display means is automatically switched in accordance with the transmission gear position (traveling range position) interposed in the drive system of the vehicle. That is, it is disclosed that when switching forward, automatic switching is performed so that an image captured by the front omnidirectional camera is displayed on the display unit, and an image captured by the rear omnidirectional camera is displayed on the display unit when traveling backward. ing.
[0004]
[Patent Document 1]
  JP 2000-118298 A
[0005]
[Patent Document 2]
  JP 2003-023623 A
[0006]
[Problems to be solved by the invention]
  By the way, as represented by an omnidirectional camera, the reason why the surrounding situation of the vehicle is imaged through a reflecting mirror having a non-planar surface is to capture an image over a wider range around the vehicle. However, displaying all the vehicle surroundings over a wide range captured by one camera on the display means is satisfactory in that the vehicle surroundings at a specific position requested by the driver can be clearly recognized. It will not be necessary. In particular, since the display area of the display means provided in the vehicle must be considerably small, the information around the specific position that the driver wants to know is scarce if only the wide range of vehicle surroundings is displayed. Will end up.
[0007]
  The present invention has been made in consideration of the above circumstances, and its purpose is to capture the situation around the vehicle near a specific position that the driver wants to know while imaging with a single camera over a wide range. An object of the present invention is to provide a vehicular monitoring device that can be displayed with priority.
[0008]
[Means for Solving the Problems]
  In order to achieve the above object, the following solution is adopted in the present invention. That is, as described in claim 1 in the claims,
  A reflector provided outside the vehicle and having a non-planar surface at least partially;
  A single imaging means for imaging the surroundings of the vehicle through the reflecting mirror;
  A designation unit that designates a part of the video imaged by the imaging unit;
  Display means provided in the vehicle for displaying the designated portion designated by the designation means;,
  For the video imaged by the imaging means, a plurality of divided videos are set,
  The designation means is set to select one divided video out of the plurality of divided videos as the designation unit,
  The selection of the specified part by the specifying means is performed by an operating means that is manually operated by an occupant, while the candidate of the specified part that can be selected by the operating means is an operating state of the transmission interposed in the drive system of the vehicle. Is set to be limited according to
  The limitation of the candidates for the designation unit is set so as to be performed according to the current gear position of the transmission or the selected current travel range position.It is like that. Thereby, by using only one reflecting mirror and one imaging means that substantially constitute one camera, a part of the captured image is captured while imaging the vehicle surroundings over a wide range. Since it is only displayed on the display means, the video displayed on the display means is displayed in the vicinity of a certain specific position, so that the driver can clearly recognize the situation around the vehicle. In addition, compared with the case where a plurality of videos captured by a plurality of cameras are selectively displayed, the number of cameras to be used is reduced, which is preferable in terms of cost reduction and installation space reduction.
  In this case, by appropriately setting a plurality of divided videos that are candidates for the designation unit and selecting one of the plurality of divided videos, an appropriate vehicle surroundings according to the driver's request The status can be displayed.
  In addition, in this case, by switching or selecting the divided images by manual operation, it is possible to display the vehicle surroundings near the specific position that matches the driver's request. In addition, the specific position of the vehicle surroundings that the driver wants to know is appropriately determined or limited according to the operation status of the transmission, and the divided images that the driver does not need, that is, the designated part is displayed in a mischief. Can be prevented.
[0009]
  A preferred mode based on the above solution is as described in claim 2 and subsequent claims..
[0010]
  The plurality of divided videos may be set to have overlapping video portions partially overlapping each other with respect to other adjacent divided videos.2Correspondence). In this case, even when the divided video to be displayed is switched, a part of the video before switching is displayed, so that the driver feels strange about the newly displayed divided video (vehicle surroundings) in relation to the vehicle. It can be recognized quickly.
[0011]
[0012]
[0013]
  A navigation device;
  First displaymeansThe specified part displayed onBut,Selected based on the current vehicle position detected by the navigation device;
(Claims)3Correspondence). In this case, the driver can manually set the divided video, that is, the designated portion to be very appropriate, and the driver will request the first displayed divided video based on the current position of the vehicle. It can be set as appropriate as possible.
[0014]
  The specifying unit further comprises storage means for storing a use history displayed on the display means,
  First displaymeansThe designation unit displayed on the screen is selected based on the current vehicle position detected by the navigation device and the usage history stored in the storage means.
(Claims)4Correspondence). In this case, with reference to the usage history, the divided video displayed first can be matched with the driver's request.
[0015]
[0016]
[0017]
[0018]
  The imaging means is provided at an end of the vehicle front end opposite to the driver's seat,
As the plurality of divided images, a first divided image that is an image from the front of the vehicle to the side of the vehicle, a second divided image that is an image of only the front of the vehicle, and a video that is substantially only of the side of the vehicle. At least 3 divided images with 3 divided images are set.
(Claims)5Correspondence). In this case, it is possible to display the vehicle surroundings including the vicinity of the end opposite to the driver's seat which is most difficult to be confirmed by the driver in the front end of the vehicle. In addition, by including at least three types of divided images as described above, it is possible to appropriately display an appropriate divided image in relation to the surroundings of the vehicle.
[0019]
  In the video range of the specified portion, the vehicle operating state orNavigation deviceAnd changing means for changing the video range to be displayed on the display means in accordance with the operation state of the display.6Correspondence). In this case, for one divided image, that is, the designation unit, the range of the image displayed on the display means is changed from a narrow range to a wide range, thereby providing a more appropriate vehicle surrounding situation to the driver. can do. In addition, the change of the range of the displayed image is changed to the vehicle orNavigation deviceThe range of the displayed image can be made appropriate to the driver's request as much as possible, and the driver is free from the hassle of changing the image range each time. .
[0020]
【The invention's effect】
  According to the present invention, while taking a wide range of images using a single camera, the displayed video is limited to an appropriate range that is narrower than the range of the captured video. It is possible to provide a more focused vehicle surrounding situation to be known.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
  In FIG. 1, V is an automobile as a vehicle, a front bumper thereof is indicated by reference numeral 1, and a steering handle provided in the driver's seat is indicated by reference numeral 2. In the embodiment, the steering handle 2 is a right-hand drive vehicle provided on the right side of the vehicle V.
[0022]
  An omnidirectional camera 10 is provided on the front bumper 1 that is the front end of the vehicle, at the left end that is opposite to the driver's seat, that is, opposite to the steering handle 2.
More specifically, the omnidirectional camera 10 is attached to the upper surface of the left end portion of the front bumper 2 so as to protrude upward. The omnidirectional camera 10 generally has a use position shown in FIG. 1 protruding upward from the upper surface of the front bumper 1 and is displaced downward from the use position so that the upper surface is substantially the same as the upper surface of the front bumper 1. However, the drive mechanism and the like for this purpose are not directly related to the present invention, and are also disclosed in Patent Document 2 described above. Therefore, further detailed description is omitted.
[0023]
  An example of the omnidirectional camera 10 will be described with reference to FIG. First, reference numeral 11 denotes a casing, and a predetermined length portion of the side wall of the casing 11 is constituted by a transparent cover member 12 over the entire circumference. A convex mirror 13 serving as a reflecting mirror is disposed in the casing 11 so as to correspond to the height position of the cover member 12. The surface of the convex mirror is the surface of a convex rotating body obtained by rotating a predetermined convex line around a predetermined axis (the vertical axis of the casing 11). Examples of the convex line include an arc line, a hyperbola, and a parabola. The convex mirror 13 is disposed so as to be convex downward as a whole, and is set so that light from the outside incident through the cover member 12 is reflected downward.
[0024]
  In the casing 11, a camera 14 as an imaging unit such as a CCD or CMOS image sensor is disposed below the convex mirror 13. The camera 14 receives light from the outside reflected by the convex mirror and outputs an electrical signal corresponding to the incident light. In the case of FIG. 2, since the reflecting mirror is a convex mirror 13 whose entire circumference is convex, it is possible to image all directions, that is, around 360 degrees when viewed from the horizontal direction (except for the vehicle V itself). The vehicle surroundings in the horizontal angle range of about 270 degrees can be imaged).
[0025]
  As described above, the camera 10 can capture an image over an extremely wide angle range, but a plurality of images (the entire image range) captured over this wide range are each a narrow image (image range). Is set in advance to the divided video. 3 to 5 show examples of this divided video, and show a case where the entire video range is a total of three divided videos. Note that the entire range of the video imaged by the camera 10 is slightly wider than the combined range of mode 1, mode 2, and mode 3 described later. Then, one of the modes 1 to 3 is selected, and an image corresponding to the selected mode is displayed on display means (display 20a of the navigation device 20 described later) provided in the vehicle. Become.
[0026]
  FIG. 3 shows mode 1 as the first divided video. In this mode 1, the video is from the front of the vehicle to the side of the vehicle. More specifically, in the divided video of mode 1, the right end thereof is directed obliquely forward to the right with respect to the front-rear direction line of the vehicle V (approximately 45 degrees rightward), and the left end thereof is the front-rear direction of the vehicle V. It is directed diagonally backward (approximately 45 degrees backward) with respect to the line. For example, when the vehicle V turns the steering wheel 2 to the right and makes a right turn, an obstacle L1 such as a fence is present obliquely in front of the obstacle L1. This is a case where there is a utility pole as the obstacle L2 on the near side. That is, it is suitable for a case where the obstacle L2 is displayed in a focused manner in a situation where the left end of the front end of the vehicle V approaches the obstacle L2 as the vehicle V advances forward. An example.
[0027]
  FIG. 4 shows mode 2 which is the second divided image, and is inclined from the state of mode 1 by approximately 45 degrees in the substantially right direction (clockwise direction) when viewed from above. That is, in mode 2, the image is almost only forward. A preferable example of performing the display in this mode 2 is that when the vehicle V is traveling substantially straight, the obstacle L2 is mainly displayed so as not to be too close to the obstacle L2 existing on the left side. This is the case. In FIG. 4, V2 is another vehicle (an oncoming vehicle).
[0028]
  FIG. 5 shows mode 3 which is the third divided image, which is inclined from the mode 1 state by 45 degrees substantially to the left (counterclockwise). In this mode 3, the image is almost only on the left side of the vehicle V, but the image is in a range including the front and rear of the camera 10. A preferable example of displaying the mode 3 is when the obstacle L1 exists on the left side when, for example, the vehicle travels backward with the steering wheel 2 turned to the right. In such a case, as the vehicle moves backward, the left end portion of the front end portion of the vehicle V moves so as to approach the obstacle L1. Therefore, Mode 3 that can display the obstacle L2 with priority is preferable. Become.
[0029]
  FIG. 6 is a block diagram showing a control system for switching the display of mode 1 to mode 3 described above. In FIG. 6, U is a controller (control unit) configured using a microcomputer. The controller U includes a video signal picked up by the camera 10, a vehicle speed signal from the vehicle speed sensor S1, and a range position signal from the range sensor S2 that detects the range position (selected position) of the automatic transmission interposed in the drive system. The steering angle signal from the steering angle sensor S3 is input.
[0030]
  In addition to the above, an ON / OFF signal from a manually operated main switch SW1 and a switching signal from a mode changeover switch (switching command switch) SW2 as an operation means to be manually operated are input to the controller U. . When the main switch is turned on, the controller U drives the motor M to bring the camera 10 to the use position in FIG. When the main switch SW1 is turned off, the controller U controls the motor M to place the camera 10 in the storage position. Of course, the mode changeover switch SW2 commands the changeover between the above-described modes 1 to 3, and the mode change point will be described in detail later.
[0031]
  On the other hand, the controller U exchanges signals with the navigation device 20. The display as the display means in the present invention utilizes the display 20a of the navigation device. Further, the current position of the vehicle V obtained from the antenna of the navigation device 20 is input to the controller U.
[0032]
  Next, an example of mode switching control by the controller U will be described with reference to the flowchart of FIG. In the following description, Q indicates a step. First, at Q1, it is determined whether or not the main switch SW1 is ON. If the determination of Q1 is YES, the process moves to Q2, but at this time the camera 10 is in the use position. In Q2, it is determined whether or not the vehicle speed is a low vehicle speed equal to or lower than a predetermined vehicle speed (for example, 20 km / h). When the determination in Q2 is YES, it is determined in Q3 whether the current range position of the automatic transmission is for forward travel or reverse travel.
[0033]
  When it is determined in Q3 that the vehicle is in the forward travel range position, mode 1 is displayed on the display means in Q4. After Q4, at Q5, it is determined whether or not the mode switch SW2 has been operated. If the determination in Q5 is YES, the process proceeds to Q6 and display in mode 2 is performed on the display means. After Q6, at Q7, it is determined whether or not the mode switch SW2 has been operated. If YES in Q7, display in mode 3 is performed on the display means in Q8.
[0034]
  After Q8, at Q9, it is determined whether or not the mode switch SW2 has been operated. If YES in Q9, the process returns to Q4. In this way, every time the mode changeover switch SW2 is operated, the modes are sequentially switched and displayed as mode 1, mode 2, mode 3, mode 1,...
[0035]
  When it is determined in Q3 that the range position is for reverse running, display in mode 3 is performed on the display means in Q10. Thereafter, at Q11, it is determined whether or not the mode switch SW2 has been operated. If YES in Q11, display in mode 2 is performed on the display means in Q12. After Q12, it is determined in Q13 whether or not the mode switch SW2 has been operated. If YES in Q13, the process returns to Q10. Thus, during reverse travel, mode switching is performed only within a limited range between mode 2 and mode 3 (mode 1 is unnecessary during reverse travel, so this unnecessary mode 1 Eliminates the hassle of being displayed).
[0036]
  If NO in Q5, Q7, Q9, Q11 or Q12, the process proceeds to Q21 in FIG. In Q21, it is determined whether or not the main switch SW1 is ON. If YES in Q21, it is determined in Q22 whether the vehicle speed is equal to or lower than a predetermined vehicle speed. If YES in Q22, display in the currently displayed mode is continued as it is in Q23. The meaning of Q23 means returning to the currently displayed mode display step. For example, when shifting from NO to Q23 in the determination of Q7, it means returning to the step of Q6. .
[0037]
  If the determination in Q1 or Q2 is NO, the process proceeds to Q14, and the control is terminated (the camera 10 returns to the storage position). Similarly, if NO in Q21 or Q22, the process proceeds to Q24, and the control is terminated.
[0038]
  FIG. 9 shows another control example for performing mode switching. In this control example, the mode is switched using the mode switch SW2, while the mode initially displayed on the display means is based on the current position of the vehicle V detected by the navigation device 20 and the mode usage history. The case where it is made to do is shown. First, at Q31, it is determined whether or not the main switch SW1 is ON. If the determination in Q31 is YES, the process proceeds to Q32. At this time, the camera 10 is set to the use position. In Q32, it is determined whether or not the vehicle speed is a low vehicle speed equal to or lower than a predetermined vehicle speed (for example, 20 km / h). If YES in Q32, the current position of the vehicle V is read in Q33. Next, in Q34, the past usage history of the mode near the current position is read. In Q35, the information is displayed on the display means in the mode (for example, mode 2) that has been used (displayed) in the past near the current position and has the highest use frequency.
[0039]
  After Q35, it is determined in Q36 whether or not the mode switch SW2 has been operated. When the determination in Q36 is YES, in Q37, the next most frequently used mode (for example, mode 3) is displayed on the display means from the modes used in the past. After Q37, it is determined in Q38 whether or not the mode switch SW2 has been operated. When the determination in Q38 is YES, in Q39, the mode is displayed on the display means in the least frequently used mode (for example, mode 1).
[0040]
  After Q39, at Q40, it is determined whether or not the mode switch SW2 has been operated. If YES in Q40, the process returns to Q36. In this way, each time the mode changeover switch SW2 is operated, the mode is switched such that the mode is the most frequently used mode, the moderately used mode, the least frequently used mode, the most frequently used mode, and so on. Is called.
[0041]
  If NO in Q36, Q38, or Q40, the process proceeds to Q41, and the use mode is stored as a history. After Q41, the process proceeds to Q21 in FIG. If the determination in Q31 or Q32 is NO, the process proceeds to Q42, and the control is terminated (the camera 10 returns to the storage position). Note that the automatic selection of the mode displayed first may be performed based on only the current position.
[0042]
  FIG. 10 shows still another control example of mode switching. In this control example, the mode first displayed on the display means is automatically selected according to the road condition of the current position detected by the navigation device 20. Further, in the control example in the case of automatically changing the displayed video range from a narrow range to a wide range in accordance with the operation state of the vehicle in the mode range thus selected. is there. That is, FIG. 11 shows a state where the mode 2 is currently selected, but the range of the image displayed on the display means is changed according to the change of the steering angle. For example, when the steering angle of the steering wheel is operated to the left by a predetermined value or more, as shown by double hatching in FIG. 11, only a narrower range of the left half of the video range in mode 2 is displayed on the display means. By gradually returning the steering angle of the steering wheel toward the neutral position, the image range displayed on the display means is gradually expanded to the right.
[0043]
  Based on the above, first, in Q51, it is determined whether or not the main switch SW1 is ON. If the determination in Q51 is YES, the process proceeds to Q52. At this time, the camera 10 is set to the use position. In Q52, it is determined whether or not the vehicle speed is a low vehicle speed equal to or lower than a predetermined vehicle speed (for example, 20 km / h). If YES in Q52, after the current road condition is read in Q53, an appropriate mode corresponding to the road condition is automatically selected in Q54. As this automatically selected mode, for example, mode 1 is set when the road is in a straight line state (during straight running). When the curve turns to the right, mode 2 is set.
[0044]
  After Q54, the steering wheel steering angle is read in Q55. Next, in Q56, an appropriate display range corresponding to the steering angle is set. In Q57, an image within the range of the mode selected in Q54 and the image range set in Q56 is displayed on the display means. After Q57, the process returns to Q51. If NO in Q51, the control is terminated in Q58. Note that the change of the display range according to the steering angle of the steering wheel may be changed in multiple stages according to the steering angle of the steering wheel, or may be changed continuously.
[0045]
  12 to 14 show preferable examples in the case of displaying an image on the display 20a. That is, FIG. 12 shows a case where there are two obstacles L5 and L6 on the side of the front end of the vehicle V, but the obstacle L5 is a human and the obstacle L6 is a cardboard box. Yes. In this case, the display mode of the obstacles L5 and L6 captured by the front camera 10 on the display 20a is as shown in FIG. 13, for example. In FIG. 13, reference sign L5K is captured by the front camera 10 The image corresponds to the object L5, and the symbol L6K is the image corresponding to the obstacle L6 captured by the front camera 10. Further, the curve 1a corresponds to the front end edge of the front bumper 1 in the vehicle V, and the curve β is a shadow (shade) of the front camera 10 itself (both correspond to images captured by the front camera 10). The symbols VK and γK are indices and are not actually included in the video imaged by the front camera 10.
[0046]
  If the captured image is simply displayed on the display 20a, it is difficult for the driver to immediately determine whether the vehicle is in the front-rear direction or the left-right direction. That is, for the driver, the direction in which the obstacles L5 and L6 are present is difficult to immediately determine. For the preferable display for clarifying the direction of the obstacle, the above-described indicators VK and γK are separately displayed (impose). The first index VK shows a simplified form when the vehicle V is viewed from above (display of a simplified projection view). Then, the indicator VK is displayed so as to face a direction that coincides with the actual direction of the vehicle V (in the embodiment, the direction toward the upper right oblique direction is the front).
[0047]
  In order to allow the driver to more easily determine the positions of the obstacles L5 and L6 from the displayed image, the display 20a further includes the side surface of the vehicle V in front of the vehicle V (front-rear direction) as a second index. An index γK extending in the front-rear direction corresponding to a straight line extended for a long time is displayed. The index γK is displayed by extending the position of the front end portion of the side mirror that is the side protruding end opposite to the driver's seat to the front of the vehicle V. In FIG. 13, a straight line extending forward corresponding to the index γK in the actual vehicle V is indicated by a symbol γ. The index γK can also be set so as to correspond to the side surface of the vehicle V (the outer end of the side door in the vehicle width direction) extended forward. Thus, by displaying the indicators VK and γK in accordance with the display 20a, the driver can more easily know the positions and directions of the obstacles L5 and L6.
[0048]
  FIG. 14 shows a modification of the display of FIG. In the case of FIG. 14, the image of the shadow portion of the front camera 10 itself, which may be a display noise, is not displayed, and the image of the front edge of the front bumper 1 is not displayed as much as possible. However, displaying the indices VK and γK is the same as in the case of FIG.
[0049]
  The partial deletion of the video described above is because the video portion that may become noise in the display area of the display 20a is located at the lower end of the display 20a. The part corresponding to the part is deleted entirely over the entire length in the left-right direction of the display 20a (the area of the part from which the video has been deleted is indicated by reference numeral 20b). The index VK is displayed on the deleted video portion so that the occupant can more clearly recognize that the index VK is an index.
[0050]
  The index to be displayed on the display 20a can be selected as appropriate other than those described above. For example, it can be an expected trajectory that a wheel is expected to pass according to the steering angle. In addition, the wheel that is the target of the predicted trajectory to be displayed can be a wheel on the inner side of the turning, but can also be displayed, for example, only one wheel (in this case, the expected trajectory of the front wheel on the inner side of the turning) It is also possible to display the predicted trajectory of all wheels. In addition, when mode 1 is selected, the expected inner wheel difference (that is, the expected trajectory of the left rear wheel) at the time of turning left (when turning in the direction opposite to the steering wheel) is displayed, and driving assistance at the time of turning left is performed. You can also
[0051]
  Although the embodiment has been described above, the present invention is not limited to this, and includes the following cases, for example. The camera 10 may have a non-planar surface, particularly a convex surface, on a part of the surface of the reflecting mirror. In addition to the positions shown in the embodiment, the camera 10 is provided at the right end or center of the front end of the vehicle, one or both of the right and left ends of the rear end of the vehicle, the center, the door mirror or grill of the vehicle, etc. The arrangement position can be set as appropriate.
[0052]
  In the control examples of FIGS. 10 and 11, the video to be displayed can be changed from a narrow range to a wide range in the video range of the selected mode, for example, depending on the vehicle speed. For example, in a low vehicle speed range where the vehicle speed is equal to or lower than a predetermined vehicle speed, the image can be displayed widely when the vehicle speed is high, and an image in a narrow range centering on the left side can be displayed as the vehicle speed decreases. Further, in addition to the operation state of the vehicle such as the steering angle of the steering wheel and the vehicle speed, the image range to be displayed can be changed from a narrow range to a wide range according to the operation state of the in-vehicle device. For example, in a state where mode 1 is selected, the smaller the road width detected by the navigation device 20, the narrower the video range centered on the left side, and the wider the road width, the wider the displayed video range. Can be.
[0053]
  When the video imaged by the camera 10 is divided into a plurality of images, the mode 1 to the mode 3 are set so that there are overlapping video regions, but it is also possible to set so that this overlapping part does not exist. Of course, the number of divided images may be two or four or more. In the control example of FIG. 7, in step Q3, a mode (divided video) to be displayed first is selected in accordance with the current gear position regardless of whether the transmission is a manual transmission or an automatic transmission. May be.
[0054]
  When the mode switching is automatically switched according to the in-vehicle device, this mode switching can be performed according to the operation state of the parking assistance device. In other words, the parking support mode is performed while appropriately operating the handle when entering or leaving the home garage. In this case, for example, the yaw rate sensor (by calculation according to the steering angle and the vehicle speed) is used. The mode to be displayed can be automatically switched in accordance with the change in the positional relationship with the surrounding obstacles and the distance according to the movement of the vehicle detected by the yaw rate. . In this case, in particular, the mode usage history can be stored in correspondence with the current operation state of the vehicle, and the mode stored in correspondence with the current operation state of the vehicle can be displayed. In particular, when storing the mode usage history, in the process of parking operation, the driver manually selects and stores a desired mode in advance by manual operation (for changes in vehicle operation during parking). It is memorized in response to the change in the operating state of the vehicle according to the parking operation when the same parking is performed next. It is also possible to perform mode automatic switching in order.
[0055]
  Each step shown in the flowchart or various members such as sensors and switches can be expressed by adding the name of the means to the high-level expression of the function. Further, the object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage. Furthermore, the present invention can also be expressed as a display method.
[Brief description of the drawings]
FIG. 1 is a perspective view of a vehicle to which the present invention is applied as viewed obliquely from the front.
FIG. 2 is a side sectional view showing an example of an omnidirectional camera.
FIG. 3 is a diagram illustrating a mode 1 that is a divided image.
FIG. 4 is a diagram showing a mode 2 that is a divided image.
FIG. 5 is a diagram illustrating a mode 3 that is a divided image.
FIG. 6 is a block diagram showing an example of a control system of the present invention.
FIG. 7 is a flowchart showing a control example of the present invention.
FIG. 8 is a flowchart showing a control example of the present invention.
FIG. 9 is a flowchart showing another control example of the present invention.
FIG. 10 is a flowchart showing still another control example of the present invention.
FIG. 11 is a diagram schematically showing the control content of FIG. 10;
FIG. 12 is a top view showing a case where two obstacles exist near the vehicle.
13 is a diagram showing a display example of an image corresponding to the obstacle of FIG. 12 on a display and a display example of a preferable index (auxiliary display) displayed on the display.
14 is a diagram showing another display example of a video image corresponding to the obstacle of FIG. 12 and another display example of a preferable index (auxiliary display) displayed on the display.
[Explanation of symbols]
        V: Vehicle
        1: Front bumper
        2: Steering handle
        10 omnidirectional cameras
        13: Convex mirror (reflecting mirror)
        14: Camera (imaging means)
        U: Controller
        SW2: Manual mode switch
        S1: Vehicle speed sensor
        S2: Transmission range position detection sensor
        S3: Steering wheel angle sensor
        20: Navigation device (position detection + display as display means)
        L1, L2: Obstacle

Claims (6)

A reflector provided outside the vehicle and having a non-planar surface at least partially;
A single imaging means for imaging the surroundings of the vehicle through the reflecting mirror;
A designation unit that designates a part of the video imaged by the imaging unit;
Display means provided in the vehicle and displaying the designation portion designated by the designation means,
For the video imaged by the imaging means, a plurality of divided videos are set,
The designation means is set to select one divided video out of the plurality of divided videos as the designation unit,
The selection of the specified part by the specifying means is performed by an operating means that is manually operated by an occupant, while the candidate of the specified part that can be selected by the operating means is an operating state of the transmission interposed in the drive system of the vehicle. is set to be limited according to,
The limitation of the candidates for the designation unit is set so as to be performed according to a current gear position of the transmission or a selected current travel range position.
A vehicle monitoring apparatus characterized by that. In claim 1 ,
The plurality of divided videos are set to have overlapping video portions partially overlapping each other with respect to other adjacent divided videos.
A vehicle monitoring apparatus characterized by that. In claim 1 ,
A navigation device ;
The specifying part displayed on the first display means is selected based on the current vehicle position detected by the navigation device,
A vehicle monitoring apparatus characterized by that. In claim 3 ,
The specifying unit further comprises storage means for storing a use history displayed on the display means,
The designation unit initially displayed on the display means is selected based on a current vehicle position detected by the navigation device and a use history stored in the storage means.
A vehicle monitoring apparatus characterized by that. In any one of Claims 1 thru | or 4 ,
The imaging means is provided at an end of the vehicle front end opposite to the driver's seat,
As the plurality of divided images, a first divided image that is an image from the front of the vehicle to the side of the vehicle, a second divided image that is an image of only the front of the vehicle, and a video that is substantially only of the side of the vehicle. At least 3 divided images with 3 divided images are set.
A vehicle monitoring apparatus characterized by that. In claim 1,
A change unit that changes a video range to be displayed on the display unit according to an operation state of the vehicle or an operation state of the navigation device in the video range of the designation unit;
A vehicle monitoring apparatus characterized by that.

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