JP5402047B2 - Blind spot display device - Google Patents

Description

  The present invention relates to a blind spot display device that displays an image of a blind spot area such as a pillar.

  2. Description of the Related Art Conventionally, as a blind spot display device that displays an image of a blind spot area, for example, as disclosed in Japanese Patent Application Laid-Open No. 2005-125828, the front of the vehicle is photographed with a camera, and the driver's gaze position is photographed with a gaze position detection camera. And what displays a blind spot area | region on the monitor inserted in the pillar based on the gaze position image | photographed with the gaze position detection camera is known. In this blind spot display device, an image is displayed on the pillar monitor when the line-of-sight position and the pillar direction coincide with each other, and an image is displayed on the monitor at the time of entering a curve or at the timing when an obstacle enters the blind spot.

JP 2005-125828 A

  However, in such a blind spot display device, for example, in a scene where a curve or an intersection is turned, an image of the blind spot area may not be displayed unless it actually enters the curve as shown in FIG. In many cases, the video may not be displayed properly at the timing when the driver wants to check the blind spot area, and conversely, the video may be displayed at a timing when the blind spot area does not need to be checked. May cause a sense of incongruity. In addition, because the pillar with the monitor is thin, even if the display starts when the obstacle enters the blind spot area, the obstacle is already in the video when the driver confirms looking at the monitor. Since the driver has passed away from the area, the driver may not be able to confirm the obstacle sufficiently and feel uncomfortable, and may feel distrust to the system. Furthermore, when the monitor is checked, an obstacle suddenly appears, and the driver may feel uncomfortable. As a result, there is a problem that it is impossible for the driver to confirm the image when the blind spot area actually needs to be confirmed, and the driver feels uncomfortable by displaying the image at an unnecessary timing. There was a problem.

  The present invention has been made to solve such a problem, and it is possible to surely confirm the image of the blind spot area at the time when the driver actually needs to confirm the blind spot area. Another object of the present invention is to provide a blind spot display device that can prevent a driver from feeling uncomfortable by displaying an image at an unnecessary timing.

  The blind spot display device according to the present invention includes an imaging unit that acquires an image of a blind spot area that is generated when the driver's field of view is blocked, a blind spot area display unit that displays an image acquired by the imaging unit, and a driver's blind spot. A blind spot area confirmation estimation means for estimating whether or not it is necessary to confirm the area, and the blind spot area display means needs to confirm the blind spot area by the driver based on the estimation result of the blind spot area confirmation estimation means. Prior to the time of occurrence, a confirmation process is performed to cause the driver to confirm the image of the blind spot area.

  According to this blind spot display device, the blind spot area display means for displaying the blind spot area is based on the estimation result of the blind spot area confirmation estimation means before the driver needs to confirm the blind spot area. Confirmation processing for confirming the image of the area can be performed. This makes it possible for the driver to check the blind spot area at a time when the driver actually needs to check the blind spot area, and to make the driver feel uncomfortable by displaying the picture at an unnecessary timing. It can prevent giving.

  In the blind spot display device according to the present invention, the blind spot area confirmation unit is further provided with a line-of-sight direction obtaining unit that obtains a driver's line-of-sight direction and a road linear information obtaining unit that obtains road linear information including linear information of the oncoming lane. The estimation means estimates whether or not the line-of-sight direction, the oncoming lane, and the blind spot area overlap, and the blind spot area display means before the vehicle arrives at the estimated position where the line-of-sight direction, the oncoming lane, and the blind spot area overlap. It is preferable to start displaying the image of the blind spot area. The blind spot area display means can start displaying the image of the blind spot area before the vehicle reaches the position where the blind spot direction, the opposite lane, and the blind spot area overlap, so the driver can check the blind spot area. At the timing when the driver wants to display the image by displaying the image of the blind spot area at an appropriate timing at the time when it is necessary to do so, that is, before the time of actually entering the curve or intersection It is possible to provide video without a sense of incongruity. In addition, if you enter a curve or intersection and display the image at the timing when you actually need to check the blind spot area, the oncoming vehicle or obstacle may suddenly appear in the blind spot area and the driver may feel uncomfortable However, in the blind spot display device according to the present invention, safety confirmation can be performed without feeling uncomfortable.

  In the blind spot display device according to the present invention, the imaging means has a blind spot area detection area larger than the display area displayed on the blind spot area display means, and the blind spot area confirmation estimation means is detected in the blind spot area detection area. Preferably, the blind spot area display means alerts the driver before the obstacle detected in the blind spot area detection area enters the display area. Thus, since the blind spot area display means can alert the driver before the obstacle enters the display area, the driver needs to confirm the blind spot area, that is, the obstacle. By calling attention at a stage before the time when the vehicle enters the display area, it is possible to check the image of the obstacle at the same timing as when the driver is attracted by the warning. This prevents the driver from feeling uncomfortable and reduces the distrust of the system by avoiding the situation that nothing was already captured when the driver confirmed the blind spot area display means. Can do.

  The blind spot display device according to the present invention includes a display unit that displays a blind spot area that is a blind spot outside the vehicle as viewed from the driver, and a monitoring unit that monitors a surveillance area wider than the blind spot area. The display means is activated before the obstacle in the vehicle reaches the blind spot area as viewed from the driver. Thus, since the display means is activated before the obstacle reaches the blind spot area, the stage before the time when the driver needs to check the blind spot area, that is, the time when the obstacle enters the blind spot area. By activating the display means, it becomes possible to check the image of the obstacle at the same timing as when the driver was attracted. This prevents the driver from feeling uncomfortable and avoids distrust of the system by avoiding a situation in which nothing has already been captured when the driver confirms the display means. .

  According to the present invention, it is possible to surely confirm the image of the blind spot area at the time when the driver actually needs to confirm the blind spot area, and display the image at an unnecessary timing to display the driver. It is possible to prevent the user from feeling uncomfortable.

It is the figure which showed the block configuration of the blind spot display device which concerns on embodiment of this invention. It is a top view of the vehicle carrying the blind spot display device which concerns on embodiment of this invention. It is the figure which showed the mode in the vehicle carrying the blind spot display device which concerns on embodiment of this invention. It is a flowchart which shows the blind spot display process in the blind spot display apparatus which concerns on embodiment of this invention in the case of approaching a curve or an intersection. It is a figure which shows a mode that the own vehicle M is drive | working the road before the curve. It is a figure which shows a vehicle coordinate system. It is a flowchart which shows the blind spot display process in the blind spot display apparatus which concerns on embodiment of this invention when an obstruction approachs a blind spot area | region. It is a figure which shows the position of the vehicle in the timing at which the image | video of a blind spot area | region is displayed on a display in the conventional blind spot display apparatus.

  Hereinafter, a preferred embodiment of a blind spot display device according to the present invention will be described in detail with reference to the drawings. In this specification, the traveling direction of the vehicle is defined as “front”, the left and right directions when viewed from the inside of the vehicle are defined as “left” and “right”, “front”, “rear”, “left”, A word indicating a direction such as “right” is used.

  FIG. 1 is a block diagram of a blind spot display device according to an embodiment of the present invention, FIG. 2 is a plan view of a vehicle equipped with a blind spot display device according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. It is the figure which showed the mode in the vehicle carrying the blind spot display device which concerns on.

  As shown in FIG. 1, the blind spot display device 1 includes an ECU (Electronic Control Unit) 2, a right camera (imaging means, monitoring means) 3, a left camera (imaging means, monitoring means) 4, a gaze direction acquisition camera (gaze direction). Acquisition means) 6, sensor section 7, deceleration action detection section 8, road alignment information acquisition section (road alignment information acquisition means) 9, right display (blind spot area display means, display means) 11, left display (blind spot area display means, Display means) 12, right attention calling part (blind spot area display means) 13, and left attention calling part (blind spot area display means) 14.

  The right camera 3 and the left camera 4 have a function of acquiring the respective images of the blind spot area outside the vehicle that is generated when the driver's field of view is blocked by the left and right front pillars, as shown in FIG. Each is constituted by a CMOS camera or the like attached to the right and left front pillars 31 and 32 outside the vehicle. The right camera 3 and the left camera 4 each have a function of acquiring an image within the range of the imaging angle of view F and outputting the acquired image to the ECU 2. The right camera 3 and the left camera 4 are fixed with respect to the front pillars 31 and 32, respectively, and the camera angle is adjusted in software by performing image processing in the EUC 2. An obstacle in the imaging field angle F can be detected by analyzing in the ECU 2 based on the video acquired by the right camera 3 and the left camera 4 (hereinafter, F is a blind spot area detection area F). Call). That is, the right camera 3 and the left camera 4 have a function of monitoring a monitoring area wider than a blind spot area that is a blind spot outside the vehicle when viewed from the driver. Examples of obstacles that can be detected include pedestrians, other vehicles, two-wheeled vehicles, animals, and other moving objects.

  The line-of-sight acquisition camera 6 is installed in the driver's seat in the vehicle and has a function of acquiring the line-of-sight direction by photographing the driver's eyes. The line-of-sight acquisition camera 6 has a function of outputting the acquired line-of-sight direction to the EUC 2. Alternatively, the driver's eyes image may be acquired by the camera 6 with the line-of-sight direction acquisition camera 6 and output to the ECU 2, and the line-of-sight direction of the driver may be calculated based on the image in the ECU 2.

  The sensor unit 7 has a function of detecting various state quantities of the vehicle, and specifically, a vehicle speed sensor that detects the speed of the vehicle, a yaw rate sensor that detects the yaw rate of the vehicle, and a steering angle. A steering angle sensor is used. The sensor unit 7 has a function of outputting each detected state quantity to the ECU 2.

  The deceleration action detection unit 8 has a function of detecting the deceleration action of the vehicle being driven. Specifically, a brake sensor that detects that the brake pedal has been depressed, or that a shift change has been made ( For example, it is constituted by a shift position sensor for detecting a change from the fifth speed to the fourth speed, an accelerator sensor for detecting that the accelerator is turned off, and the like. The deceleration action detection unit 8 has a function of outputting the detected information to the ECU 2.

  The road alignment information acquisition unit 9 has a function of acquiring road alignment information of roads around the host vehicle. The road alignment information is, for example, information related to the width, size, curvature, shape, and gradient of the road, and the road alignment information includes the position information of the curve end and the intersection end that are the starting points of the curves and intersections. The road alignment information may be acquired from navigation information by a navigation system mounted on the vehicle, or may be extracted by analyzing aerial photographs and satellite photographs. The road alignment information acquisition unit 9 has a function of outputting the acquired road alignment information to the ECU 2.

  The right display 11 and the left display 12 each have a function of displaying an image of a blind spot area outside the vehicle, and are configured by liquid crystal displays or the like provided respectively on the front pillars 31 and 32 in the vehicle as shown in FIG. Has been. The right display 11 and the left display 12 display images within the range of the display area D among the images acquired by the right camera 3 and the left camera 4, but images within the display area adjustable range A by adjusting the camera angle. Can also be displayed (see FIG. 2). In particular, in the present embodiment, the right display 11 and the left display 12 indicate to the driver the blind spot area before the driver needs to confirm the blind spot area based on the estimation result of the blind spot area confirmation estimation unit 16 described later. That is, it has a function of starting before an obstacle in the monitoring area of the cameras 3 and 4 reaches the blind spot area as viewed from the driver. Specifically, before the vehicle approaches a curve or an intersection, if the driver's line of sight, the opposite lane, and the blind spot area overlap, before reaching the position estimated by the blind spot area confirmation estimation unit 16, It has a function to start displaying video.

  The right alerting unit 13 and the left alerting unit 14 have a function of alerting the driver to view images displayed on the right display 11 or the left display 12, respectively. For example, the right display 11 and the left display Each of the 12 outer edges is configured by providing a blinkable region. Alternatively, the outer peripheries of the right display 11 and the left display 12 may be surrounded by a blinking frame type display, and a blinkable lamp may be provided in the vicinity of the right display 11 and the left display 12, respectively. The right alerting unit 13 and the left alerting unit 14 perform alerting by blinking at a predetermined timing based on a signal received from the ECU 2 when the corresponding display is displaying an image. Can do. In particular, in the present embodiment, the right alerting unit 13 and the left alerting unit 14 drive before the driver needs to confirm the blind spot area based on the estimation result of the blind spot area confirmation estimating unit 16 described later. And has a function to alert the driver before an obstacle enters the display area D in the blind spot area (see FIG. 2). doing.

  The ECU 2 is an electronic control unit that controls the entire apparatus. The ECU 2 is mainly composed of a CPU, for example, and includes a ROM, a RAM, an input signal circuit, an output signal circuit, a power supply circuit, and the like. The ECU 2 includes a blind spot area confirmation estimation unit (dead spot area confirmation estimation unit) 16 and a display control unit 17.

  The blind spot area confirmation estimating unit 16 has a function of estimating whether or not the driver needs to confirm the blind spot area. Specifically, the blind spot area confirmation estimation unit 16 has a function of estimating whether the driver's line-of-sight direction, the oncoming lane, and the blind spot area overlap before the vehicle enters a curve or an intersection. In addition, a function for acquiring the position of a curve edge or intersection edge in the vicinity of a running road based on navigation information acquired by the road alignment information acquisition unit 9 or aerial photographs or satellite photographs, A function for determining whether or not the current distance to the host vehicle is within a predetermined distance set in advance, a function for determining whether or not the driver has decelerated in front of the curve, and a gaze direction acquisition camera 6 acquires the line alignment information based on the output information from the road alignment information acquisition unit 9 and obtains the alignment information of the road alignment information in the vehicle coordinate system. Convert It has a function. Further, the blind spot area confirmation estimation unit 16 has a function of detecting an obstacle in the blind spot area detection area F of the right camera 3 and the left camera 4 by analyzing the video, and an obstacle detected in the blind spot area detection area F. Has a function of estimating whether or not the object enters the display area D, and a function for determining whether or not an obstacle has been detected in the blind spot area detection area F, an obstacle exists in the display area D. A function for determining whether or not an obstacle exists only in the blind spot area detection area F outside the display area D, until the detected obstacle enters the display area D And a function for determining whether an obstacle existing only in the blind spot area detection area F outside the display area D enters the display area D within a predetermined time. .

  The display control unit 17 has a function of controlling the blinking timing of the right display 11 and the left display 12 based on the estimation result of the blind spot area confirmation estimation unit 16. Note that the display control unit 17 can capture the entire blind spot area detection area F image captured by the cameras 3 and 4 into the memory, and cut out and display only the image of the display area D. The display control unit 17 has a function of outputting a control signal to the right display 11 and the left display 12.

  The alerting control unit 18 has a function of controlling the blinking timing of the right alerting unit 13 and the left alerting unit 14 based on the estimation result of the blind spot area confirmation estimating unit 16. The alerting control unit 18 has a function of outputting a control signal to the right alerting unit 13 and the left alerting unit 14.

  Next, with reference to FIG.4 and FIG.5, operation | movement of the blind spot display apparatus 1 which concerns on this embodiment when a vehicle approachs a curve or an intersection is demonstrated.

  FIG. 4 is a flowchart showing a blind spot display process in the blind spot display device 1 according to the present embodiment when entering a curve or an intersection. This process is repeatedly executed at a predetermined timing in the ECU 2 while the vehicle is traveling. FIG. 5 is a diagram illustrating a situation where the host vehicle M is traveling on a road before the curve.

  As shown in FIG. 4, the blind spot display device 1 starts processing from a curve end / intersection end acquisition process for acquiring a curve end (or intersection end) of a road (S10). The process of S10 is executed by the blind spot area confirmation estimating unit 16, and the position of the curve end or intersection end in the vicinity of the running road based on the navigation information, the aerial photograph, the satellite photograph, etc. acquired by the road alignment information acquiring unit 9 It is a process to acquire. In the present embodiment, as shown in FIG. 5, the position of the curve end P, which is the starting point at which the road starts to bend, is acquired. When the process of S10 ends, the process proceeds to a distance determination process (S12).

  The process of S12 is executed by the blind spot area confirmation estimating unit 16, and it is determined whether or not the distance between the curve end / intersection end P acquired in S10 and the current host vehicle M is within a predetermined distance set in advance. It is processing to do. If it is determined in S12 that the distance to the curve end P is greater than L1, the process proceeds to the curve end / intersection end acquisition process again. On the other hand, if it is determined in S12 that the distance to the curve end P is equal to or less than L1, the process proceeds to a deceleration action detection process (S14).

  The process of S14 is a process that is executed by the blind spot area confirmation estimation unit 16 and determines whether or not a deceleration action has been performed by the driver before the curve. Specifically, it is determined that a deceleration action has been performed when the brake pedal is depressed, when a shift change (such as when changing from 5th gear to 4th gear) is performed, or when the accelerator is turned off. . In the process of S14, when it is determined that the deceleration action is not performed, the process proceeds to a video non-display process (S24). The process of S24 is executed by the display control unit 17, outputs a control signal to the right display 11 or the left display 12, and when the video is already displayed, it is not displayed and nothing is displayed. In this case, the non-display state is maintained. When the process of S24 ends, the process of FIG. 4 ends, and the process returns to S10 again.

  On the other hand, if it is determined in step S14 that a deceleration action has been performed, the process proceeds to a gaze direction measurement / coordinate conversion process (S16). The process of S16 is a process that is executed by the blind spot area confirmation estimating unit 16, acquires the line-of-sight direction that has been constantly measured by the line-of-sight direction acquisition camera 6, and converts the line-of-sight direction into the vehicle coordinate system. Specifically, since the line-of-sight direction acquired by the line-of-sight direction acquisition camera 6 is a coordinate system based on the camera installed in the vehicle, the line-of-sight direction is converted into the vehicle coordinate system shown in FIG. In the vehicle coordinate system, the driver's eye point is set as the origin OP. When the process of S16 ends, the process proceeds to road alignment information acquisition / coordinate conversion process (S18).

  The process of S18 is executed by the blind spot area confirmation estimation unit 16 to acquire road alignment information based on the output information from the road alignment information acquisition unit 9, and to convert the road alignment information into a vehicle coordinate system. is there. Specifically, a road linear figure of the oncoming lane OL is created by performing arithmetic processing based on navigation information or by extracting from aerial photographs and satellite photographs. In the present embodiment, as shown in FIG. 5, a road linear figure reflecting information such as the shape, width, and curvature of the oncoming lane OL extending forward from the host vehicle M is created. When using navigation information, road linear figures must be derived by calculating information such as road width and curvature, but when using aerial photographs and satellite photographs, the extracted figures are used as they are. Therefore, the calculation load is reduced by using aerial photographs and satellite photographs. When the process of S18 ends, the process proceeds to a confirmation estimation process (S20).

  The process of S20 is a process that is executed by the blind spot area confirmation estimation unit 16 and determines whether or not the line-of-sight direction, the blind spot area, and the opposite lane overlap within a predetermined time from the current state. Specifically, as shown in FIG. 5, in the current state of the vehicle M (the state where the vehicle M is shown by a solid line in FIG. 5), the blind spot area B by the front pillar, the driver's line-of-sight direction S, and the opposite lane It is determined whether or not the blind spot area B, the line-of-sight direction S, and the oncoming lane OL overlap each other (the state in which the vehicle M is indicated by a virtual line in FIG. 5) from the state where the OLs do not overlap. . In this process, the relative angular velocity ω in which the line-of-sight direction S is directed to the blind spot area B is calculated in consideration of the change in the line-of-sight direction and the posture change due to the turning of the vehicle M based on the line-of-sight direction, the road linear figure, and the vehicle speed. Further, a region where the oncoming lane OL and the blind spot region B overlap is calculated based on the road linear figure and the vehicle speed (not only the region currently overlapping but also the region predicted to overlap after a few seconds can be obtained). Based on the above calculation results, it is estimated how many seconds later the line-of-sight direction S, the blind spot area B, and the opposite lane OL overlap. When the estimated time is equal to or shorter than the predetermined time T seconds set in advance, it is determined that the line-of-sight direction S, the blind spot area B, and the opposite lane OL overlap within the predetermined time T seconds. If it is determined in the process of S20 that they do not overlap, the process proceeds to a video non-display process (S24), the process shown in FIG. 4 ends, and the process returns to S10 again.

  On the other hand, if it is determined that they overlap in the process of S20, the process proceeds to a video display process (S22). The process of S22 corresponds to the “confirmation process” in claim 1. The process of S22 is executed by the display control unit 17 and the alerting control unit 18, and outputs an output signal to the display on the side where the driver's line-of-sight direction is facing, and displays the image of the blind spot area on the display. is there. In the situation shown in FIG. 5, an image in the blind spot area B is displayed on the right display 11. At this time, the image is not displayed on the display on the side where the line-of-sight direction is not directed. Further, the driver's attention may be alerted by actuating the alerting part when displaying the video, or may not be actuated. When the process of S22 ends, the process shown in FIG. 4 ends and the process returns to S10 again.

  Thus, since the displays 11 and 12 can start displaying the image of the blind spot area before reaching the position where it is estimated that the line-of-sight direction, the oncoming lane, and the blind spot area overlap, the driver can display the blind spot area. The driver wants the driver to display the image by displaying the image of the blind spot area at an appropriate timing at the time when it is necessary to confirm the vehicle, that is, before the actual time of entering the curve or intersection. It is possible to provide video without a sense of incongruity at the timing. In addition, as shown in Fig. 8, when the vehicle enters a curve or intersection and the image is displayed at the timing when the blind spot area actually needs to be confirmed, the oncoming vehicle or obstacle suddenly appears in the blind spot area Although there is a possibility that a person may feel uncomfortable, in the blind spot display device 1 according to the present embodiment, safety confirmation can be performed without feeling uncomfortable. Further, by displaying the image of the blind spot area only on the display on the line-of-sight direction side and hiding the other display, it is possible to prevent visual distraction and prevent side-view driving.

  Next, the operation of the blind spot display device 1 according to this embodiment when an obstacle enters the blind spot area will be described with reference to FIG.

  FIG. 7 is a flowchart showing a blind spot display process in the blind spot display device 1 according to the present embodiment when an obstacle enters the blind spot area. This process is repeatedly executed at a predetermined timing in the ECU 2 while the vehicle is traveling. If the obstacle enters the blind spot area, the image is displayed on the displays 11 and 12 not only when the vehicle enters a curve or an intersection, but also when going straight, starting, or backing. If it is a scene, it can be executed in various scenes.

  As shown in FIG. 7, the blind spot display device 1 starts the process from the captured video capturing process (S40). The process of S40 is a process that is executed by the display control unit 17 and that captures video captured by the cameras 3 and 4 into the memory. In S40, an image of not only the display area D but the entire blind spot area detection area F is captured. When the process of S40 ends, the process proceeds to a display display process (S42). The process of S42 is a process executed by the display control unit 17 and cuts out only the video in the display area D from the video captured in S40 and displays it on the displays 11 and 12. When the process of S42 ends, the process proceeds to an obstacle detection process (S44).

  The process of S44 is a process of detecting an obstacle in the blind spot area detection area F by executing the blind spot area confirmation estimating unit 16 and analyzing the video acquired in S40. In this process, it is possible to analyze whether the detected obstacle exists in the display area D or only in the blind spot area detection area F outside the display area D. When the process of S44 ends, the process proceeds to an obstacle detection determination process (S46). The process of S46 is a process that is executed by the blind spot area confirmation estimating unit 16 and determines whether or not an obstacle has been detected in the blind spot area detection area F based on the detection result of S44. If it is determined in S46 that no obstacle has been detected, the process of S44 is executed again. On the other hand, if it is determined in S46 that an obstacle has been detected, the process proceeds to detection area determination processing (S48). The process of S48 is executed by the blind spot area confirmation estimating unit 16, and whether or not an obstacle exists in the display area D, that is, the obstacle is only in the blind spot area detection area F outside the display area D. This is a process for determining whether or not it exists. If it is determined in S48 that an obstacle is present in the display area D, the process proceeds to an alerting process (S54). The process of S54 corresponds to the “confirmation process” in claim 1. The process of S54 is executed by the alerting control unit 18, and alerts the driver by blinking one of the alerting units 13 and 14. Note that most of the cases where an obstacle is determined to be present in the display area D in S48 is a case where the obstacle approaches from the base line of the camera, so it can be confirmed on the display at a very early stage. It is a situation. When the processing of S54 is completed, the routine proceeds to display area determination processing (S56). Details of the process of S56 will be described later.

  On the other hand, in the process of S48, if it is determined that the obstacle exists only in the blind spot area detection area F outside the display area D, the process proceeds to the time prediction process (S50). The process of S50 is a process that is executed by the blind spot area confirmation estimating unit 16 and predicts the time until the obstacle detected in S44 enters the display area D. In S50, specifically, the time until the obstacle enters the display area D is calculated based on the detected current position of the obstacle and the vehicle speed, yaw rate, and steering angle acquired by the sensor unit 7. . When the process of S50 ends, the process proceeds to a time determination process (S52). The process of S52 is executed by the blind spot area confirmation estimating unit 16, and is a process of determining whether an obstacle enters the display area D within a predetermined time based on the prediction result in S50. Specifically, it is determined whether or not the time predicted in S50 is equal to or less than a preset threshold value T seconds. If the time is equal to or less than T seconds, it is determined that the obstacle enters the display area D within T seconds. If it is greater than the second, it is determined that it does not enter the display area D within T seconds. Note that T, which is a threshold value, is a time required to confirm the front pillar from a state in which the driver is facing the front. If it is determined in S52 that the obstacle does not enter the display area D within T seconds, the process returns to the obstacle detection process again (S44).

  On the other hand, in the process of S52, if it is determined that the obstacle enters the display area D within T seconds, the process proceeds to the alert process (S54). When the processing of S54 is completed, the routine proceeds to outside display area determination processing (S56). The process of S56 is a process that is executed by the blind spot area confirmation estimating unit 16 and determines whether or not the obstacle displayed in the display area D has gone out of the display area D. In S56, when it is determined that an obstacle is present in the display area D, the process proceeds to S54, and the alerting units 13 and 14 continue to alert. On the other hand, if it is determined in S56 that the obstacle has gone out of the display area D, the process proceeds to a warning stop process (S58). The process of S58 is a process executed by the alerting control unit 18 to stop the flashing of the alerting units 13 and 14 that are blinking. When the process of S58 ends, the process shown in FIG. 7 ends, and the process starts again from S40.

  Thus, since the alerting parts 13 and 14 can alert the driver before the obstacle enters the display area D, the driver needs to check the blind spot area, That is, it is the same as when the driver is attracted by the flashing of the alerting portions 13 and 14 by performing alerting at a stage before the time when the obstacle enters the display area D displayed on the displays 11 and 12. It becomes possible to check the image of the obstacle at the timing. This prevents the driver from feeling uncomfortable and reduces distrust to the system by avoiding the situation that nothing has already been captured when the driver checks the displays 11 and 12. Can do.

  As described above, according to the blind spot display device 1 according to the present embodiment, the displays 11 and 12 that display the blind spot area and the alerting sections 13 and 14 that alert the driver are the blind spot area confirmation estimating section. Based on the 16 estimation results, the driver can check the image of the blind spot area before the driver needs to check the blind spot area. As a result, when it is actually necessary for the driver to check the blind spot area, the blind spot area can be surely confirmed from the images on the displays 11 and 12, and the video can be displayed at an unnecessary timing. It is possible to prevent the driver from feeling uncomfortable.

  The present invention is not limited to the embodiment described above.

  For example, in the process of FIG. 4 of the present embodiment, whether or not the line-of-sight direction, the blind spot area, and the opposite lane overlap each other within T seconds is determined in S20. It may be determined whether or not a tangent of a position that can be regarded as a center line (for example, a center position of a lane width on a road without a center line) overlaps with the driver's line-of-sight direction.

  In the process of FIG. 7 of the present embodiment, the video of the display area D is immediately displayed on the displays 11 and 12 in S42. Instead, the timing at which the obstacle is detected or the obstacle is T seconds. The video may be displayed at a timing determined to enter the display area within.

  Furthermore, the area of the blind spot area detection area F may be wider than that shown in FIG. 2, and the wider the area, the faster the obstacle can be detected.

  In addition, the alert is performed by blinking the frame of the display, but the alert may be performed by a voice or a buzzer sound.

  DESCRIPTION OF SYMBOLS 1 ... Blind spot display device, 3 ... Right camera (imaging means, monitoring means), 4 ... Left camera (imaging means, monitoring means), 6 ... Gaze direction acquisition camera (gaze direction acquisition means), 9 ... Road linear information acquisition part (Road alignment information acquisition means), 11 ... right display (dead area display means, display means), 12 ... left display (dead area display means, display means), 13 ... right attention calling part (dead area display means), 14 ... Left attention calling part (blind spot area display means), 16 ... blind spot area confirmation estimating part (blind spot area confirmation estimating means).

Claims (3)

Imaging means for acquiring an image of a blind spot area caused by obstructing the driver's field of view;
Blind spot area display means for displaying the video acquired by the imaging means;
Gaze direction acquisition means for acquiring the gaze direction of the driver;
Road alignment information acquisition means for acquiring road alignment information including linear information of the oncoming lane;
A blind spot area confirmation estimating means for estimating whether or not the driver needs to confirm the blind spot area, and
The blind spot area confirmation estimating means estimates whether or not the line-of-sight direction, the opposite lane, and the blind spot area overlap,
The blind spot area display means confirms the image of the blind spot area to the driver before the time when the driver needs to confirm the blind spot area based on the estimation result of the blind spot area confirmation estimation means. There line the confirmation process to,
The blind spot area display means starts displaying the image of the blind spot area before the vehicle reaches the position where the blind spot area, the opposite lane, and the blind spot area are estimated to overlap. apparatus. The imaging means has a blind spot area detection area larger than the display area displayed on the blind spot area display means ,
The blind spot region display means, blind spot display device according to claim 1, wherein the blind spot region detection the obstacle detected by the area and carrying out alert to the driver before entering the display area . The vehicle further comprises a deceleration action detecting means for detecting a deceleration action of the vehicle being driven,
  The blind spot area confirmation estimation means determines whether or not the vehicle has decelerated,
  The blind spot display device according to claim 1 or 2, wherein the blind spot area display means performs the confirmation process based on a determination result and an estimation result of the blind spot area confirmation estimation means.