JP4658724B2 - Rear side view system - Google Patents

Description

  The present invention relates to a rear side visual recognition system for visually recognizing the rear side of a vehicle. Note that “rear side” means rear and side.

An image pickup device is arranged behind the vehicle to visually recognize the vehicle rear. For example, in the vehicle rear display device disclosed in Patent Document 1 below, a wide-angle camera is provided at a low position behind the vehicle, a narrow-angle camera is provided at a high position, and the wide-angle camera and the narrow-angle camera are switched according to the vehicle state. . Thereby, the driver can obtain appropriate images in each of the first half and the second half of the rear parking work when the host vehicle is parked rearward.
JP 2003-212041 A

  However, when a driver changes his / her vehicle lane on a high-speed road, such as an expressway or an automobile-only road, the driver's rear side becomes a blind spot and travels in an adjacent lane that has entered the blind spot. There is a problem that it is difficult to recognize the vehicle inside.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a rear side visual recognition system that can easily recognize a vehicle traveling in an adjacent lane that is located on the rear side of the host vehicle.

  In order to solve the above problems, a rear side visual recognition system according to the present invention includes an imaging unit having a field of view on the rear side of a vehicle, a display unit that displays an image, and whether the state of the vehicle satisfies a predetermined condition. A switching unit that switches an image displayed on the display unit from another image to a rear side image captured by the imaging unit when the determination unit determines that the predetermined condition is satisfied. And a section.

  According to the rear side visual recognition system according to the present invention, when the determination unit determines that the predetermined condition is satisfied, an image displayed on the display unit is captured by the imaging unit from another image. The image is switched by the switching unit. For this reason, the driver | operator can visually recognize the rear side of the own vehicle by a display part. As a result, since the information related to the blind spot of the host vehicle is appropriately supplemented, it is possible to easily recognize the vehicle that is traveling in the adjacent lane that is located on the rear side of the host vehicle.

  The imaging unit preferably has a wide viewing angle.

  Thereby, the rear side of the vehicle can be imaged with a wider viewing angle. As a result, the information regarding the blind spot of the host vehicle is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  The rear side visual recognition system further includes a distortion correction unit that performs distortion correction processing on the rear side image captured by the imaging unit, and the switching unit converts an image displayed on the display unit from other images, It is also preferable to switch to a corrected image that has been subjected to distortion correction processing by the distortion correction unit.

  Accordingly, the driver can visually recognize the rear side of the host vehicle more accurately based on the corrected image in which the distortion is corrected. As a result, the information regarding the blind spot of the host vehicle is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  The rear side visual recognition system further includes an enlargement unit that enlarges the rear side image captured by the imaging unit, and the switching unit enlarges the image displayed on the display unit from another image by the enlargement unit. It is also preferable to switch to the enlarged image.

  Accordingly, the driver can visually recognize the rear side of the host vehicle in detail based on the enlarged image. As a result, the information regarding the blind spot of the host vehicle is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  In addition, it is preferable that the rear side visual recognition system further includes a measuring unit that measures the speed of the vehicle, and the predetermined condition is that the speed measured by the measuring unit is equal to or higher than the predetermined speed.

  Thereby, when the speed measured by the measurement unit reaches a predetermined speed, the determination unit determines that the predetermined condition is satisfied. Then, the image displayed on the display unit is switched from the other image to the image by the switching unit. For this reason, when switching to high speed driving that reaches a predetermined speed for the purpose of changing lanes or the like, the driver can visually recognize the rear side of the host vehicle. As a result, the information regarding the blind spot of the host vehicle when the lane change or the like is performed is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  It is also preferable that the predetermined condition is that the direction indicator of the vehicle is operating.

  Thereby, when the direction indicator of the vehicle is operating, the determination unit determines that the predetermined condition is satisfied. Then, the image displayed on the display unit is switched from the other image to the image by the switching unit. For this reason, when the direction indicator of a vehicle is operated for the purpose of changing lanes, the driver can visually recognize the rear side of the host vehicle. As a result, the information regarding the blind spot of the host vehicle when the lane change or the like is performed is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  The rear side view system further includes a position acquisition unit that acquires vehicle position information, and the predetermined condition is that the position indicated by the position information acquired by the position acquisition unit is located on an expressway or an automobile-only road. It is also preferable that it is.

  Accordingly, when the position indicated by the position information acquired by the position acquisition unit is located on the expressway or the automobile exclusive road, the determination unit determines that the predetermined condition is satisfied. Then, the image displayed on the display unit is switched from the other image to the image by the switching unit. For this reason, when driving on an expressway or an automobile-only road, the driver can visually recognize the rear side of the host vehicle. As a result, the information regarding the blind spot of the own vehicle when the lane change or the like is performed on the highway or the automobile exclusive road is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  Moreover, it is preferable that the rear side visual recognition system further includes a superimposing unit that superimposes a mask on a region of the lane in which the vehicle travels in the rear side image and displays the mask on the display unit.

  As a result, the mask is superimposed on the area of the lane in which the host vehicle travels in the rear side image. For this reason, the driver only needs to pay attention to a region that is not superimposed by the mask, that is, a region other than the region of the lane in which the host vehicle travels in the rear side image. As a result, the information regarding the blind spot of the host vehicle is more appropriately supplemented, so that the vehicle traveling in the adjacent lane can be more easily recognized.

  Moreover, it is also preferable that the rear side visual recognition system further includes a detection unit that detects the traveling state of the vehicle, and the predetermined condition is that the detection unit detects that the vehicle is in the reverse traveling state.

  Accordingly, when the detection unit detects that the vehicle is in the reverse drive state, the determination unit determines that the predetermined condition is satisfied. Then, the image displayed on the display unit is switched from the other image to the image by the switching unit. For this reason, when the vehicle moves backward, the driver can visually recognize the rear side of the host vehicle. As a result, information regarding the blind spot of the host vehicle when the vehicle is moved backward is more appropriately supplemented.

  The rear side viewing system preferably further includes a depression angle changing unit that changes the depression angle of the imaging unit when the determination unit determines that the predetermined condition is satisfied.

  Thereby, when it determines with the determination part satisfy | filling predetermined conditions, a depression angle is changed. For this reason, when the depression angle is increased, a rear side image close to the host vehicle can be captured by the imaging unit. When the depression angle is reduced, a rear side image far from the host vehicle can be captured by the imaging unit. As a result, when the depression angle is large, the information regarding the blind spot behind the host vehicle at the time of parking is appropriately supplemented, and when the depression angle is small, the vehicle traveling in the adjacent lane can be easily recognized.

  ADVANTAGE OF THE INVENTION According to this invention, the rear side visual recognition system which can recognize easily the vehicle currently drive | working an adjacent lane located in the back side of the own vehicle can be provided.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  A rear side viewing system that is an embodiment of the present invention will be described with reference to FIGS. 1, 2 (a) and 2 (b), and FIG. 3. FIG. 1 is a block configuration diagram of a rear side visual recognition system 100 according to the present embodiment. FIG. 2A is a plan view for explaining the positional relationship between the vehicle 200 that is running with the rear-side visual recognition system 100 and the vehicle 300 that is running while being located on the rear side of the vehicle 200. FIG. 2B is a schematic side view of the rear portion of the vehicle 200. FIG. FIG. 3 is a plan view illustrating a range in which the vehicle 200 can capture an image. The rear side visual recognition system 100 is mounted on the vehicle 200, images the rear side of the vehicle 200, displays a rear side image to the driver, and allows the driver to visually recognize the rear side of the vehicle 200. It is a system that makes it possible. The vehicle 200 is not particularly limited as long as it is a vehicle body that transports a person or an article.

  The rear side visual recognition system 100 is roughly divided into functional components such as a camera 1 (imaging unit), a determination unit 2, a switching unit 3, a display 4 (display unit), a depression angle changing unit 5, a distortion correcting unit 6, An enlargement unit 7, a measurement unit 8, a blinker 9 (direction indicator), a position acquisition unit 10, a detection unit 11, a control area network (Control Area Network (hereinafter referred to as “CAN”)) 12, and a superposition unit 13 are provided. ing.

  The camera 1 is a camera that has a field of view behind the vehicle 200 and can capture the rear side of the vehicle 200. The camera 1 is arrange | positioned at the rearmost part of the vehicle 200, for example, as shown in FIG. The imaging direction of the camera 1 and the axial direction of the vehicle body of the vehicle 200 have a substantially parallel positional relationship. Thereby, the rear side of the vehicle 200 can be imaged more clearly. As shown in FIG. 3, the camera 1 has a horizontal angle of view α of, for example, 130 °. Thereby, the rear side of the vehicle 200 can be imaged over a wider range. The camera 1 preferably has a wide viewing angle, but this is not a necessary condition. The rear side image captured by the camera 1 is transmitted to the switching unit 3 via the distortion correction unit 6 and the enlargement unit 7.

  The determination unit 2 is a part that determines whether or not the state of the vehicle 200 satisfies a predetermined condition. The determination unit 2 is mainly configured by a computer including a CPU, a ROM, and a RAM, for example. As an example of the predetermined condition, the speed measured by the measurement unit 8 is equal to or higher than the predetermined speed (or less than the predetermined speed), or the position indicated by the position information acquired by the position acquisition unit 10 is located on the predetermined road. Or that the vehicle 200 is in the reverse drive state is detected by the detection unit 11. The determination result determined by the determination unit 2 is transmitted to the switching unit 3, the depression angle changing unit 5, the distortion correcting unit 6, and the enlarging unit 7.

  When the determination unit 2 determines that the predetermined condition is satisfied, the switching unit 3 generates an image displayed on the display 4 from another image based on the rear side image (or the rear side image). (A corrected image and an enlarged image). The switching unit 3 is mainly configured by a computer including a CPU and a frame memory (for example, SDRAM). The “switching” includes switching the rear side image to an inserted or superimposed image with respect to a part of the image displayed on the display 4.

  The display 4 is a part that displays an image to the driver of the vehicle 200. The display is attached in the vicinity of a steering wheel (handle) operated by the driver. For this reason, the driver can view the display 4 while driving while holding the steering wheel and facing forward. As an example of the image displayed on the display 4, the distortion correction unit 6 applies to an image in which the current location is output together with a road map by a car navigation system that guides the vehicle 200 to the destination, a rear side image, and a rear side image. And a corrected image that has been subjected to the distortion correction processing, a magnified image that has been magnified by the magnifier 7 with respect to the rear side image or the corrected image, and the like.

  The depression angle changing unit 5 is a part that changes the depression angle of the camera 1 when the determination unit 2 determines that the predetermined condition is satisfied. As shown in FIG. 2B, the “angle” is an angle Θ formed by the imaging direction x and the horizontal direction y when looking down at the center of the imaging range S. That is, when the depression angle changing unit 5 makes the depression angle of the camera 1 larger than the depression angle before the determination, the periphery of the own vehicle 200 that is closer to the own vehicle 200 becomes the imaging range. Note that the depression angle of the camera 1 at the normal time is 45 °. A detailed description of the comparison between the rear side image before the depression angle increases and the rear side image after the depression angle increases in the image captured by the camera 1 will be described later.

  The distortion correction unit 6 is a part that performs distortion correction processing on the rear side image captured by the camera 1. The distortion correction unit 6 is mainly configured by a computer including a CPU, an ASIC (integrated circuit for a specific application), a nonvolatile memory, and a frame memory, for example. The rear side image captured by the camera 1 is stored in the frame memory, and the distortion correction processing for the rear side image is performed by referring to the pixel correspondence table for distortion correction processing in the nonvolatile memory. Done. The distortion correction process includes an enlargement process such as a process of changing the aspect ratio (for example, 3 to 4) of the rear side image captured by the camera 1 to the aspect ratio (for example, 9 to 16) of the image displayed on the display 4. And processing such as reduction and rotation. Details of the distortion correction processing will be described later. The corrected image subjected to the distortion correction processing by the distortion correction unit 6 is transmitted to the switching unit 3.

  The enlargement unit 7 is a part that enlarges a rear side image captured by the camera 1. The enlargement unit 7 may enlarge the rear side image captured by the camera 1 or the rear side image subjected to the distortion correction processing by the distortion correction unit 6. In other words, the image enlarged by the enlargement unit 7 is not particularly limited as long as it is a rear side image captured by the camera. Details of the rear side image enlargement process will be described later. The enlarged image enlarged by the enlargement unit 7 is transmitted to the switching unit 3.

  The measurement unit 8 is a part that measures the speed of the vehicle 200. The speed measured by the measurement unit 8 is, for example, the forward speed or reverse speed of the vehicle 200. Information regarding the speed of the vehicle 200 measured by the measuring unit 8 is transmitted to the CAN 12.

  The blinker 9 is a portion that indicates a direction in which the vehicle 200 is bent (such as turning right or turning left). The blinker 9 is attached to the front part or the rear part of the vehicle 200. Information on the operating status indicating whether or not the winker 9 is operating is transmitted to the CAN 12.

  The position acquisition unit 10 is a part that acquires position information regarding the own position of the vehicle 200. The position acquisition unit 10 acquires position information related to the position of the vehicle 200 on the earth using, for example, radio waves received from GPS satellites. The position information acquired by the position acquisition unit 10 is transmitted to the CAN 12.

  The detection unit 11 is a part that detects the traveling state of the vehicle 200. The progress state detected by the detection unit 11 is, for example, a forward state, a stop state, a reverse state, or the like of the vehicle 200. The detection unit 11 detects the progress state based on the state of the gear after the shift is changed to D, R, or the like. Information on the progress state detected by the detection unit 11 is transmitted to the CAN 12.

  The CAN 12 is a network unit that receives information from the measurement unit 8, the blinker 9, the position acquisition unit 10, and the detection unit 11. That is, the CAN 12 is a local area network (LAN) in the vehicle 200. These pieces of information received by the CAN 12 are collected and transmitted to the determination unit 2. In addition, the measurement unit 8, the blinker 9, the position acquisition unit 10, the detection unit 11, and the determination unit 2 are connected so that information received by the CAN 12 is directly transmitted to the CPU of the determination unit 2 without passing through the CAN 12. May be.

  The superimposing unit 13 is a part that superimposes a mask on the area of the lane in which the vehicle 200 travels and causes the display 4 to display the rear side image. The superimposing unit 13 is mainly configured by a computer including a CPU and a nonvolatile memory, for example. By referring to the mask processing table stored in the nonvolatile memory, mask processing is performed on the rear side image captured by the camera 1. Details of the mask superimposition processing will be described later. Note that the superimposing unit 13 may superimpose the trajectory of the vehicle 200 on the display 4 based on the steering angle of the steering wheel of the vehicle 200.

  Next, a range that can be imaged by the rear side visual recognition system 100 according to the present embodiment will be described with reference to FIG. FIG. 2A is a plan view for explaining the positional relationship between a vehicle 200 that is running with the rear side visual recognition system 100 and a vehicle 300 that is running on the rear side of the vehicle 200. It is assumed that the vehicle 200 and the vehicle 300 are traveling forward on a high-speed road such as an expressway or an automobile-only road.

  First, the positional relationship between the vehicle 200 and the vehicle 300 will be described. The road width A of the road on which the vehicle 200 and the vehicle 300 travel is about 3.5 m. It is assumed that each of the vehicle 200 and the vehicle 300 is traveling on the approximate center of the road. Further, it is assumed that the distance B between the vehicle 200 and the vehicle 300 is about 2 m. The horizontal angle of view α of the camera 1 mounted on the vehicle 200 is, for example, about 130 °. The distance C from the side mirror 201 of the vehicle 200 to the rear end portion of the vehicle 200 is about 3.2 m. The horizontal angle of view γ of the side mirror 201 is about 13 °. Further, it is assumed that the distance D from the rear end portion of the vehicle 200 to the front end portion of the vehicle 300 is 2 m. Furthermore, it is assumed that the distance E from the rear end portion of the vehicle 200 to the rear end portion of the vehicle 300 is 6.7 m.

  Here, when the vehicle 200 and the vehicle 300 are traveling forward in the positional relationship as described above, the driver of the vehicle 200 cannot visually recognize the vehicle 300 using the side mirror 201. This is because the vehicle 300 is not located in the region X that can be visually recognized using the side mirror 201, and the vehicle 300 is located in the region Y that is the blind spot of the side mirror 201. However, by using the camera 1 of the rear side viewing system 100 mounted on the vehicle 200, the driver of the vehicle 200 can visually recognize the vehicle 300. This is because the vehicle 300 is located in a region Z that can be visually recognized using the camera 1.

  Next, an image displayed by the rear side visual recognition system 100 according to the present embodiment will be described with reference to FIGS. 4A to 4C are diagrams showing a rear side image, a corrected image, and an enlarged image displayed on the display 4.

  When the rear side image picked up by the camera 1 is displayed on the display 4 as it is, as shown in FIG. 4A, a flat road is actually a rounded road 400 on the display 4. Appears distorted. This is due to the physical characteristics of the camera 1, and in particular, when the camera 1 having a wide viewing angle is used, a phenomenon in which the display is distorted as described above occurs. On the other hand, when the distortion correction process is performed on the rear side image by the distortion correction unit 6, the flat road actually becomes a flat road 401 on the display 4 as shown in FIG. It is displayed correctly as it is. Thereby, the image displayed on the display 4 can play an auxiliary role of the side mirror. Further, when the superimposing unit 13 superimposes the mask 402 on the area of the lane in which the vehicle 200 travels in the rear side image (that is, the road 401) and displays the mask 402 on the display 4, as shown in FIG. Only the area other than is visible. For this reason, the driver needs to pay attention only to the region 403 other than the region that is not superimposed by the mask 402, that is, the region 403 other than the “lane region in which the host vehicle has traveled in the rear side image”.

  Next, an image displayed in a format different from the above format by the rear side visual recognition system 100 according to the present embodiment will be described with reference to FIGS. Each of FIGS. 5A to 5C is a diagram showing a composite image of a corrected image and a seat layout diagram displayed on the display 4, an image in which a mask 430 is superimposed on the composite diagram, and an enlarged image.

  FIG. 5A is a composite image when the corrected image and a seat layout diagram simulating the seat layout inside the vehicle 200 are combined and displayed on the display 4. In the seat layout diagram, two seats 410 and 411 are disposed in front, and two seats 412 and 413 are disposed in the back. Further, the seat 410 is a seat on which the driver sits, and is indicated by a mark schematically showing the handle. The corrected image is displayed in three display areas 420 to 422. In the display area 420, a correction image on the left side with respect to the forward direction of the vehicle 200 is displayed, in the display area 421, a correction image on the right side with respect to the forward direction of the vehicle 200 is displayed, and in the display area 422, A correction image directly behind the vehicle 200 in the forward direction is displayed. As a result, the driver of the vehicle 200 visually recognizes that the other vehicle 300 is traveling on the rear side on the left side with respect to the forward direction of the vehicle 200 as shown in FIG. Can do.

  On the other hand, when the mask 430 is superimposed on the display area 422 by the superimposing unit 13 with respect to the area of the lane in which the vehicle 200 travels in the display area 422 and the display area 421, FIG. As shown, only the region other than the mask 430 is visible. For this reason, the driver needs to pay attention only to the area not overlapped by the mask 430. Further, when the enlargement unit 7 enlarges the image displayed on the display 4 around the display area 420, as shown in FIG. 5C, the driver of the vehicle 200 is based on the enlarged image. Thus, the rear side of the host vehicle 200 can be viewed in more detail.

  Next, the order of processing in the rear side visual recognition system 100 according to the present embodiment will be described with reference to FIGS. FIG. 7 is a flowchart showing the order of processing in the rear side viewing system 100 provided with the camera 1 having a horizontal angle of view α of 130 °. FIG. 8 is a flowchart showing the order of processing in the rear side viewing system 100 provided with the camera 1 having a horizontal angle of view α of 180 °. FIG. 9 is a diagram illustrating a state in which the rear side image is enlarged and displayed by the processing in the rear side visual recognition system 100.

  First, the order of processing in the rear side visual recognition system 100 including the camera 1 having a horizontal angle of view α of 130 ° will be described with reference to FIG. Note that the depression angle (that is, the predetermined angle) of the camera 1 in a normal state is 45 °. This process is repeatedly executed every predetermined time. First, the determination unit 2 determines whether or not the detection unit 11 detects that the vehicle 200 is in a forward state (S10). As a result of the determination, when it is detected that the vehicle 200 is not in the forward state (that is, the reverse state where the shift is R or the stop state where the shift is P), the depression angle changing unit 5 sets the depression angle to a predetermined angle (that is, 45 °). (S11). In S11, the angle is changed when the depression angle is not a predetermined angle. If the depression angle is already a predetermined angle, the depression angle is not particularly changed. Next, distortion correction processing by the distortion correction unit 6 is performed on the rear side image captured by the camera 1 (S12). Here, since the depression angle of the camera 1 is a predetermined angle of 45 °, as shown in FIG. 6B, a rear side image in a range relatively close to the host vehicle 200 is captured. And displayed on the display 4 (S15). And it moves to S10.

  Further, as a result of the determination in S10, when it is detected that the vehicle 200 is in the forward state (that is, the shift is in the D state), the depression angle changing unit 5 changes the depression angle to 45 degrees (for example, about 0 degrees). (S21), move to S22. Next, distortion correction processing by the distortion correction unit 6 is performed on the rear side image captured by the camera 1 (S22). As a result, the distortion can be corrected as shown in FIGS.

  Here, it is determined whether or not the vehicle 200 is moving forward at a speed lower than a predetermined speed (for example, 40 km / h) (S23). When the vehicle 200 is moving forward at a speed lower than the predetermined speed, it is normal traveling with a low probability of overtaking or overtaking, and there is no need to display a rear side image. Therefore, an image output by the car navigation system is displayed on the display 4, or an image in which a mask is superimposed on all rear side images by the superimposing unit 13 is displayed on the display 4 (S24). And it is determined by the determination part 2 whether the blinker 9 is act | operating (S26). Detailed description after the determination in S26 will be described later.

  Further, if the result of determination in S23 is that the vehicle 200 is moving forward at a predetermined speed (for example, 40 km / h) or more, the vehicle is traveling with a high probability of overtaking or overtaking, so a rear side image is displayed on the display 4. (S25). In S21, since the depression angle is changed to less than 45 ° (for example, 0 °), a rear side image in a range at a relatively far distance is displayed on the display 4 as shown in FIG. Is done. After S24 or S25, the determination unit 2 determines whether or not the winker 9 is operating (S26). If the winker 9 is not in operation, the process proceeds to S10 without any particular processing thereafter. On the other hand, when the winker 9 is operating, it is determined whether or not the winker for turning right is operating (S27).

  In S27, when it is detected that the winker 9 for turning right is operating, it is time to change the lane to the right lane or change the course by turning right. The side image is enlarged by the enlargement unit 7 and displayed on the display 4, or the superimposition unit 13 superimposes the mask on the left rear side image and the lane region of the vehicle 200 (S28). And it moves to S10. On the other hand, when it is detected in S27 that the winker 9 for turning left is operating, it is time to change the lane to the left lane or change the course by turning left. The image is magnified by the magnification unit 7 and displayed on the display 4, or the superimposition unit 13 superimposes the mask on the right rear side image and the lane region of the vehicle 200 (S29). And it moves to S10.

  Next, the order of processing in the rear side visual recognition system 100 including the camera 1 having a horizontal field angle α of 180 ° will be described with reference to FIGS. 8 and 9. Note that the depression angle (that is, the predetermined angle) of the camera 1 in a normal state is 20 °. This process is repeatedly executed every predetermined time. First, the determination unit 2 determines whether or not the detection unit 11 detects that the vehicle 200 is in a forward state (S10). As a result of the determination, when it is detected that the vehicle 200 is not in the forward state (that is, the reverse state where the shift is R or the stop state where the shift is P), the depression angle changing unit 5 sets the depression angle to a predetermined angle (that is, 20 °). (S11). In S11, the angle is changed when the depression angle is not a predetermined angle. If the depression angle is already a predetermined angle, the depression angle is not particularly changed. Next, distortion correction processing by the distortion correction unit 6 is performed on the rear side image captured by the camera 1 (S12). Then, the determination unit 2 determines whether the reverse flag is on (S13). When the shift is changed from the P state to the R state, the reverse flag is determined to be on. On the other hand, when the shift is changed from N or D to R, the reverse flag is determined to be off.

  Here, when the reverse flag is ON, a rear side image is displayed on the display 4 (S15). For this reason, as shown in FIG. 3, it is also possible to confirm the vehicle 400 that is approaching the host vehicle 200. And it moves to S10.

  On the other hand, a case where the reverse flag is off in S13 will be described. Since the camera 1 having a horizontal angle of view α of 180 ° is used, as shown in FIG. 9A, the imaging target in the rear side image is reflected in a small size. Therefore, a narrow range (that is, an enlargement target range T surrounded by a broken line) corresponding to a case where the horizontal angle of view α is captured at 130 ° in the rear side image is enlarged by the enlargement unit 7. Then, the enlarged rear side image is displayed on the display 4 as shown in FIG. 9B (S14). Thereafter, a rear side image corresponding to the case where the angle of view of the camera 1 (horizontal angle of view α is in the range corresponding to 130 ° as described above) is converted to 45 ° and the image is captured is displayed on the display 4 (S16). ). And it moves to S10. Note that the operation of S15 may be performed from the state of S14 or S16 by the manual operation of the driver of the vehicle 200, and the operation of S14 or S16 may be performed from the state of S15. Good.

  In addition, as a result of the determination in S10, the processing when the vehicle 200 is detected to be in the forward movement state (that is, the shift is in the D state) has been described above, and thus will not be described. Note that each of the above-described processes (for example, S12 and S16) is preferably performed, but since it is not an essential condition, the execution can be omitted.

  As described above, in the rear side visual recognition system 100 according to the present embodiment, when the determination unit 2 determines that the predetermined condition is satisfied, the image displayed on the display 4 is different from the other images from the camera 1. Is switched by the switching unit 3 to the rear side image captured by. For this reason, the driver can easily visually recognize the rear side of the host vehicle 200 by observing the display 4 while driving while holding the steering wheel and facing forward. As a result, since the information regarding the blind spot of the host vehicle 200 is appropriately supplemented, it is possible to easily recognize the vehicle 300 traveling in the adjacent lane located behind the host vehicle 200. Furthermore, since only one camera is mounted on the rearmost part of the vehicle 200, the cost can be kept low.

  Further, since the camera 1 has a wide viewing angle, the rear side of the vehicle 200 can be imaged with a wider viewing angle. As a result, since the information regarding the blind spot of the host vehicle 200 is more and more appropriately supplemented, the vehicle 300 traveling in the adjacent lane can be more reliably recognized.

  In addition, the driver can view the rear side of the host vehicle 200 more accurately and in more detail based on the corrected image corrected by the distortion correcting unit 6 and the enlarged image enlarged by the magnifying unit 7. can do. As a result, the information regarding the blind spot of the host vehicle 200 is more appropriately supplemented, so that the vehicle 300 traveling in the adjacent lane can be more reliably recognized.

  Further, when the speed measured by the measurement unit 8 reaches a predetermined speed (for example, 40 km / h), the determination unit 2 determines that the predetermined condition is satisfied. Then, the image displayed on the display 4 is switched from the other image to the image by the switching unit 3. For this reason, the driver can visually recognize the rear side of the host vehicle 200 when switching to a high-speed driving that reaches a predetermined speed for the purpose of changing lanes or the like. As a result, the information regarding the blind spot of the host vehicle 200 when the lane change or the like is performed is more appropriately supplemented, so that the vehicle 300 traveling in the adjacent lane can be more reliably recognized.

  Further, when the winker 9 is operating, the determination unit 2 determines that the predetermined condition is satisfied, and the image is switched to the image by the switching unit. For this reason, when operating the blinker 9 of the vehicle for the purpose of changing the lane, the driver can visually recognize the rear side of the host vehicle 200. As a result, the information regarding the blind spot of the host vehicle 200 when the lane change or the like is performed is more appropriately supplemented, so that the vehicle 300 traveling in the adjacent lane can be more reliably recognized.

  Further, when the position indicated by the position information acquired by the position acquisition unit 10 is located on the expressway or the automobile exclusive road, the determination unit 2 determines that the predetermined condition is satisfied, and the image is switched to the above-described image. 3 is switched. For this reason, the driver can visually recognize the rear side of the host vehicle 200 when driving on an expressway or an automobile-only road. As a result, the information regarding the blind spot of the host vehicle 200 when the lane change or the like is performed on the highway or the automobile exclusive road is more appropriately supplemented, so that the vehicle 300 traveling in the adjacent lane can be more reliably recognized.

  In addition, the mask is superimposed by the superimposing unit 13 on the area of the lane in which the host vehicle 200 travels in the rear side image. For this reason, the driver only needs to pay attention to a region that is not superimposed by the mask, that is, a region other than the region of the lane in which the host vehicle 200 travels in the rear side image. As a result, the information regarding the blind spot of the host vehicle 200 is more appropriately supplemented, so that the vehicle 300 traveling in the adjacent lane can be more reliably recognized.

  When the detection unit 11 detects that the vehicle 200 is in the reverse drive state, the determination unit 2 determines that the predetermined condition is satisfied, and the switching unit 3 switches to the image. For this reason, when the vehicle 200 moves backward, the driver can visually recognize the rear side of the host vehicle 200. As a result, the information regarding the blind spot of the host vehicle 200 when the vehicle 200 is moved backward is more appropriately supplemented.

  In addition, when the determination unit 2 determines that the predetermined condition is satisfied, the depression angle changing unit 5 changes the depression angle. For this reason, when the depression angle is increased, a rear side image close to the host vehicle 200 can be captured by the camera 1. When the depression angle is reduced, a rear side image far from the host vehicle 200 can be captured by the camera 1. As a result, when the depression angle is large, the information about the blind spot behind the vehicle at the time of parking is appropriately supplemented so that the parking frame (that is, the space to be parked) is easy to see, and when the depression angle is small, the vehicle is traveling in the adjacent lane. The vehicle 300 can be easily recognized.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above embodiment, the predetermined condition may be appropriately changed by the driver of the vehicle 200.

It is a block block diagram of the rear side visual recognition system which concerns on this embodiment. It is the top view explaining the positional relationship of the two vehicles in driving | running | working, and the schematic side view in the rear part of the vehicle carrying a rear side visual recognition system. It is a top view explaining the range which can image a vehicle carrying a backside visual recognition system. It is a figure which shows the image displayed on the display. It is a figure which shows the image displayed on the display. It is a figure which shows the image displayed on the display. It is a flowchart which shows the order of the process in a rear side visual recognition system provided with the camera whose horizontal field angle (alpha) is 130 degrees. It is a flowchart which shows the order of the process in a rear side visual recognition system provided with the camera whose horizontal field angle (alpha) is 180 degrees. It is a figure which shows a mode that a rear side image is expanded and displayed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Camera, 2 ... Determination part, 3 ... Switching part, 4 ... Display, 5 ... Depression angle change part, 6 ... Distortion correction part, 7 ... Enlargement part, 8 ... Measurement part, 9 ... Winker, 10 ... Position acquisition part, DESCRIPTION OF SYMBOLS 11 ... Detection part, 12 ... CAN, 13 ... Superimposition part, 100 ... Rear side view system, 200, 300 ... Vehicle, 201 ... Side mirror, 400, 401 ... Road, 402, 430 ... Mask, 403, XZ ... Area, 410-413 ... Seat, 420-422 ... Display area, 440 ... Predetermined position, A ... Road width, BE ... Distance, S ... Imaging range, T ... Expansion target range, x ... Imaging direction, y ... Horizontal direction.

Claims (9)

An imaging unit having a field of view on the rear side of the vehicle;
A display for displaying an image;
A determination unit for determining whether the state of the vehicle satisfies a predetermined condition;
A switching unit that switches an image displayed on the display unit from another image to a rear side image captured by the imaging unit when the determination unit determines that the predetermined condition is satisfied;
A superimposing unit that superimposes a mask on a region of a lane in which the vehicle has traveled in the rear side image and displays the mask on the display unit;
Rear side viewing system with.   The rear side-viewing system according to claim 1, wherein the imaging unit has a wide viewing angle. A distortion correction unit that performs distortion correction processing on the rear side image captured by the imaging unit;
The rear side visual recognition system according to claim 1 or 2, wherein the switching unit switches an image displayed on the display unit from another image to a corrected image subjected to distortion correction processing by the distortion correcting unit. An enlargement unit for enlarging a rear side image captured by the imaging unit;
The rear side visual recognition system according to any one of claims 1 to 3, wherein the switching unit switches an image displayed on the display unit from another image to an enlarged image enlarged by the enlargement unit. A measuring unit for measuring the speed of the vehicle;
The rear side visual recognition system according to any one of claims 1 to 4, wherein the predetermined condition is that a speed measured by the measurement unit is equal to or higher than a predetermined speed.   The rear side visual recognition system according to any one of claims 1 to 5, wherein the predetermined condition is that a direction indicator of the vehicle is operating. A position acquisition unit for acquiring position information of the vehicle;
The rear side according to any one of claims 1 to 6, wherein the predetermined condition is that a position indicated by the position information acquired by the position acquisition unit is located on an expressway or an automobile exclusive road. Direction visual recognition system. A detection unit for detecting a traveling state of the vehicle;
The rear side visual recognition system according to any one of claims 1 to 7 , wherein the predetermined condition is that the detection unit detects that the vehicle is in a reverse drive state. The rear side visual recognition system according to any one of claims 1 to 8 , further comprising a depression angle changing unit that changes the depression angle of the imaging unit when the determination unit determines that the predetermined condition is satisfied.

Images