JP4273806B2 - 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, particularly 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 a captured image and a video captured by a rear omnidirectional camera is selectively displayed. In addition, it is also disclosed that the captured image is processed and an auxiliary display indicating the distance from the host vehicle is also displayed.
[0004]
[Patent Document 1]
Japanese Patent Laid-Open No. 2000-118298
[Patent Document 2]
Japanese Patent Laid-Open No. 2003-023623
[Problems to be solved by the invention]
By the way, as disclosed in Patent Document 2, when displaying an image captured by the image capturing unit on the display unit, when an occupant views the image, an obstacle in the image is located around where the vehicle is. There are cases where it is difficult to understand the relationship between the position of the vehicle, for example, the distance and direction from the host vehicle to the obstacle. In particular, even if an image captured by an omnidirectional camera is processed into an easy-to-view format, the positional relationship with the host vehicle is considerably difficult to understand. For this reason, as described above, an auxiliary line indicating the distance from the host vehicle is also displayed in the image, but in some cases it is difficult to fully understand the meaning of the auxiliary line itself. It is not always satisfactory.
[0007]
The present invention has been made in view of the above circumstances, and its purpose is to make it easier for the passengers to understand the relationship between the displayed image and the own vehicle when displaying the captured vehicle surroundings as an image. An object of the present invention is to provide a vehicle monitoring apparatus.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides the following as a first solution. That is, as described in claim 1 in the claims,
An image of the surrounding situation in front of the host vehicle having a side mirror that is located behind the front bumper and whose front end protrudes outward in the vehicle width direction from the vehicle width direction end of the front bumper together with a part of the host vehicle Imaging means to perform,
In the video imaged by the imaging means, an auxiliary line in which the front end of the side mirror extends in the front-rear direction and an auxiliary line in which the vehicle width direction end of the front bumper extends in the front-rear direction are overlapped, and the video of the host vehicle Image processing means for creating a processed image in which a related display serving as an explanation regarding the position of each auxiliary line with respect to the own vehicle is superimposed;
Display means provided in the vehicle and displaying an image after being processed by the image processing means;
It is supposed to be equipped with. Thereby, since the displayed video includes a part of the own vehicle, the relation between the displayed video and the own vehicle can be easily understood by using a part of the own vehicle as a starting point. Further, in the displayed video, the auxiliary line is displayed together with the own vehicle as a reference, so that the association between the displayed image and the own vehicle becomes clearer. Further, since the explanation of the displayed auxiliary line is also displayed, the meaning of the auxiliary line is clearly understood by the occupant without misunderstanding, and the association between the display image and the host vehicle becomes clearer. In addition to the above, the related display is performed on a portion of the host vehicle that is displayed on the image side, so that the surrounding situation of the host vehicle is not hidden by the related display. The situation itself can be clearly recognized. Also, it is preferable to clearly understand the direction with respect to the host vehicle using each auxiliary line, and in particular, the end position of the front bumper in the vehicle width direction and the end of the side mirror that the driver pays attention to The position can be clearly grasped in relation to the host vehicle, which is preferable in preventing a situation in which the side of the host vehicle collides with an obstacle.
[0009]
A preferred mode based on the above solution is as described in claim 2 and the following claims. That is,
The imaging means is configured to be an omnidirectional type having at least a part of a reflecting mirror having a non-planar reflecting surface and an imaging device for imaging a vehicle surrounding situation via the reflecting mirror. (Corresponding to claim 2). In this case, a wide range of surrounding situations can be imaged by one imaging means.
[0010]
[0011]
[0012]
[0013]
The related display may be a graphic display or a character display (corresponding to claim 3 ). In this case, the related display can be performed in a form that is easy for the occupant to understand using graphics or characters.
[0014]
The related display is a simplified projection view obtained when the host vehicle is projected from above onto the ground surface,
The vehicle front-rear direction and the left-right direction in the simplified projection view are displayed so as to coincide with the vehicle front-rear direction and the left-right direction in the displayed image.
(Claim 4 ). In this case, it is possible to clearly recognize the front-rear direction and the left-right direction in the display image using a figure called a simplified projection view of the host vehicle.
[0015]
[0016]
The image processing means is configured to perform masking processing on a portion on the vehicle body inner side of a portion of the captured vehicle and perform the related display on the masked portion. (Claim 5 ). In this case, since the related display is performed on the masked portion, the related display can be easily recognized clearly. Of course, the portion to be masked is the vehicle body inner side portion of a part of the host vehicle, so that even if masking is performed, there is no particular problem in grasping the surrounding situation.
[0017]
[0018]
【The invention's effect】
According to the present invention, the association between the displayed video and the host vehicle becomes clearer, and the displayed video can be used more effectively for driving assistance. In particular, since the displayed video includes a part of the host vehicle, the relation between the display video and the host vehicle can be easily understood using the part of the host vehicle as a starting point. Further, in the displayed video, the auxiliary line is displayed together with the own vehicle as a reference, so that the association between the displayed image and the own vehicle becomes clearer. Further, since the explanation of the displayed auxiliary line is also displayed, the meaning of the auxiliary line is clearly understood by the occupant without misunderstanding, and the association between the display image and the host vehicle becomes clearer. In addition to the above, the related display is performed on a portion of the host vehicle that is displayed on the image side, so that the surrounding situation of the host vehicle is not hidden by the related display. The situation itself can be clearly recognized. Also, it is preferable to clearly understand the direction with respect to the host vehicle using each auxiliary line, and in particular, the end position of the front bumper in the vehicle width direction and the end of the side mirror that the driver pays attention to The position can be clearly grasped in relation to the host vehicle, which is preferable in preventing a situation in which the side of the host vehicle collides with an obstacle.
[0019]
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.
[0020]
An omnidirectional camera 10 serving as an imaging unit is provided on the front bumper 1 serving as the front end of the vehicle on the left side opposite to the driver's seat, that is, the side 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 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 flush with the upper surface of the front bumper 1. The storage position can be selectively set (this point will be described later). In the following description, the imaging means may be referred to as an omnidirectional camera.
[0021]
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 collection. 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 a surface of a convex rotator obtained by rotating a predetermined convex line around a predetermined axis (the vertical axis of the casing 11) serving as an optical axis. 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.
[0022]
A camera 14 as an imaging device such as a CCD or a CMOS image sensor is disposed in the casing 11 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 almost 270 can be imaged). An omnidirectional camera is a camera that can capture images at a wide angle of 180 degrees or more, but is not limited to this angle. In FIGS. 1 and 8, an area that can be imaged by the omnidirectional camera 10 is shown as an imaging area Z that is hatched. In the embodiment, the optical axis of the reflecting mirror 13 and the optical axis of the imaging device 14 are set to be the same axis, but the present invention is not limited to this.
[0023]
The omnidirectional camera 10 is set so that the axis of the casing 11, that is, the optical axis of the reflecting mirror is inclined. That is, the inclination is set so that the optical axis of the reflecting mirror 13 is gradually located on the outer side of the vehicle body as it goes upward. More specifically, as shown in FIGS. 3, 4, and 5, the optical axis is set to be inclined to the left side and the front side with respect to the vertical axis of the vehicle, and to the longitudinal axis of the vehicle. On the other hand, it is inclined toward the left side. With such an inclination setting, as is apparent from FIG. 5 in particular, the transparent cover member 12 provided on the casing 1 is directed toward the ground surface at a position closer to the vehicle body, so that the vehicle is closer to the vehicle. It is possible to image the ground surface at In FIG. 5, the area on the ground surface imaged by the omnidirectional camera 10 is indicated by an imaging area Z2 (area excluding Z3).
[0024]
The imaging area of the omnidirectional camera 10 is set so as to include a part of the vehicle (vehicle body). That is, as shown in FIG. 5, a part of the imaging area of the omnidirectional camera 10 is set so that the outermost peripheral edge 1 a at the left end of the front bumper 1 is included as a parting line. As a result, of the reflected light from the ground surface, external light that passes through the outermost peripheral edge 1 a is blocked here and is not incident on the reflecting mirror 13. That is, when the image is taken by the omnidirectional camera 10, the obtained image is a combination of the image showing the state of the ground surface indicated by the imaging region Z2 and the image showing the outermost peripheral edge 1a indicated by the imaging region Z3. It becomes. Of course, the outermost peripheral edge 1a corresponds to a parting line.
[0025]
The omnidirectional camera 10 is mounted on the vehicle body together with the casing 11, the reflecting mirror 13, the imaging device 14, and the like so as to be substantially vertically movable. That is, the omnidirectional camera 10 can selectively take a use position that protrudes greatly from the outer surface of the vehicle body as shown in FIG. 5 and a storage position that greatly retreats from the use position to the inside of the vehicle body as shown in FIG. It is like that. A cover member 15 (not shown in FIG. 2) is integrated with the upper portion of the casing 11 so that the cover member 15 is substantially flush with the upper surface of the front bumper 1 when the cover member 15 is in the retracted position.
[0026]
An example of a drive mechanism for changing the omnidirectional camera 10 to the above-described use position and storage position will be described with reference to FIGS. First, in the space part behind the front bumper 1 and below the casing 11, a washer motor 31 is fixedly disposed on the vehicle body. A lower end portion of a cylinder member 32 extending in the vertical direction is fixed to the upper surface of the washer motor 31.
[0027]
On the other hand, the upper end portion of the rod member 33 extending in the vertical direction is integrated with the lower end portion of the casing 11. The lower end portion of the rod member 33 is inserted into the cylinder member 32, and the inside of the cylinder member 32 is separated into two upper and lower chambers 32 a and 32 b by a piston portion 33 a formed at the lower end portion of the rod member 33. Yes. The lower chamber 32a is configured to be liquid-tight so that washer fluid is supplied from the washer motor 31 (the upper chamber 32b is open to the atmosphere at the top). The rod member 33 is always urged downward, that is, toward the storage position by a return spring 34 disposed in the cylinder member 32.
[0028]
When the washer motor 31 is operated to supply the washer liquid into the chamber 32a from the retracted position of FIG. 6, the rod member 33 moves upward while sliding in the cylinder member 32, and the use position of FIG. It becomes. By maintaining the state in which the washer liquid is supplied to the chamber 32a, the state of the use position continues to be maintained.
[0029]
When the washer fluid is discharged from the chamber 32a in the state of use in FIG. 5, the storage spring shown in FIG.
[0030]
Supply and discharge of the washer liquid to the chamber 32 a are performed using the supply valve 35 and the discharge valve 36. That is, the washer liquid is supplied to the chamber 32a by operating the washer motor 31 with the supply valve 35 opened and the discharge valve 36 closed. The washer liquid is discharged from the chamber 32a by closing the supply valve 35 and opening the discharge valve 36 (drain). The washer liquid discharged from the chamber 32a can be returned to a washer tank (not shown).
[0031]
A nozzle 38 for a headlight 37 is integrated in the casing 11 of the omnidirectional camera 10. The nozzle 38 ejects washer liquid from the position immediately before the headlight 38 toward the headlight 37. The washer liquid is supplied to the nozzle 38 independently by the washer motor 31. That is, a valve 39 is connected to the washer motor 31 in parallel with the valves 35 and 36. The washer liquid is ejected from the nozzle 38 by operating the washer motor 31 with the valve 39 opened. As described above, the washer motor 31 is used not only for the washer liquid injection to the headlight 37 but also for the position change of the omnidirectional camera 10. The washer liquid supply from the motor 31 to the nozzle 38 may be performed directly through, for example, a flexible tube, or may be performed through an appropriate method such as through a passage formed in the rod member 33, for example. You can do it.
[0032]
Since the optical axis of the reflecting mirror 13 (the axis of the casing 11) is set to be inclined, the omnidirectional camera 10 can be set to the storage position by effectively using the space inside the front bumper 1. . That is, a reinforcement 41 having, for example, a U-shaped cross section is disposed on the rear surface of the front bumper 1. The reinforcement 41 extends long over substantially the entire length in the normal vehicle width direction.
[0033]
When the omnidirectional camera 10 is displaced from the use position of FIG. 5 straight down to the use position, there is a high possibility that the omnidirectional camera 10 and the reinforcement 41 will interfere with each other. In order to avoid this interference, the omnidirectional camera 10 (rod member 33) needs to be offset considerably rearward than the case shown in FIGS. This is not preferable when an omnidirectional camera 10 is used to capture an image of the ground surface as close as possible to the vehicle. In other words, it is preferable to position it in front of FIGS.
[0034]
According to the above-described tilt setting of the omnidirectional camera 10, the reflecting mirror 13 is positioned sufficiently forward at the use reading position, and the omnidirectional camera 10 is offset backward as a whole at the retracted position as compared to the use position. Thus, interference with the reinforcement 41 is avoided.
[0035]
FIG. 7 is a block diagram showing the control system of the present invention. In FIG. 7, U is a controller (control unit) configured using a microcomputer. The controller U receives a video signal captured by the omnidirectional camera 10 and a vehicle speed signal from the vehicle speed sensor S1.
[0036]
In addition to the above, the controller U receives an ON / OFF signal from the manually operated main switch SW1 and an operation signal from the washer liquid ejection switch SW2 as an manually operated operation means. When the main switch is turned on, the controller U opens only the supply valve 36 among the valves 35, 36, 39 and operates the washer motor 31. Thereby, the omnidirectional camera 10 becomes a use position of FIG. Assuming that the omnidirectional camera 10 is in the use position, imaging is performed by the omnidirectional camera 10 on the condition that the vehicle speed detected by the vehicle speed sensor S1 is a low vehicle speed equal to or lower than a predetermined vehicle speed (for example, 20 km / h). Then, the captured image is displayed on the display 20a provided at a position where it can be easily seen by the driver.
[0037]
When the switch SW2 is turned on in the use position, the controller U opens the valve 39 and activates the motor 31. Accordingly, the washer liquid is ejected from the nozzle 38 toward the headlight 37.
[0038]
When the main switch SW1 is turned OFF from the state in which the omnidirectional camera 10 is in the use position, the controller U opens only the discharge valve 36, thereby setting the omnidirectional camera 10 to the storage position in FIG. Of course, when the camera is in the storage position, imaging by the camera 10 is not performed (imaging prohibition).
[0039]
The controller U has a function of processing a captured video to create a video in which an auxiliary display and a related display, which will be described later, are superimposed and displaying the video on a display 20a serving as a display unit. 8 and 9 show examples of image processing that is displayed on the display 20a. First, FIG. 8 shows a case where two obstacles L5 and L6 exist on the side of the front end of the vehicle V. The obstacle L5 is a human being, and the obstacle L6 is a cardboard box. Yes. Further, in FIG. 8, γ indicates a longitudinal extension line of the left side mirror.
[0040]
In the situation as shown in FIG. 8, the display mode of the obstacles L5 and L6 captured by the camera 10 on the display 20a is as shown in FIG. 9, for example. In FIG. The image corresponding to the obstacle L5 is shown, and the symbol L6K is the image corresponding to the obstacle L6 captured by the camera 10. Further, the curve 1aK corresponds to the front edge (parting line) of the front bumper 1 in the vehicle V, and the range surrounded by the curve β is the shadow (shade) of the camera 10 itself (both taken by the front camera 10). Compatible with video).
[0041]
In FIG. 9, γK is an auxiliary line as an auxiliary display, and is a line obtained by extending the front end of the left side mirror in the host vehicle V in the front-rear direction of the vehicle V (corresponding to the front-rear direction extension line γ in FIG. 8). . Moreover, VK is a figure as a related display, and in the embodiment, is a simplified projection view that is simply displayed so as to show an outer shape when the host vehicle V is projected onto the ground surface. The auxiliary line γK is drawn so as to pass through the left side mirror of the simplified projection view VK as a related display, and the auxiliary line γK is an extension line in the front-rear direction of the host vehicle V at the tip position of the side mirror. This makes it easier for passengers to understand intuitively and immediately. That is, the simplified projection view VK is displayed such that the front-rear direction and the left-right direction thereof coincide with the directions of the vehicle front-rear direction and the left-right direction in the video.
[0042]
The simplified projection view VK is displayed on the vehicle body inner side portion of the bumper display 1aK that is a part of the host vehicle, and does not interfere with the display of the obstacle on the vehicle body side of the bumper 1. . Of course, instead of or simultaneously with the display of the simplified projection view VK, words such as “an auxiliary line is a longitudinal extension of the left side mirror tip” can be displayed in association with each other by character display. Also in this case, the related display by characters is displayed in a portion corresponding to the inner side of the vehicle body relative to the bumper 1aK which is a part of the host vehicle.
[0043]
FIG. 10 shows a modification of the display of FIG. In the case of FIG. 10, the vehicle body inner side portion of a part of the host vehicle is masked (no video display). Then, the simplified projection view VK as the related display described above is displayed in the masked region 20b. Further, as an auxiliary line as auxiliary display, δK is separately displayed in addition to the auxiliary line γK at the left side mirror tip position described above. ΔK as the related display indicates an extension line in the vehicle front-rear direction at a height position different from the height position of the left side mirror tip. Specifically, the extension line in the front-rear direction at the height position of the front bumper 1 Is shown. In the masking area 20b, a related display in which the meanings of γK and δK are displayed in words is also performed. The masking region 20b can be set only in a portion corresponding to the inner side of the vehicle body from the outermost peripheral edge portion 1a of the vehicle body.
[0044]
The auxiliary display (and related display for explaining the display) displayed on the display 20a can be appropriately selected in addition to those described above. For example, an expected trajectory that a wheel is expected to pass depending on the steering angle of the steering wheel may be used. it can. In addition, the wheel that is the target of the predicted trajectory to be displayed can be a wheel on the turning inner wheel side in particular, but for example, only one wheel can be displayed, two wheels can be displayed, three wheels can be displayed, or all wheels can be displayed. It is also possible to display the expected trajectory of the wheel. When turning left (when turning in the direction opposite to the steering wheel), the expected trajectory of the rear wheel on the turning inner wheel side is displayed (preferably the front and rear wheels on the turning inner wheel side) to indicate to the occupant the expected inner wheel difference. Can be displayed).
[0045]
Although the embodiment has been described above, the present invention is not limited to this, and includes, for example, the following cases. The omnidirectional 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 position shown in the embodiment, the omnidirectional camera 10 is provided at any one or both of the right and left ends of the vehicle front end, the left and right ends of the vehicle rear end, and the center, etc. The arrangement position can be appropriately set.
[0046]
3 to 5, when the vehicle V is a right-hand drive vehicle, it is preferable to set the position of the omnidirectional camera 10 to a symmetrical position with respect to FIGS. 3 to 5. When the position of the omnidirectional camera 10 is changed between the use position and the storage position, the position may be changed by being displaced in the optical axis direction. Without setting the tilt of the omnidirectional camera 10, it is possible to set so as to extend straight in the vertical direction of the vehicle body as a whole.
[0047]
The omnidirectional camera 10 can be disposed above the bumper 1 by not providing it directly on the upper surface of the bumper 1, for example, by providing it at the tip of a member that extends long in the vertical direction, such as a corner pole. For example, when the rear end of the roof panel of the vehicle body is almost directly close to the position of the rear end of the vehicle body as seen in a wagon car or a one-box car, an omnidirectional camera is installed on the roof panel. The arrangement position of the camera 10 can be selected as appropriate depending on how the area to be imaged is set. Of course, a plurality of omnidirectional cameras 10 may be provided at different positions on the vehicle body.
[0048]
The auxiliary display to be displayed on the display 20a may be a vehicle width direction line obtained by extending the front end position of the host vehicle V in the left-right direction (vehicle width direction) or a related display for giving the meaning. Further, as an auxiliary display, an expected trajectory predicted that a wheel will pass according to the current steering operation state may be used. As the predicted trajectory of this wheel, in particular, the front wheel on the opposite side of the steering wheel, for example, in the case of a right-hand drive vehicle, the predicted trajectory of the left wheel can be displayed as an auxiliary line. It is the content of the meaning of "expected trajectory of". 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 simplified plan view showing an example of tilt setting for an omnidirectional camera.
4 is a simplified front view when the omnidirectional camera of FIG. 3 is viewed from the front of the vehicle.
FIG. 5 is a partial cross-sectional side view showing the omnidirectional camera and its surroundings in detail, and when the omnidirectional camera is in a use position.
6 shows a state when the omnidirectional camera is in the retracted position, and is a cross-sectional side view of the main part corresponding to FIG. 5. FIG.
FIG. 7 is a block diagram showing an example of a control system of the present invention.
FIG. 8 is a simplified plan view showing an example of an obstacle existing near the vehicle.
9 is a diagram showing an example of processing and displaying an image obtained by capturing the obstacle in FIG. 8;
FIG. 10 is a view showing a modification of FIG. 9;
[Explanation of symbols]
V: Vehicle (own vehicle)
VK: Simplified projection view of vehicle V (related display)
1: Front bumper 1a: outermost peripheral edge of front bumper 1 (parting line)
1aK: Video corresponding to 1a (parting line)
2: Steering handle (right handle)
10: Omnidirectional camera 11: Casing 12: Transparent cover member 13: Convex mirror (reflecting mirror)
14: Camera (imaging device)
20: Navigation device 20a: Display (display means)
20b: Masking area U: Controllers L5, L6: Obstacles L5K, L6K: Images of the obstacles L5, L6 β: Images of the camera itself (dead spots)
γK: Auxiliary line in the front-rear direction (Left side mirror tip position, auxiliary display)
δK: Auxiliary auxiliary line (Auxiliary display at the front bumper position)

Claims (5)

An image of the surrounding situation in front of the host vehicle having a side mirror that is located behind the front bumper and whose front end protrudes outward in the vehicle width direction from the vehicle width direction end of the front bumper together with a part of the host vehicle Imaging means to perform,
In the video imaged by the imaging means, an auxiliary line in which the front end of the side mirror extends in the front-rear direction and an auxiliary line in which the vehicle width direction end of the front bumper extends in the front-rear direction are overlapped, and the video of the host vehicle Image processing means for creating a processed image in which a related display serving as an explanation regarding the position of each auxiliary line with respect to the vehicle is superimposed;
Display means provided in the vehicle and displaying an image after being processed by the image processing means;
A vehicle monitoring apparatus comprising: In claim 1,
The imaging means is an omnidirectional type having a reflecting mirror having a reflecting surface that is at least partially non-planar, and an imaging device that images a vehicle surrounding situation via the reflecting mirror. A vehicle monitoring device. In claim 1 or claim 2 ,
The vehicle monitoring device, wherein the related display is a graphic display or a character display. In any one of Claims 1 thru | or 3 ,
The related display is a simplified projection view obtained when the host vehicle is projected from above onto the ground surface,
A vehicle monitoring apparatus, wherein the vehicle front-rear direction and the left-right direction in the simplified projection view are displayed so as to coincide with the vehicle front-rear direction and the left-right direction in the displayed image. In any one of Claims 1 thru | or 4 ,
The image processing means is set to perform a masking process on a vehicle body inner side portion of a part of the captured vehicle and to perform the related display on the masked portion. A vehicle monitoring device.

Images