JP4857159B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a vehicle driving support device, and more particularly, to a vehicle driving support device suitable for supporting a safe and smooth driving operation of a host vehicle.

  In recent years, with the development of in-vehicle camera technology and image processing technology, a vehicle periphery monitoring image for monitoring a predetermined monitoring range in the vicinity of the host vehicle generated based on a captured image of the in-vehicle camera is A vehicle driving support device that supports a safe and smooth driving operation of the host vehicle by displaying on a display is employed.

  In addition, in such a vehicle driving support device, a distance reference line serving as a guide for grasping a predetermined separation distance from the host vehicle when the host vehicle travels is superimposed on the vehicle periphery monitoring image. Some of them were displayed.

  For example, as shown in FIG. 6, when the right side view image 1 for monitoring the right front of the host vehicle is conventionally displayed as the vehicle periphery monitoring image, the front right side of the host vehicle is displayed in the image 1. The image 2 showing the part is reflected, but in the vehicle driving support device, a predetermined position to the right and front from the own vehicle as shown in FIG. In some cases, a distance guide line 3 is displayed as a guide for grasping the separation distance (for example, 50 cm).

  Such a distance guide line 3 serves as a guideline for risk of collision with an obstacle or derailment into a side groove when the host vehicle travels. It was also effective in supporting smooth driving operations.

JP 2000-172996 A

  However, even with the distance reference line 3 described above, it is still insufficient to support a safe and smooth driving operation of the host vehicle.

  That is, the distance reference line 3 was effective as a guide for avoiding a collision with a fixed object (stationary object), but when the vehicle is passing by the oncoming vehicle, the oncoming vehicle itself has speed. At the separation distance indicated by the distance reference line 3, a safe passing could not be made.

  Therefore, the present invention has been made in view of the above points, and supports safer and smoother driving operation by presenting a guideline for safe passing with the oncoming vehicle to the user. It is an object of the present invention to provide a vehicle driving support device that can perform the above.

  In order to achieve the above-described object, a vehicle driving support device according to the present invention is mounted on a host vehicle, and is based on an imaging unit that captures a predetermined area around the host vehicle, and a captured image by the imaging unit. A monitoring screen including at least one vehicle periphery monitoring image for monitoring a predetermined monitoring range in the vicinity of the own vehicle, the host vehicle showing at least a part of the own vehicle in the vehicle periphery monitoring image A monitoring screen display processing means for generating a monitoring screen including an image and displaying the generated monitoring screen on a display unit; and the own vehicle in at least one of the vehicle periphery monitoring images Distance guide line display processing means for performing a process of displaying a distance guide line as a guide for grasping a predetermined distance from the host vehicle on a position near the image; A distance between the host vehicle and the oncoming vehicle that is a two-way driving support device, and that is on the at least one of the vehicle periphery monitoring images, the distance between the host vehicle and the host vehicle being greater than the predetermined separation distance. The present invention is characterized in that a passing distance guide line display processing means for performing a process of displaying the passing distance guide line as a guideline for securing the overlap is provided.

  According to such a configuration, the passing distance guide line can be displayed on the vehicle periphery monitoring image by the passing distance guide line display processing means.

  Further, another vehicle driving support apparatus according to the present invention includes width information acquisition means for acquiring width information of a road on which the host vehicle travels, and the passing distance guide line display processing means is provided by the width information acquisition means. Based on the acquired width information, when the width of the road on which the host vehicle is traveling is equal to or less than a preset threshold value, a process for displaying the passing distance reference line is performed. It is said.

  According to such a configuration, the passing distance guide line display unit can display the passing distance guide line only when the width of the road on which the vehicle travels is equal to or less than the threshold.

  Further, in another vehicle driving support device according to the present invention, the monitoring screen display processing means changes the width of the vehicle periphery monitoring image according to the width information acquired by the width information acquisition means, and this It is characterized in that it is formed so as to change the monitoring range on the side of the vehicle periphery monitoring image in accordance with the change in the lateral width.

  According to such a configuration, it is possible to change the lateral width and the lateral monitoring range of the vehicle periphery monitoring image according to the width of the road on which the host vehicle travels.

  Still further, another vehicle driving support apparatus according to the present invention includes an oncoming vehicle detection means for detecting the oncoming vehicle, wherein the passing distance guide line display processing means detects the oncoming vehicle by the oncoming vehicle detection means. In this case, the passing distance guide line is displayed.

  According to such a configuration, the passing distance guide line can be displayed by the passing distance guide line display processing means only when the oncoming vehicle is detected by the oncoming vehicle detecting means.

  Another vehicle driving support device according to the present invention is characterized in that the vehicle periphery monitoring image is a side view image for monitoring the front side of the host vehicle.

  And according to such a structure, it becomes possible to superimpose and display the passing distance standard line on the side view image.

  Furthermore, the other vehicle driving support device according to the present invention is configured such that the width information acquisition unit acquires the width information based on map data in an in-vehicle navigation device mounted on the host vehicle. It is characterized by that.

  And according to such a structure, it becomes possible to acquire width information simply.

  According to the vehicle driving support device of the present invention, the passing distance guide line display processing means can display the passing distance guide line on the vehicle periphery monitoring image, so that the user can safely pass the oncoming vehicle with the oncoming vehicle. Therefore, a safer and smoother driving operation can be supported.

  Further, according to another vehicle driving support apparatus according to the present invention, the passing distance guide line display means can display the passing distance guide line only when the width of the road on which the vehicle is traveling is equal to or less than the threshold. Because it is possible to improve the visibility of the vehicle periphery monitoring image by not displaying the passing distance guide line on roads that are wide enough so that a guide to securing a distance that can pass is unnecessary, As a result, safer and smoother driving operation can be supported.

  Furthermore, according to another vehicle driving support apparatus according to the present invention, the lateral width and the lateral monitoring range of the vehicle periphery monitoring image are changed according to the width of the road on which the host vehicle travels, thereby making the vehicle safer and smoother. Driving operation can be supported.

  Furthermore, according to another vehicle driving support device according to the present invention, when the oncoming vehicle is not detected, the visibility of the vehicle periphery monitoring image is improved by not displaying the passing distance guide line. As a result, safer and smoother driving operation can be supported.

  In addition, according to another vehicle driving support device according to the present invention, a passing distance guide line can be displayed on the side view image so as to support a safer and smoother driving operation.

  Furthermore, according to the other vehicle driving support apparatus according to the present invention, the width information can be easily acquired, so that safer and smoother driving operation support can be performed using a simple method.

  Hereinafter, an embodiment of a vehicle driving support apparatus according to the present invention will be described with reference to FIGS. 1 to 5.

  As shown in FIG. 1, the vehicle driving support device 5 in this embodiment has two cameras 6 and 7 mounted on the host vehicle as photographing means. One of these two cameras 6 and 7 is a left side camera 6 attached to the front left side of the host vehicle (for example, a left door mirror), and the left side camera 6 is the host vehicle. A region (predetermined region) within a viewing angle centered on the left front of the host vehicle in the vicinity of the vehicle is taken. The remaining one camera 7 is a right side camera 7 attached to the front right side portion (for example, a right door mirror) of the host vehicle. The right side camera 7 is a host vehicle around the host vehicle. An area (predetermined area) within a viewing angle centered on the right front of the camera is photographed. Each of the cameras 6 and 7 also captures a part of the host vehicle, and a captured image of a part of the host vehicle is used to generate the host vehicle reflected images 16 and 17 described later. become.

  The left side camera 6 and the right side camera 7 may be cameras provided with an ultra wide angle lens.

  A camera video acquisition unit 8 is connected to the left side camera 6 and the right side camera 7, and the camera video acquisition unit 8 acquires video shots of the cameras 6 and 7.

  A monitoring screen generation unit 10 is connected to the camera video acquisition unit 8, and the monitoring screen generation unit 10 acquires captured videos of the left side camera 6 and the right side camera 7 from the camera video acquisition unit 8. It is supposed to be.

  As shown in FIG. 2, the monitoring screen generator 10 generates a left side view image 11 as a vehicle periphery monitoring image and a vehicle periphery monitoring image, as shown in FIG. The monitoring screen 15 including the right side view image 12 and the background image 14 is generated.

  Here, the left side view image 11 is a vehicle periphery monitoring image for monitoring the left front (that is, the front side) of the host vehicle as a predetermined monitoring range around the host vehicle, and the left side view image. 11 is generated based on the video image taken by the left side camera 6. In the example of FIG. 2, the left side view image 11 is a bird's-eye view image as if the road surface in front of the left side of the host vehicle is obliquely looked down from the host vehicle side. On the side, a host vehicle reflection image 16 that includes the left side of the front side of the host vehicle as the host vehicle image is included.

  On the other hand, the right side view image 12 is a vehicle periphery monitoring image for monitoring the right front (that is, the front side) of the host vehicle as a predetermined monitoring range around the host vehicle. Is generated on the basis of a video image taken by the right side camera 7. In the example of FIG. 2, the right side view image 12 is a bird's-eye view image as if the road surface in front of the right side of the host vehicle is obliquely looked down from the host vehicle side, and the left end portion in the right side view image 12 The side includes a reflected image 17 that reflects the right side of the front side of the host vehicle as the host vehicle image.

  A mapping table storage unit 18 is connected to the monitoring screen generation unit 10, and the mapping table storage unit 18 includes a correspondence relationship between the captured video of the left side camera 6 and the left side view image 11, and Stored is a mapping table in which the correspondence between coordinates of the captured video of the right side camera 7 and the right side view image 12 is described. Further, the mapping table storage unit 18 stores drawing data of the background image 14.

  The monitoring screen generation unit 10 performs the coordinate conversion using the mapping table read from the mapping table storage unit 18 on the captured video of the left side camera 6, thereby rendering the drawing data of the left side view image 11. It is designed to generate.

  In addition, the monitoring screen generation unit 10 renders the right side view image 12 by performing coordinate conversion using the mapping table read from the mapping table storage unit 18 on the captured video of the right side camera 7. Generate data.

  Further, the monitoring screen generation unit 10 combines the drawing data of the background image 14 read from the mapping table storage unit 18 with the drawing data of the left side view image 11 and the drawing data of the right side view image 12. The drawing data of the monitoring screen 15 (hereinafter referred to as monitoring screen drawing data) is generated.

  The monitoring screen generation unit 10 is connected to an image composition unit 20 that constitutes a monitoring screen display processing unit together with the monitoring screen generation unit 10 and the mapping table storage unit 18. A display 21 as a unit is connected.

  The image composition unit 20 is input with monitoring screen drawing data generated by the monitoring screen generation unit 10. Then, the image composition unit 20 outputs the input monitor screen drawing data to the display 21.

  As described above, in the present embodiment, the monitoring screen 15 is displayed on the display 21 by the monitoring screen display processing unit configured by the monitoring screen generation unit 10, the mapping table storage unit 18, and the image composition unit 20. Processing is possible.

  In this embodiment, the image composition unit 20 is connected to a distance guide line generation unit 23 that constitutes a distance guide line display processing unit together with the image composition unit 20.

  This distance reference line generation unit 23 is a left distance that serves as a guide for grasping a predetermined separation distance from the own vehicle (front left side) on the position near the own vehicle reflected image 16 in the left side view image 11. Drawing data for displaying the guide line 24 in an overlapping manner (hereinafter referred to as left distance guide line drawing data) is generated, and the generated left distance guide line drawing data is output to the image composition unit 20. .

  The image synthesizing unit 20 synthesizes the left distance guide line drawing data output from the distance guide line generating unit 23 with the monitor screen drawing data and outputs the synthesized data to the display 21.

  As a result, as shown in FIG. 2, the left distance reference line 24 is displayed so as to overlap the position near the left side of the vehicle reflected image 16 in the left side view image 11.

  Note that the left distance reference line 24 shown in FIG. 2 grasps a predetermined separation distance (for example, 50 cm) leftward (outward in the vehicle width direction) and forward (vehicle traveling direction) with respect to the front left side portion of the host vehicle. It becomes a standard for. That is, the left-side distance reference line 24 corresponds to a line portion 24a parallel to the vehicle traveling direction as a guide for grasping a predetermined separation distance to the left with respect to the front left side of the host vehicle, and the front left side of the host vehicle. It consists of a line portion 24b that is parallel to the vehicle width direction as a guide for grasping a predetermined distance to the front.

  The user uses such a left-side distance reference line 24 to check whether there is a collision of the host vehicle with an obstacle (for example, a stopped vehicle) stationary on the left front road or on the road side of the host vehicle, or to the side groove of the host vehicle. It can be used as a standard for judging the presence or absence of derailment.

  In addition, the distance reference line generation unit 23 is a right distance that serves as a guide for grasping a predetermined separation distance from the host vehicle (the front right side) on the position near the host vehicle reflected image 17 in the right side view image 12. Data for displaying the reference line 25 in an overlapping manner (hereinafter referred to as right distance reference line drawing data) is generated, and the generated right distance reference line drawing data is output to the image composition unit 20.

  Then, the image composition unit 20 synthesizes the right distance guide line drawing data output from the distance guide line generation unit 23 with the monitor screen drawing data and outputs the combined data to the display 21.

  As a result, as shown in FIG. 2, the right distance reference line 25 is displayed so as to be superimposed on the position near the right side of the vehicle reflected image 17 in the right side view image 12.

  Note that the right distance reference line 25 shown in FIG. 2 grasps a predetermined separation distance (for example, 50 cm) in the right direction (outward in the vehicle width direction) and forward (vehicle traveling direction) with respect to the front right side portion of the host vehicle. It becomes a standard for. That is, the right distance reference line 25 is a line 25a that is parallel to the vehicle traveling direction as a guide for grasping a predetermined separation distance to the right with respect to the front right side of the host vehicle, and the front right side of the host vehicle. It comprises a line portion 25b that is parallel to the vehicle width direction as a guideline for grasping a predetermined distance to the front.

  The user can use the right distance reference line 25 as a guideline for determining whether or not the own vehicle has collided with an obstacle stationary on the right front road of the own vehicle.

  As described above, in the present embodiment, the distance guideline display processing unit configured by the distance guideline generation unit 23 and the image composition unit 20 causes the left side view image 11 on the left vicinity position of the reflected image 16 of the host vehicle. In addition, the left distance guide line 24 and the right distance guide line 25 can be displayed so as to overlap each other on the right side vicinity position of the vehicle reflected image 17 in the right side view image 12.

  As shown in FIG. 1, in this embodiment, the image composition unit 20 is connected to a passing distance guide line generation unit 26 that constitutes a passing distance guide line display processing unit together with the image composition unit 20.

  The passing distance guide line generation unit 26 provides a passing distance guide line that serves as a guide for securing a distance (hereinafter referred to as a passing distance) in which the own vehicle and the oncoming vehicle can pass on the right side view image 12. Drawing data (hereinafter referred to as “passing distance guideline drawing data”) is generated, and the generated passing distance guideline drawing data is output to the image composition unit 20. The passing distance is set to a distance (for example, 2.5 m) that is separated from the host vehicle, rather than the predetermined separation distance grasped by the right distance guide line 25 and the left distance guide line 24.

  The image synthesizing unit 20 synthesizes the passing distance guide line drawing data output from the passing distance guide line generating unit 26 with the monitor screen drawing data and outputs the synthesized data to the display 21.

  As a result, as shown in FIG. 2, the passing distance guide line 27 is superimposed on the right side view image 12 and displayed.

  The user can use the passing distance guide line 27 as a guide for determining whether or not the own vehicle can secure a passing distance with the oncoming vehicle. In the present embodiment, the passing distance guide line 27 includes a line portion 27a composed of a solid line and a broken line parallel to the vehicle traveling direction, a line portion 27b composed of a solid line and a broken line parallel to the vehicle width direction, It is formed by a solid line portion 27c extending from the intersection of these two line portions 27a and 27b toward the sky side.

  As described above, in the present embodiment, the passing distance guide line 27 is superimposed on the right side view image 12 by the passing distance guide line display processing unit configured by the passing distance guide line generation unit 26 and the image composition unit 20. Can be displayed.

  In addition to the above configuration, the vehicle driving support device 5 according to the present embodiment further includes a width information acquisition unit 28 as a width information acquisition unit connected to the passing distance guide line generation unit 26 as shown in FIG. The width information acquisition unit 28 is connected to a map data storage unit 29 and a vehicle position calculation unit 30 in the vehicle-mounted navigation device.

  The own vehicle position calculation unit 30 calculates the own vehicle position by radio navigation based on information acquired from GPS satellites or autonomous navigation based on detection results of an autonomous navigation sensor (not shown) such as a gyro sensor mounted on the own vehicle. The calculation result is output to the width information acquisition unit 28.

  In addition, the width information acquisition unit 28 reads out map data corresponding to the road on which the host vehicle travels from the map data storage unit 29 based on the calculation result of the host vehicle position calculation unit 30, and The width information indicating the width of the road on which the vehicle travels is acquired from the inside.

  In the present embodiment, the passing distance guide line generation unit 26 acquires the width information from the width information acquisition unit 28, and the width of the road on which the host vehicle travels is preset based on the acquired width information. In the case of a threshold value (hereinafter, referred to as a reference line necessity determination threshold value) or less, passing distance reference line drawing data is generated. The reference line necessity determination threshold value may be a value corresponding to a rough boundary value between a general road and a narrow street, for example.

  As a result, on a road (for example, a general road) that is so wide that a guideline for securing a distance that can pass is unnecessary, it is possible not to display the pass distance guideline as shown in FIG. Therefore, the visibility of the right side view image 12 can be improved.

  In addition to the above configuration, in the present embodiment, as shown in FIG. 1, the monitoring screen generation unit 10 described above is connected to the width information acquisition unit 28, and the monitoring screen generation unit 10 is The width information is acquired from the width information acquisition unit 28.

  Then, the monitoring screen generator 10 changes the horizontal width of each side view image 11, 12 based on the acquired width information. In the present embodiment, the change of the lateral width of the side view images 11 and 12 is accompanied by the automatic change of the lateral monitoring range by the side view images 11 and 12. In other words, in the present embodiment, changing the lateral width of the side view images 11 and 12 does not change the lateral magnification of the object included in the side view images 11 and 12, but by using the side view images 11 and 12. This means that the lateral (left and right) range that can be monitored is changed (stretched).

  More specifically, the monitoring screen generation unit 10 acquires width information indicating that the width of the road on which the host vehicle is traveling is less than a preset threshold value (hereinafter referred to as a display width setting threshold value). In this case, as shown in FIG. 4A, the lateral width and the monitoring range of the side view images 11 and 12 are set to the normal lateral width and the monitoring range (similar to FIGS. 2 and 3). It is like that.

  On the other hand, when the width information indicating that the width of the road on which the host vehicle is traveling is equal to or greater than the display width setting threshold is acquired, the monitoring screen generation unit 10 as illustrated in FIG. The lateral width and the lateral monitoring range of each of the side view images 11 and 12 are set to the lateral width and the monitoring range at the time of wide wider than normal.

  Such a change in the lateral width and the lateral monitoring range of each side view image 11, 12 is, for example, as a mapping table for generating each side view image 11, 12, a normal mapping table and a wide time This can be done by preparing a mapping table and switching the mapping table to be used according to the width information, or by correcting the mapping table.

  Thereby, a more suitable monitoring range can be automatically selected according to the width of the road on which the host vehicle travels. Note that the lateral width and the lateral monitoring range of each side view image need not be limited to the two stages shown in FIGS. 4A and 4B, and are changed gradually or stepwise according to the width information. There may be.

  In addition to the above configuration, the vehicle driving support device 5 in the present embodiment further includes an oncoming vehicle detection unit 32 as oncoming vehicle detection means connected to the passing distance guide line generation unit 26. The detection unit 32 can detect an oncoming vehicle that travels in an opposite lane of a road on which the host vehicle is traveling, for example, by image recognition using a radar or a camera.

  The oncoming vehicle detection unit 32 outputs a detection result for notifying whether or not an oncoming vehicle has been detected to the passing distance guide line generation unit 26.

  In the present embodiment, the passing distance guide line generation unit 26 generates passing distance guide line drawing data when the oncoming vehicle is detected by the oncoming vehicle detection unit 32.

  Thereby, when the oncoming vehicle is not detected, the passing distance guide line 27 can be prevented from being displayed, so that the visibility of the right side view image 12 can be further improved.

  In addition to the above configuration, an input operation unit 33 is connected to the monitoring screen generation unit 10, the distance guide line generation unit 23, and the passing distance guide line generation unit 26, and the user operates the input operation unit 33. By using it, a user operation for displaying the monitoring screen 15 on the display 21 can be performed. When a user operation for displaying the monitoring screen 15 is performed, the distance guide lines 24 and 25 and the passing distance guide line 27 are displayed in parallel with the process of displaying the monitoring screen 15. Processing is performed.

  Next, the operation of the present embodiment will be described with reference to FIG.

  In the present embodiment, after the vehicle driving support device 1 is activated, first, as shown in Step 1 (ST1) of FIG. 5, the monitoring screen generator 15 uses the input operation unit 33 to display the monitoring screen 15. It is determined whether or not a user operation for display has been performed. If a user operation has been performed, the process proceeds to step 2 (ST2), and if not, step 1 (ST1) is repeated.

  Next, in step 2 (ST2), the monitoring screen generation unit 10 generates monitoring screen drawing data and outputs it to the image composition unit 20, and the distance reference line generation unit 23 outputs the left distance reference line drawing data. Then, the right distance reference line drawing data is generated and output to the image composition unit 20, and then the process proceeds to Step 3 (ST3).

  Next, in step 3 (ST3), the width of the road on which the host vehicle is traveling is determined based on the width information acquired from the width information acquisition unit 28 by the passing distance reference line generation unit 26. If it is equal to or smaller than the threshold for determining whether or not the reference line is required, the process proceeds to step 4 (ST4). If it is greater than the threshold for determining whether or not the reference line is required, step 6 (ST6) is performed. )

  In step 4 (ST4), the passing distance guide line generation unit 26 determines whether or not an oncoming vehicle has been detected based on the detection result from the oncoming vehicle detection unit 32. Go to step 5 (ST5), and if not detected, go to step 6 (ST6).

  In step 5 (ST5), the passing distance guide line generation unit 26 generates passing distance guide line drawing data and outputs it to the image composition unit 20, and then the process proceeds to step 6 (ST6).

  Next, in step 6 (ST6), the image composition unit 20 combines the drawing data output to the image composition unit 20 and outputs the combined drawing data to the display 21. At this time, when the process proceeds from step 3 (ST3) or step 4 (ST4) to step 6 (ST6), on the display 21, as shown in FIG. A monitoring screen 15 on which only the distance guide lines 24 and 25 are superimposed is displayed. On the other hand, when the process proceeds from step 5 (ST5) to step 6 (ST6), not only the distance guide lines 24 and 25 but also the right side view image 10 is displayed on the display 21 as shown in FIG. The monitoring screen 15 on which the passing distance guide line 27 is superimposed is displayed.

  As described above, according to the present embodiment, not only the display of the distance guide lines 24 and 25 but also the passing distance guide line 27 on the right side view image 12 by the passing distance guide line display processing means 26 and 20. Since it can be displayed, a guideline for safe passing with the oncoming vehicle can be presented to the user, and safer and smoother driving operation can be supported.

  In addition, this invention is not limited to embodiment mentioned above, A various change is possible as needed.

The block diagram which shows embodiment of the vehicle driving assistance device which concerns on this invention The figure which shows the display state of the distance standard line on a side view image, and the passing distance standard line in embodiment of the vehicle driving assistance device which concerns on this invention. The figure which shows the display state of the distance standard line on a side view image in embodiment of the vehicle driving assistance device which concerns on this invention. In the embodiment of the vehicle driving support apparatus according to the present invention, (a) shows a state in which a normal side view image is displayed, and (b) shows a state in which a wide side view image is displayed. The flowchart which shows embodiment of the vehicle driving assistance device which concerns on this invention The figure which shows the display of the distance standard line on the right side view image which has been adopted conventionally

Explanation of symbols

DESCRIPTION OF SYMBOLS 5 Vehicle driving assistance device 6 Left side camera 7 Right side camera 10 Monitoring screen generation part 12 Right side view image 20 Image composition part 21 Display 23 Distance reference line generation part 26 Passing distance reference line generation part 27 Passing reference line

Claims (5)

An imaging means mounted on the host vehicle for shooting a predetermined area around the host vehicle;
A monitoring screen including at least one vehicle periphery monitoring image for monitoring a predetermined monitoring range in the vicinity of the host vehicle based on a video image taken by the imaging means, wherein the vehicle periphery monitoring image includes the monitoring screen. A monitoring screen display processing means for generating a monitoring screen including an own vehicle image indicating at least a part of the own vehicle, and performing processing for displaying the generated monitoring screen on a display unit;
A distance guideline for performing a process of displaying a distance guideline as a guideline for grasping a predetermined distance from the host vehicle on a position near the host vehicle image in at least one of the vehicle periphery monitoring images. A vehicle driving support device comprising line display processing means,
On at least one of the vehicle periphery monitoring images, it becomes a guideline for securing a distance that allows the own vehicle and the oncoming vehicle to pass each other at a distance that is more distant from the own vehicle than the predetermined separation distance. A passing distance guide line display processing means for performing processing for displaying the passing distance guide line in an overlapping manner ;
Width information acquisition means for acquiring width information of a road on which the vehicle travels;
With
If the width of the road on which the host vehicle is traveling is equal to or less than a preset threshold based on the width information acquired by the width information acquisition unit, the passing distance reference line display processing unit is configured to measure the passing distance. Formed to display the line,
The monitoring screen display processing means changes the width of the vehicle periphery monitoring image according to the width information acquired by the width information acquisition means and the side of the vehicle periphery monitoring image along with the change of the width. A vehicle driving support device configured to change a monitoring range . Oncoming vehicle detection means for detecting the oncoming vehicle,
The passing distance reference line display processing unit is configured to display the passing distance reference line when the oncoming vehicle is detected by the oncoming vehicle detection unit. vehicle driving support device according to 1. An imaging means mounted on the host vehicle for shooting a predetermined area around the host vehicle;
A monitoring screen including at least one vehicle periphery monitoring image for monitoring a predetermined monitoring range in the vicinity of the host vehicle based on a video image taken by the imaging means, wherein the vehicle periphery monitoring image includes the monitoring screen. A monitoring screen display processing means for generating a monitoring screen including an own vehicle image indicating at least a part of the own vehicle, and performing processing for displaying the generated monitoring screen on a display unit;
A distance guideline for performing a process of displaying a distance guideline as a guideline for grasping a predetermined distance from the host vehicle on a position near the host vehicle image in at least one of the vehicle periphery monitoring images. Line display processing means
A vehicle driving support device comprising:
On at least one of the vehicle periphery monitoring images, it becomes a guideline for securing a distance that allows the own vehicle and the oncoming vehicle to pass each other at a distance that is more distant from the own vehicle than the predetermined separation distance. A passing distance guide line display processing means for performing processing for displaying the passing distance guide line in an overlapping manner;
Oncoming vehicle detection means for detecting the oncoming vehicle;
And the passing distance guide line display processing means is configured to perform a process of displaying the passing distance guide line when the oncoming vehicle is detected by the oncoming vehicle detection means.
A vehicle driving support device characterized by the above. The vehicle driving support device according to any one of claims 1 to 3 , wherein the vehicle periphery monitoring image is a side view image for monitoring a front side of the host vehicle. 5. The width information acquisition unit is configured to acquire the width information based on map data in an in-vehicle navigation device mounted on the host vehicle. 5 . The vehicle driving support device according to claim 1.