JP5093611B2 - Vehicle periphery confirmation device - Google Patents

Description

  The present invention relates to an apparatus for confirming an obstacle around a vehicle using a photographed image around the vehicle acquired by a photographing unit.

  A camera that is installed in a vehicle and has a wide-field lens for photographing the periphery of the vehicle with a wide field of view; and an image extracting unit that extracts an image of a predetermined range from a photographed image photographed by the camera through the wide-field lens; An image corresponding to the direction of the obstacle detected by the obstacle detection means, comprising display means for displaying the extracted image extracted by the image extraction means and obstacle detection means for detecting obstacles around the vehicle. There is known a vehicle monitor device that extracts a photographed image and displays it on a display unit in an enlarged manner (see, for example, Patent Document 1). More specifically, in the normal state, the entire captured image of the camera, the lower center extracted image of the captured image, the lower right extracted image of the captured image, and the lower left extracted image of the captured image are repeatedly displayed in sequence for a predetermined time. Therefore, when an obstacle is detected by the right back sonar, an image in a preset range on the left side is extracted from the captured images stored in the image memory (the camera is installed facing the rear of the vehicle). Therefore, the obstacle located on the right rear side of the vehicle is photographed on the left side of the photographed image), and is enlarged and displayed on the full display screen. When an obstacle is detected by the left back sonar, an image of a preset range on the right side of the photographed image is extracted and enlarged and displayed on the full display screen. At this time, it has also been proposed to provide a small auxiliary screen at a predetermined position on the display screen (for example, the upper right of the screen) to display the shooting range corresponding to the vehicle position and the extracted image. However, since this vehicle monitor apparatus employs a method of extracting an image of a portion where an obstacle detected from the monitor display photographed image is displayed and displaying the enlarged portion, the obstacle is displayed on the monitor. The blind spot obstacle image cannot be displayed unless it is within the captured image. In order to avoid this problem, if the field of view is widened, the image area near the center of photographing, which is important in normal times, becomes relatively smaller than the monitor display area, and the surrounding state can be confirmed through the monitor display image. The inconvenience that it becomes difficult occurs

  In addition, an image display for displaying an image so as to be seen from the front side of the half mirror is provided behind the half mirror. Room mirror (back mirror), viewpoint relative position detecting means for detecting viewpoint coordinates in a coordinate system defined on the room mirror, and an image display based on the viewpoint coordinates detected by the viewpoint relative position detecting means There is also known an image display device provided with a display form control means for controlling the image display form in (see, for example, Patent Document 2). Further, the image display display of the image display device displays an image that is an output of a camera that captures the outside of the vehicle, and the display mode control means drives based on the position and orientation of the rearview mirror and the viewpoint position of the driver. An observation area that becomes a blind spot of the person is recognized, and an image outside the vehicle corresponding to the recognized observation area is displayed on the image display. According to such an image display device, a landscape image in the rear window direction obtained by the camera is superimposed on a mirror image projected on the rearview mirror, thereby generating a driver seat, a passenger seat, a rear seat, a rear window frame, and the like. The blind spot landscape that could not be seen from the mirror image due to the blind spot can be confirmed by the camera image. However, also in this image display device, the field of view that can be confirmed by the driver through the room mirror is defined by the mirror image characteristics of the room mirror. In other words, it is not possible to see the scenery outside the mirror image range of the room mirror.

In addition, multiple video cameras that capture different areas behind the vehicle, an inside mirror that the driver monitors the back of the vehicle, and images captured by the video camera attached near the inside mirror are displayed as mirror images. The mirror surface of the inside mirror is composed of a transmissive half mirror, and is arranged inside the inside mirror that is hidden by the half mirror, and the images taken by a plurality of rear-view video cameras are individually or There is known a vehicle monitoring device that combines and simultaneously displays (see, for example, Patent Document 3). In this vehicle monitoring apparatus, images from a plurality of cameras having different shooting directions can be selectively displayed on the display device, but a camera is required for each set region. In addition, since each area photographed by the camera is fixed, the field of view of the image displayed on the display device is always constant, and an image aiming at an obstacle generated at an arbitrary position such as a pedestrian is displayed. Is not possible and is not suitable for identifying such obstacles.
In addition, mirror images with mirrors have no problems in terms of resolution, etc. compared to monitor display of captured images, etc. and are excellent in visibility. It is also important.

Japanese Patent Laying-Open No. 2003-143596 (paragraph numbers 0005-0026, FIGS. 4 and 5) JP 2005-335410 A (paragraph numbers 0049-0057, FIGS. 1 and 8) JP 2002-225629 A (paragraph numbers 0010-0034, FIGS. 3 and 6)

    In view of the above situation, an object of the present invention is to provide a vehicle peripheral device capable of effectively notifying a driver of obstacles existing around the vehicle through a mirror that reflects a mirror image of the vehicle periphery such as a rear view. That is. At that time, it is also important to make the best use of the excellent characteristics of the mirror in checking the surroundings of the vehicle.

In order to achieve the above object, the vehicle periphery confirmation apparatus according to the present invention has a characteristic configuration that includes a photographing unit that obtains a photographed image around the vehicle and a vehicle that can display the photographed image in a part of the mirror image display area. A mirror for confirming the rear of the vehicle where the image display area is formed, an obstacle recognition unit for detecting an obstacle around the vehicle and calculating the position of the obstacle, and the position of the obstacle is the position of the mirror A blind spot determination unit that determines whether the blind spot area is entered, an image cutout unit that cuts out an image area of the obstacle in the blind spot area from the captured image as a blind spot obstacle image, and the blind spot determination unit includes the obstacle And a display image control unit that displays the blind spot obstacle image in the image display area of the mirror when it is determined that the position is within the blind spot area of the mirror.

  According to this feature configuration, when the driver is gazing at the mirror image displayed on the in-vehicle mirror for safe driving while checking the situation around the vehicle, the obstacle recognition unit recognizes the obstacle. The process is running. Then, if the obstacle recognized by the obstacle recognition unit is considered to be in a peripheral area that is a blind spot of a preset mirror, that is, a blind spot area, an image area that shows the obstacle in the captured image Is cut out from the captured image as a blind spot obstacle image. Since the cut-out blind spot obstacle image is displayed in the image display area formed on the mirror, the driver passes through the mirror and there is an obstacle in the outer area (dead spot area) of the mirror image reflected in the mirror. And can perform preliminary risk avoidance actions. As described above, in the vehicle peripheral device according to the present invention, the obstacle that is present in the vehicle periphery through the mirror that reflects the limited scenery around the vehicle but appears suddenly in the blind spot area of the mirror is effective for the driver. Can be noticed. In addition, the fact that the image display area is formed in a part of the mirror image display area means that at least a part of the mirror mirror image remains visible even when the blind spot obstacle image is displayed. The visibility of the mirror in the surrounding confirmation is also maintained at least partially.

  As a characteristic configuration in the vehicle periphery confirmation device according to the present invention, it is also preferable that the obstacle recognition unit is configured to recognize an obstacle by image processing on the captured image. It is possible to recognize an object, that is, an obstacle, from an image taken from the imaging unit sent with the passage of time using an object detection algorithm such as an optical flow method, a background difference method, or a motion vector method. Obstacles can be recognized using captured images acquired for monitor display, so it is not necessary to prepare captured images for obstacle recognition. Further, since the obstacle is recognized from the photographed image and the image coordinate position of the obstacle is specified, the position can be directly used as an image coordinate position defining the image area of the obstacle in the photographed image. Furthermore, when the movement vector of the vehicle can be acquired, the moving direction of the obstacle can be calculated.

  In one preferred embodiment of the present invention, the left-right position of the obstacle is obtained with reference to the center of the field of view of the mirror image reflected on the mirror, and the position of the image display area corresponding to the left-right position is determined. The blind spot obstacle image is displayed on the screen. In such a characteristic configuration, when an obstacle is recognized in the blind spot area of the mirror, the obstacle is displayed on the mirror depending on which side of the mirror the blind spot obstacle image suddenly displayed on the mirror is displayed. It is possible to immediately understand whether the mirror image is present in the left outer region or the right outer region.

  Obstacles present outside the blind spot area of the mirror are less dangerous when moving away from the vehicle and are more dangerous when approaching the vehicle. Therefore, it is important for the driver to understand this intuitively. In order to achieve this, one of the preferred embodiments of the present invention employs a configuration in which an index indicating the approaching direction of the obstacle to the vehicle is displayed in the image display area together with the blind spot obstacle image. Yes. Such an obstacle movement direction can be easily obtained when the above-described optical flow method, background difference method, motion vector method, or the like is adopted as an object detection algorithm for obstacle recognition. is there.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the vehicle periphery confirmation apparatus according to the present invention is installed in a vehicle 1 that is a passenger car here, and uses a captured image acquired by a camera 2 as an imaging unit that captures the periphery of the vehicle 1. This assists the driver in confirming the situation around the vehicle. In addition, as shown in FIG. 2, the rear mirror 5 and the rear center area for confirming the rear of the vehicle are confirmed as a mirror having a mirror image display area for displaying a mirror image of the scenery around the vehicle so that the driver can confirm the surroundings of the vehicle other than the front There are provided a rearview mirror 5 and a left door mirror 6a for confirming the left rear region and a door mirror 6 comprising a left door mirror 6b for confirming the right rear region. In this embodiment, the camera 2 is installed in the rear part of the vehicle 1 and uses the rear side of the vehicle as an imaging field of view. The captured image acquired by the camera 2 is subjected to image processing by the vehicle periphery confirmation controller 3 and is preferably displayed on a display device constituted by a flat panel display such as a liquid crystal display 4 or an organic EL display.

  As schematically shown in FIG. 3, the liquid crystal display 4 and the rearview mirror 5 are integrated by a housing 5a. In other words, in this embodiment, a half mirror is used for the rearview mirror 5, and the liquid crystal panel 4a and the backlight portion 4b constituting the liquid crystal display 4 are disposed on the rear surface side of the rearview mirror 5, and are covered by the housing 5a. Has been. When the interior of the housing 5a is dark, the rearview mirror 5 functions as a mirror that reflects external input light and displays a mirror image, and the region where the interior of the housing 5a is brightened by the backlight portion 4b does not function as a mirror. With this configuration, in the area where the image is displayed by the liquid crystal display 4 in the rearview mirror 5, the function as a mirror is lost and the area functions as an image display area. In this embodiment, since the mirror surface of the rearview mirror 5 and the liquid crystal surface of the liquid crystal display 4 are formed to substantially coincide with each other, the mirror mirror image display area and the image display area are substantially the same. However, the size and position of the image display area where an image is actually displayed can be arbitrarily set by driving the liquid crystal. For example, it is possible to display an image in the rightmost partial area or the leftmost partial area and project a mirror mirror image in other areas. The configuration of such a mirror is described in detail in the above-mentioned Patent Document 1 (Japanese Patent Laid-Open No. 2005-335410) and Patent Document 2 (Japanese Patent Laid-Open No. 2002-225629). Omitted.

  The rearview mirror 5 is attached to the ceiling of the vehicle 1 via an angle changing mechanism 9 so that the angle (posture) of the rearview mirror 5 can be changed according to the preference of the driver sitting in the driver's seat. The area that the driver wants to confirm mainly through the rearview mirror 5 is almost the same, and is basically the scenery area at the rear center. Since the position of the driver's eyes differs depending on the body shape, the driver adjusts the angle of the rearview mirror 5 so that the rear center scenery of the vehicle 1 is reflected on the rearview mirror 5 as a mirror image. Thus, regardless of the body shape of the driver, the vehicle surrounding area included in the mirror image displayed on the rearview mirror 5 viewed by the driver (in other words, a blind spot area where the driver cannot see from the mirror image of the rearview mirror 5). ) Can be regarded as almost the same.

  The camera 2 is a digital camera that incorporates an image sensor such as a charge coupled device (CCD) or a CMOS image sensor (CIS) and outputs information captured by the image sensor as moving image information or still image information in real time. The shooting center line of the camera 2 extends slightly downward. Further, since a wide viewing angle lens of 90 degrees or more, for example, about 140 degrees is attached to the camera 2, as can be understood from FIG. 4, this camera 2 has a wide field of view image of about 140 degrees. To get. Of course, if a fisheye lens with a horizontal field of view of 180 degrees or more is employed, the entire rear of the vehicle can be covered. Furthermore, the viewing angle may be changed using a zoom lens, or a plurality of lenses may be provided so that they can be used in a switchable manner.

  The vehicle periphery confirmation controller 3 is a computer unit having a CPU, which is generally called an ECU (electronic control unit), as a core element, and can realize various functions by starting a program. The vehicle periphery confirmation controller 3 processes the captured image sent from the camera 2 and developed and stored in the memory 31, and if an obstacle is recognized in the blind spot area of the mirror, the obstacle in the captured image is displayed. A blind spot obstacle image, which is a corresponding image portion, is displayed on the display image area of the rearview mirror 5 through the liquid crystal display 4. Therefore, in the vehicle periphery confirmation controller 3, various necessary functional units are created by a program or hardware. As functional units particularly related to the present invention, as shown in FIG. 5, an obstacle recognition unit 32, a blind spot determination unit 33, an obstacle image cutout unit 34, a display image control unit 35, and a blind spot area. And a setting unit 36.

  The obstacle recognition unit 32 has a function of recognizing an obstacle as an object that obstructs vehicle travel, such as a pedestrian around the vehicle or another vehicle. Various methods are known for obstacle recognition. In the present invention, the obstacle recognition method employed by the obstacle recognition unit 32 is not limited to a specific one. However, here, as one particularly suitable method, a method of recognizing an obstacle by performing image processing on a captured image acquired by the camera 2 is employed. Since captured images are sequentially acquired at a predetermined time rate and stored in the memory 31, by comparing a plurality of captured images acquired at this minute time interval, for example, an optical flow method, a background difference method, a motion vector, or the like. An object detection algorithm such as a method can be used to recognize an object that is stationary or moving. As a result, the obstacle recognition unit 32 has the outline and position of the obstacle on the captured image (resulting in an orientation relative to the vehicle 1) and the direction of the obstacle movement (resulting in an approaching direction relative to the vehicle 1). Obstacle information including can be generated and output.

  Since relative movement occurs between the vehicle 1 and the obstacle, in order to calculate absolute obstacle movement information (movement vector) with respect to the vehicle 1, the vehicle movement is detected from the vehicle running state detection controller 7. You will receive information. The vehicle running state detection controller 7 receives detection signals from a sensor group such as a steering angle sensor, a shift position sensor, an accelerator position sensor, a brake position sensor, a wheel rotation sensor, and an azimuth sensor. The movement information is calculated.

  In addition, it is conceivable that shooting conditions are bad at night or in bad weather, and it is difficult to recognize an obstacle from a shot image. For this reason, when the obstacle detection controller 8 using a laser radar or the like is provided, the obstacle recognition unit 32 has a function of recognizing an obstacle based on the obstacle detection information from the obstacle detection controller 7. Good.

  The blind spot area setting unit 36 is a peripheral area outside the mirror image of the rearview mirror 5 that can be seen by the driver, based on the orientation of the photographing center line of the camera 2 and the optical characteristics of the rearview mirror 5, which are set in advance. The shape and position (which can be represented by image coordinate values) of the blind spot area obtained by calculating which area in the captured image developed in the memory 31 will be set. FIG. 6 schematically shows a wide-field captured image acquired by the camera 2 and developed in the memory 31 under the situation shown in FIG. The area inside the mirror mirror image boundary frame 91 indicated by the dotted line in the captured image shown in FIG. 6 is an area that can be viewed by the driver as a mirror image of the rearview mirror 5, and the area outside the mirror image boundary frame 91 is the blind spot area. It becomes. The blind spot area set by the blind spot area setting unit 36 is used by the blind spot determination unit 33. In FIG. 6, the size of the entire captured image is drawn smaller than that of the mirror image boundary frame 91 due to a problem in the restriction of the drawing.

The blind spot determination unit 33 determines whether the blind spot area in the captured image set by the blind spot area setting unit 36 includes an image of the obstacle recognized by the obstacle recognition unit 32. As schematically shown in FIG. 6, when at least a part of the outline of the obstacle is located in the blind spot area, at least a part of the obstacle is confirmed by the driver through a mirror image of the rearview mirror 5. It will be impossible. For this reason, based on the determination result of the blind spot determination unit 33, when no obstacle is included in the blind spot region that is the outer region of the mirror mirror image boundary frame 91 in the captured image developed in the memory 31, the obstacle image cutout unit 32 cuts out the image area of the obstacle from the photographed image as a blind spot obstacle image. In FIG. 6, the image of the area surrounded by the obstacle cutout frame 92 is a blind spot obstacle image. The blind spot obstacle image cut out by the obstacle image cutout unit 32 is displayed on the liquid crystal display 4 in a form controlled by the display image control unit 35. The driver can view the blind spot obstacle image displayed on the liquid crystal display 4 through the mirror surface of the rearview mirror 5. An example of the display state of such a blind spot obstacle image on the rearview mirror 5 is shown in FIG. As a result, it can be confirmed that an obstacle exists outside the range of the mirror image projected on the rearview mirror 5 until now.
As described above, the blind spot determination unit 33 is responsible for determining whether an obstacle is included in the blind spot area. For example, the obstacle recognition unit 32 recognizes only the obstacle in the blind spot area. By configuring as above, it is possible to include the function of the determination unit 33 in the obstacle recognition unit 32. In the present invention, the names such as the blind spot determining unit 33 and the obstacle recognizing unit 32 are used to express functions created in the vehicle periphery confirmation controller 3 and limit physical components. is not.

  The display image control unit 35 performs left-right reversal of the image when generating the display image in order to match the left-right positional relationship between the captured image displayed on the liquid crystal display 4 and the image projected on the rearview mirror 5. Yes. Further, when the blind spot obstacle image is displayed on the liquid crystal display 5, if there is an obstacle on the left side of the driver, the left side area of the liquid crystal display 5, that is, the left side area of the mirror image display area of the rearview mirror 5 is displayed. When there is an obstacle on the right side of the left side of the person, it is displayed in the right area of the mirror image display area of the rearview mirror 5. As a result, the driver can immediately grasp whether the obstacle exists on the left or right side.

  As shown in FIG. 7, the blind spot obstacle image is displayed on the liquid crystal display 4 so that the driver can see through the rearview mirror 5, so that the driver can have a driving obstacle outside the normal rearview field of view. You notice that an object exists. Thereby, the driver looks back around the vehicle 1, in this case, the rear of the vehicle, and tries to visually recognize the obstacle directly. At this time, it is convenient to display an index indicating the approaching direction of the obstacle to the vehicle on the liquid crystal display 4 in the obstacle information received from the obstacle recognition unit 32. As an index, as shown in FIG. 8, when a large arrow is adopted, it is easy to visually recognize and is convenient. Further, since the mirror image of the rear of the vehicle is still displayed in the mirror image display area other than the area where the blind spot obstacle image is displayed in the rearview mirror 5, the benefit of the vehicle periphery confirmation by the rearview mirror 5 is also at least partially. Maintained.

An example of a back monitor routine, which is control for backward confirmation in the vehicle periphery confirmation device configured as described above, will be described with reference to the flowchart of FIG.
First, when the back monitor routine is started, a captured image is acquired by the camera 2 (# 01). The acquired captured images are sequentially developed in the memory 31 and temporarily stored for a predetermined time (# 02). The captured image developed in the memory 31 is subjected to necessary image processing such as distortion correction, resolution conversion, and level adjustment as necessary. The stored captured image is also used by an obstacle recognition routine that is executed simultaneously. Since recognition algorithms for objects with relative movement (obtained when located near the vehicle path) from captured images acquired sequentially in time are widely known, explanation here is omitted. .

  A blind spot area of the rearview mirror 5 in the captured image developed in the memory 31 is set. (# 03). Next, it is checked whether or not the obstacle information is output by the obstacle recognition unit 32 (# 04). When the obstacle information is output, the coordinate position on the captured image of the obstacle is read from the obstacle information (# 05). When the obstacle information describes only the coordinate position in a different coordinate system, for example, the world coordinate system, the coordinate position on the captured image of the area occupied by the obstacle by the obstacle recognition unit 32 through the coordinate conversion. Is calculated. Subsequently, it is checked whether or not the obstacle area specified on the photographed image is included in the blind spot area, or conversely, whether or not the entire recognized obstacle is included in the mirror image of the rearview mirror 5. (# 06). In order to realize more reliable visibility, the obstacle area is included in the blind spot area when a part or all of the obstacle area specified on the captured image is located in the blind spot area. It is convenient to consider it not. If it is determined in this check that the obstacle area is included in the blind spot area (Yes branch at # 06), the obstacle image cutout unit 34 cuts out the obstacle area from the photographed image as a blind spot obstacle image (# 07). ). The display position of the cut-out blind spot obstacle image on the liquid crystal display 4 is determined based on the recognized position of the obstacle relative to the vehicle 1 (# 08). Next, the display image control unit 35 adjusts, for example, the image size of the blind spot obstacle image so that the obstacle image is appropriately displayed at the determined position of the liquid crystal display 4 to generate display image data. The data is output to the display 4 (# 09). For example, when the obstacle is located on the right rear side of the vehicle 1, the blind spot obstacle image is displayed on the liquid crystal display 4 so as to be on the right side of the mirror surface (mirror image display area) of the rearview mirror 5.

  When the obstacle information is not output in the check of step # 04 (# 04 No branch), and when it is determined by the check of # 06 that the obstacle area is not within the blind spot area (# 06 No branch) Returning to step # 04, the subsequent steps are repeated.

  Next, it is checked whether or not a cancel command for this back monitor routine is entered (# 10). If a cancel command is entered, this routine is terminated. If this cancel command is not entered (# 10 No branch), Returning to step # 04, the back monitor is continued.

[Another embodiment]
(1) In the above embodiment, the position of the blind spot area in the captured image is calculated based on the camera characteristics and the mirror characteristics obtained in advance. Instead of this method, with the mirror image of the rearview mirror in a translucent state, the extracted image partially extracted from the captured image is displayed on the liquid crystal display, and the mirror image matches the extracted image based on the driver's response. The extraction position and the extraction size to be detected may be found, and the mirror mirror image boundary frame 91 and, consequently, the blind spot area may be determined from the extraction position. Thereby, the mirror mirror image boundary frame 91 that defines the blind spot area can be accurately set for each driver. Further, a method of determining the view area through projection geometric calculation from the viewpoint of the driver determined by image processing or the like and the attitude of the rearview mirror 5 detected by the attitude detection sensor may be adopted.
(2)
In the above embodiment, when there is an obstacle on the left side of the driver, the left side of the mirror image display area of the rearview mirror 5, and when there is an obstacle on the right side of the left side of the driver, the rear view mirror is displayed. A blind spot obstacle image was displayed in the right area of the five mirror image display areas. Instead, for example, when an image display area is set on one end side of the rearview mirror 5, a configuration in which a blind spot obstacle image is displayed on the left or right side of the image display area is adopted. May be. In other words, a blind spot obstacle image can be displayed at an arbitrary position as long as the layout allows even the correspondence between the left and right positions of the obstacle with reference to the center of the field of view of the mirror mirror image. Furthermore, further, the mirror image of the rearview mirror 5 is displayed in a form such as alpha blending (semitransparent composition) in the image display technique so that the obstacle image is displayed in a semitransparent manner superimposed on the mirror image of the rearview mirror 5. You may introduce the structure which controls display of an obstruction image so that both the whole and an obstruction image can be observed. As a result, the original visibility of the rearview mirror 5 is substantially maintained.
(3) A display mode in which even if it is determined that the obstacle region is included in the mirror mirror image boundary frame 91, the blind spot obstacle image is cut out from the captured image and the blind spot obstacle image is displayed as an enlarged image of the obstacle. You may make it provide.
(4) In the description of the above embodiment, the mirror of the present invention is applied to the rearview mirror 5, but the present invention can be applied to other in-vehicle mirrors. For example, when the present invention is applied to a door mirror and the presence of an obstacle is recognized in an area that becomes a blind spot in the confirmation direction by the door mirror, a blind spot obstacle image cut out from a captured image capturing the obstacle is displayed as the door mirror. May be displayed.
(5)
In the description of the above embodiment, all the images of the obstacles existing in the blind spot area of the mirror are displayed on the monitor as the obstacle images. Specifically, when the approaching direction with respect to the vehicle 1 can be recognized, only the obstacle approaching the host vehicle may be displayed with the obstacle image.

FIG. 1 is a schematic external view of a passenger car incorporating an example of a vehicle periphery confirmation device according to the present invention. Schematic showing the driver's seat area of a passenger car incorporating a vehicle periphery confirmation device Sectional view showing an example of an integrated liquid crystal display and rearview mirror Bird's eye view for explanation for explaining vehicle periphery confirmation by vehicle periphery confirmation device Functional block diagram showing an example of a vehicle periphery confirmation device Schematic diagram showing a captured image including a mirror mirror image boundary frame that defines a blind spot area Schematic diagram showing the mirror surface on which the mirror image and blind spot obstacle image are displayed Schematic diagram showing mirror surface with mirror image and blind spot obstruction image displayed with arrow as direction sign A flowchart showing an example of a back monitor routine by a vehicle periphery confirmation device

Explanation of symbols

1: Vehicle 2: Imaging unit (camera)
3: Vehicle periphery confirmation controller 4: Liquid crystal display (flat panel; display device)
5: Rearview mirror (mirror)
31: Memory 32: Obstacle recognition unit 33: Blind spot determination unit 34: Obstacle image cutout unit 35: Display image generation unit 36: Blind spot region setting unit

Claims (4)

A shooting unit for acquiring shot images around the vehicle;
A mirror for confirming the rear of the vehicle in which an image display area that can be displayed on a part of the mirror image display area is provided,
An obstacle recognition unit that detects obstacles around the vehicle and calculates the position of the obstacle;
A blind spot determination unit that determines whether the position of the obstacle is in the blind spot area of the mirror;
An image cutout unit that cuts out an image area of an obstacle in the blind spot area from the captured image as a blind spot obstacle image;
A display image control unit that displays the blind spot obstacle image in the image display region of the mirror when the blind spot determination unit determines that the position of the obstacle is in the blind spot region of the mirror;
A vehicle periphery confirmation device.   The vehicle periphery confirmation apparatus according to claim 1, wherein the obstacle recognition unit performs obstacle detection based on the captured image.   The left-right position of the obstacle with respect to the center of the field of view of the mirror mirror image projected on the mirror is obtained, and the blind spot obstacle image is displayed at the position of the image display area corresponding to the left-right position. The vehicle periphery confirmation apparatus as described in any one of 1-2.   The vehicle periphery confirmation apparatus according to any one of claims 1 to 3, wherein an index indicating a direction in which the obstacle approaches the vehicle is displayed in the image display area together with the blind spot obstacle image.

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