JP5953824B2 - Vehicle rear view support apparatus and vehicle rear view support method - Google Patents

Description

  The present invention relates to a display technology that supports a field of view on the rear side of a vehicle.

Conventionally, as a technique for superimposing and displaying a vehicle interior image on an image taken by a camera, for example, there is a technique described in Patent Document 1.
In the above prior art, the following display processing is performed in order to display an image corresponding to the reflection image of the rearview mirror taken by the vehicle rear-view camera so that the sense of distance between the vehicle and the object can be intuitively understood. Yes. First, the window outline image on the rear side of the vehicle is displayed in a superimposed manner at the location hidden in the vehicle interior scenery. Next, the contrast between the inside and outside of the window outline image is enhanced by “changing the brightness and color tone” between the inside and outside of the window outline image.

Japanese Patent Laid-Open No. 2007-290570

However, in the above prior art, the images inside the front and back window outline images have the same brightness, even though the distance between the front and back of the image inside or outside the vehicle interior is actually far. There is a problem that it is difficult to grasp the distance to display.
The present invention has been made in view of the above problems, and displays a captured image of the rear side of the host vehicle so that the line of sight can be easily directed to the target object in the captured image, and the target object and the host vehicle It is an object of the present invention to provide a vehicular rear view support apparatus and a vehicular rear view support method that are suitable for easily perceiving a sense of distance.

  In order to solve the above-described problems, the present invention captures a rear side region of a vehicle including a part of a side surface portion of the vehicle in a photographing range by a rear side image photographing unit mounted on the vehicle. A blurring process, which is a process of blurring the image, is performed on a side image area that is an image area including a part of the side surface portion of the vehicle in the rear side image obtained by the photographing. On the other hand, a subsequent vehicle that travels in an adjacent lane adjacent to the travel lane of the vehicle included in the rear side image is detected, and an inter-vehicle distance from the detected subsequent vehicle is detected. And if it determines with the distance between vehicles with a following vehicle being more than a distance threshold value, a blurring process will be implemented, and if it determines with the distance between vehicles with a following vehicle being less than a distance threshold value, a blurring process will be stopped. Then, when performing the blurring process, the rear side image subjected to the blurring process is displayed. Further, when the blurring process is stopped, a rear side image not subjected to the blurring process is displayed.

  According to the present invention, when the succeeding vehicle exists at a distance equal to or greater than the distance threshold, the rear side image subjected to the blurring process having the same visual effect as the blurring of the foreground by the distant gaze in the human eye is displayed. Further, when the succeeding vehicle exists at a distance less than the distance threshold, a rear side image not subjected to the blurring process is displayed. This makes it possible for the driver to display an image that makes it easy to direct the line of sight to the attention object in the rear side image and to perceive a sense of distance from the attention object.

1 is a schematic configuration diagram of a vehicular rear view assistance apparatus according to an embodiment of the present invention. It is a figure which shows the example of arrangement | positioning of the cameras 400-404 and the monitors 405-409. It is a figure which shows an example of the imaging | photography range of the cameras 400-404. It is a block diagram which shows an example of a function structure of the vehicle back view assistance apparatus. It is a flowchart which shows an example of the process sequence of a rear view assistance process. It is a flowchart which shows an example of the process sequence of a blurring cancellation flag setting process. It is a flowchart which shows an example of the process sequence of a transparent display flag setting process. 4 is a schematic diagram illustrating an example of a right rear side image captured by the camera 400. FIG. (A) is a schematic diagram which shows an example of the blurring degree set to each division | segmentation area | region of a right side image area, (b)-(d) is an example of the image which performed the blurring process which reduces the resolution. (E)-(g) is a schematic diagram which shows an example of the image which performed the blurring process using the Gaussian blurring filter. (A)-(d) is a schematic diagram which shows an example of the display result of the various images according to the inter-vehicle distance with a succeeding vehicle. It is a block diagram which shows an example of a function structure of the vehicle back view assistance apparatus 100 of 2nd Embodiment. It is a flowchart which shows an example of the process sequence of the blurring cancellation flag setting process of 2nd Embodiment. It is a flowchart which shows an example of the process sequence of the transparent display flag setting process of 2nd Embodiment. (A)-(c) is a schematic diagram which shows an example of the display result of the various images according to the detection result of R position. (A)-(d) is a schematic diagram which shows an example of the display result of the various images which concern on a modification.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIGS. 1-10 is a figure which shows 1st Embodiment of the vehicle back view assistance apparatus and vehicle back view assistance method which concern on this invention.
(Constitution)
First, the configuration of the vehicle rear view assistance device will be described.
FIG. 1 is a schematic configuration diagram of a vehicular rear view assistance device according to the present embodiment.
In the present embodiment, the vehicle rear view assistance device 100 is mounted on the vehicle A. The vehicular rear view assistance apparatus 100 includes a CPU 10, a camera group 11, a RAM 12, a ROM 13, and a monitor group 14.
The camera group 11 includes a camera 400, a camera 401, a camera 402, a camera 403, and a camera 404. The cameras 400 to 404 are configured from known cameras such as a CCD camera and a CMOS camera.

The monitor group 14 includes a monitor 405 (or 407), a monitor 406 (or 408), and a monitor 409. The monitors 405 to 409 are configured from known monitors such as a liquid crystal monitor, an organic EL monitor, and a plasma monitor.
FIG. 2 is a diagram illustrating an arrangement example of the cameras 400 to 404 and the monitors 405 to 409.
In the present embodiment, the cameras 400 to 404 and the monitors 405 to 409 are substituted for a door mirror and a room mirror that are mounted on a conventional vehicle and display an image reflected on a mirror surface.

  The camera 400 is provided in the vicinity of the installation position of the conventional right door mirror outside the passenger compartment of the host vehicle A, and the camera 401 is provided in the vicinity of the installation position of the conventional left door mirror outside the passenger compartment of the host vehicle A. The camera 402 is provided at the same height as the camera 400 at the right rear end of the host vehicle A, and the camera 403 is provided at the same height as the camera 401 at the left rear end of the host vehicle A. The camera 404 is provided at the upper end of the rear window at the center of the rear end of the host vehicle A.

FIG. 3 is a diagram illustrating an example of the shooting range of the cameras 400 to 404.
Specifically, the camera 400 captures an image corresponding to a reflection image of a conventional right door mirror, and is installed at a position where the right rear side region including a part of the right side surface of the host vehicle A can be captured. To do. For example, the right rear side area including the right side area from the vicinity of the conventional right door mirror to the rear end of the right rear bumper is installed at a position where photographing is possible. The camera 400 installed at such a position images a right rear side region including a part of the right side surface portion of the own vehicle A, and image data obtained by the image capturing (hereinafter referred to as right rear side image data and To the CPU 10.

  The camera 401 captures an image corresponding to a reflection image of a conventional left door mirror, and is installed at a position where a left rear side region including a part of the left side surface of the host vehicle A can be captured. For example, the left rear side area including the left side area from the vicinity of the conventional left door mirror to the rear end of the left rear bumper is installed at a position where it can be photographed. The camera 401 installed at such a position captures a left rear side area including a part of the left side surface portion of the host vehicle A, and image data (hereinafter referred to as left rear side image data) obtained by capturing the image. To the CPU 10.

  In addition, the camera 402 covers an area that becomes a blind spot by the right side surface portion of the host vehicle A in the shooting range of the camera 400. In the present embodiment, the camera 402 can shoot a rear area (hereinafter referred to as a right rear area) including an area where a part of the right side portion of the host vehicle A becomes a blind spot in the shooting range of the camera 400. Install in. The camera 402 installed at such a position captures a right rear area of the host vehicle A, and transmits image data obtained by the capturing (hereinafter referred to as right rear image data) to the CPU 10.

  Further, the camera 403 covers an area that becomes a blind spot by the left side surface portion of the host vehicle A in the photographing range of the camera 401. In the present embodiment, the camera 403 can photograph a left rear region (hereinafter referred to as a left rear region) including a region where a blind spot is formed by a part of the left side surface portion of the host vehicle A within the photographing range of the camera 401. Install in position. The camera 403 installed at such a position photographs the left rear area of the host vehicle A, and transmits image data obtained by photographing (hereinafter referred to as left rear image data) to the CPU 10.

The camera 404 captures an image corresponding to a reflection image of a conventional room mirror, and is installed at a position where the area behind the center of the host vehicle A can be captured. The camera 404 installed at such a position captures the center rear of the host vehicle and transmits image data obtained by the capturing (hereinafter referred to as center rear image data) to the CPU 10.
In FIG. 3, only the uniaxial range is shown as the shooting range, but in actuality, it is a conical shooting range with the center of the lens of each camera as the apex. In addition, the photographing range of the cameras 400 to 404 is a range of an angle of view determined by characteristics of a lens (wide angle lens) included in each camera.

  Returning to FIG. 2, the monitor 405 is provided in the vicinity of the installation position of the conventional right door mirror outside the cabin of the host vehicle A, and the monitor 406 is installed at the position of the conventional left door mirror outside the cabin of the host vehicle A. It is provided near. The monitor 407 is provided near the base of the right A pillar in the passenger compartment of the host vehicle A (near the same height position as the conventional right door mirror), and the monitor 408 is provided on the left A pillar in the passenger compartment of the host vehicle A. It is provided near the base (near the same height as the conventional left door mirror). The monitor 409 is provided in the vicinity of the conventional room mirror installation position in the upper center of the front side in the vehicle interior.

The monitor 405 corresponds to a conventional right door mirror, and image data generated based on right rear side image data obtained by photographing with the camera 400 and right rear image data obtained by photographing with the camera 402. The image of is displayed. The monitor 405 is waterproofed so as to be installed outside the passenger compartment.
The monitor 406 corresponds to a conventional left door mirror, and image data generated based on left rear side image data obtained by photographing with the camera 401 and left rear image data obtained by photographing with the camera 403. The image of is displayed. The monitor 406 is waterproofed for installation outside the passenger compartment.

The monitor 407 corresponds to a conventional right side door mirror similar to the monitor 405, and is based on right rear side image data obtained by photographing with the camera 400 and right rear image data obtained by photographing with the camera 402. An image of the generated image data is displayed.
The monitor 408 corresponds to a conventional left side door mirror similar to the monitor 406, and is based on left rear side image data obtained by photographing with the camera 401 and left rear image data obtained by photographing with the camera 403. An image of the generated image data is displayed.

  A monitor 409 corresponds to a conventional room mirror and displays an image of the central rear image data obtained by photographing with the camera 404. Since the camera 404 is installed at the rear end of the vehicle, the captured image does not include the interior of the host vehicle, unlike a reflection image of a conventional room mirror. Therefore, it is desirable to superimpose and display an image of a part of the passenger compartment (such as the rear window frame) generated by the CG on the captured image of the camera 404.

Note that both the monitors 405 and 406 and the monitors 407 and 408 can be installed, but it is desirable to install either one.
In this embodiment, the monitors 405 and 406 are installed, and the monitors 407 and 408 are not installed.
Returning to FIG. 1, the ROM 13 stores a dedicated program for realizing a later-described rear view support function and various data necessary for executing the program. The ROM 13 reads various data stored in response to a request from the CPU 10 and inputs the data to the CPU 10.

Specifically, the ROM 13 stores information on the distance threshold used in the below-described inter-vehicle distance determination process, the installation position, installation angle, and angle of view of the cameras 400 to 404 for calculating the inter-vehicle distance with the following vehicle, which will be described later. Information such as the focal length, information on the installation positions of the monitors 405 to 409 used in the blur degree setting process described later, and the like are stored.
The RAM 12 is used as a work memory when executing a dedicated program. The RAM 12 temporarily stores various data (various photographed image data, various flag data, etc.) necessary for executing the dedicated program.

  A CPU (Central Processing Unit) 10 executes a dedicated program stored in the ROM 13 and monitors 405 and 406 that replace the reflected images of the conventional left and right door mirrors based on various image data transmitted from the cameras 400 to 403. A display image is generated. Based on the image data transmitted from the camera 404, the CPU 10 generates a display image on the monitor 409 that substitutes for a reflection image of a conventional room mirror. In the present embodiment, the cameras 400 to 404 are digital video cameras that shoot moving images, and the moving images are displayed on the monitors 405 to 409.

  When generating the display images of the monitors 405 and 406, the CPU 10 applies to a partial image area of the left and right side surfaces of the own vehicle A in the left and right rear side images (hereinafter referred to as a left side image area and a right side image area). To blur the image. Then, the CPU 10 displays on the monitors 405 and 406 the left and right rear side images obtained by performing the blurring process on the left and right side image regions.

  Further, the CPU 10 executes a dedicated program stored in the ROM 13 and detects the following vehicle traveling in the traveling lane and the adjacent lane of the own vehicle A based on various image data transmitted from the cameras 400 to 404. The inter-vehicle distance between the detected succeeding vehicle and the host vehicle A is calculated. The CPU 10 compares the calculated inter-vehicle distance with a distance threshold value stored in advance in the ROM 13. When it is determined that the inter-vehicle distance is less than the distance threshold, the blurring process for the region on the side where the subsequent vehicle is detected in the left and right side image regions is stopped.

  Further, when the CPU 10 determines that the succeeding vehicle traveling in the traveling lane of the host vehicle A is detected, the side image area on the corresponding side in the left and right rear images with respect to the corresponding image on the corresponding side among the left and right rear side images. The image region at the position corresponding to is transparently displayed with a preset translucency. In the present embodiment, the transmissive display is performed with the transmittance p (for example, 50 <p <70, the unit is [%]).

Next, the functional configuration of the rear view support function realized by executing a dedicated program in the CPU 10 will be described.
FIG. 4 is a block diagram illustrating an example of a functional configuration of the vehicular rear view assistance device 100.
As illustrated in FIG. 4, the vehicular rear view assistance device 100 includes a side image area detection unit 101, a vanishing point detection unit 102, a vanishing point distance calculation unit 103, and an area division unit 104 as a rear view support function configuration. The other vehicle detection unit 105, the blurring processing control unit 106, the transmission composition control unit 107, and the blurring processing unit 108.

The side image area detection unit 101 detects the right side image area of the host vehicle A from the right rear side image obtained by photographing with the camera 400. Furthermore, the left side image area of the host vehicle A is detected from the left rear side image obtained by photographing with the camera 401.
Here, as a side image region detection method, for example, there is a method of detecting a side image region from a rear side image by template matching processing. When this method is adopted, template data is stored in the ROM 13 in advance. As another method, for example, an area composed of pixels of the same color as or close to the body color of the vehicle A (for example, a color within a preset difference value range) is detected as a side image area. There is a way. In the present embodiment, the former method is adopted.

  The vanishing point detection unit 102 detects a vanishing point that is an intersection of the extension line of the right side image region and the horizon line from the right rear side image obtained by photographing with the camera 400. Further, a vanishing point that is an intersection of the extension line of the left side image area and the horizon is detected from the left rear side image obtained by photographing with the camera 401. The vanishing point detection unit 102 outputs the vanishing point coordinate information to the vanishing point distance calculation unit 103.

The vanishing point distance calculation unit 103 calculates the distance between the vanishing point in the rear side image and each pixel in the side image region based on the coordinates of the vanishing point detected by the vanishing point detection unit 102. The vanishing point distance calculation unit 103 outputs information on the calculated distance from the vanishing point to the region dividing unit 104.
Based on the information about the distance from the vanishing point acquired from the vanishing point distance calculating unit 103, the region dividing unit 104 converts the right side image region and the left side image region detected by the side image region detecting unit 101 in the perspective direction of the image. Divide into multiple areas. Hereinafter, each divided area is referred to as a divided area. The area dividing unit 104 outputs the coordinate information corresponding to each divided area and the image data of the right side image area and the left side image area to the blurring degree setting unit 300.

In addition, when the own vehicle A is provided with a device that can measure the distance to an object such as a laser range finder, it is possible to obtain distance information of each pixel constituting a part of the left and right side portions of the own vehicle A. it can. That is, the three-dimensional coordinates of each pixel in the right side image area and the left side image area can be obtained. Therefore, it is possible to divide the left and right side image regions into a plurality of regions in the perspective direction of the image based on the three-dimensional coordinate information without obtaining the vanishing point.
Other vehicle detection unit 105 includes a following vehicle detection unit 200, an inter-vehicle distance detection unit 201, and an inter-vehicle distance determination unit 202.

  The following vehicle detection unit 200 detects a following vehicle (hereinafter referred to as the own lane following vehicle) that travels in the traveling lane of the own vehicle A from various captured images obtained by photographing with the cameras 400 to 404. In addition, a succeeding vehicle that travels in the right adjacent lane of the own vehicle A (hereinafter referred to as a right lane succeeding vehicle) and a succeeding vehicle that travels in the left adjacent lane of the own vehicle A (hereinafter referred to as a left lane succeeding vehicle) Is detected. Specifically, the succeeding vehicle detection unit 200 performs image processing such as edge detection and pattern recognition processing on various captured image data from the cameras 400 to 404 and travels in the traveling lane or adjacent lane of the own vehicle A. Detects the following vehicle. The following vehicle detection unit 200 outputs the detection results of the own lane, the right lane, and the left lane following vehicle to the inter-vehicle distance detection unit 201 and the transmission composition control unit 107, respectively. Note that, when no subsequent vehicle is detected, the subsequent vehicle detection unit 200 outputs information indicating that fact to the inter-vehicle distance detection unit 201 and the transmission composition control unit 107, respectively.

  If the inter-vehicle distance detection unit 201 determines that the subsequent vehicle has been detected based on the detection result from the subsequent vehicle detection unit 200, the installation position, installation angle, field angle, and lens focus of the cameras 400 to 404 stored in the ROM 13 are detected. Based on the information such as the distance, the distance between the detected various succeeding vehicles is calculated. However, in this embodiment, when a plurality of succeeding vehicles are detected in the same lane, only the inter-vehicle distance from the first succeeding vehicle is calculated. The inter-vehicle distance detection unit 201 outputs the calculated inter-vehicle distance to the inter-vehicle distance determination unit 202 in association with the type of the following vehicle (own lane, right lane, or left lane). On the other hand, if it is determined that the following vehicle is not detected based on the detection result from the following vehicle detection unit 200, information indicating that the following vehicle is not detected is output to the inter-vehicle distance determination unit 202.

  In the present embodiment, the inter-vehicle distance detection unit 201 includes camera geometric information such as the installation position, installation angle, field angle, and focal length of each camera in the camera group 11, and the position of the subsequent vehicle in the captured image. Based on the above, the inter-vehicle distance between the host vehicle A and the following vehicle is calculated. That is, the relationship between the actual position of the succeeding vehicle in the rear or rear side area of the host vehicle A and the position of the coordinate system in the captured image of the camera is determined from the camera installation position, installation angle, field angle, focal length, etc. Since it can identify uniquely, the distance between the own vehicle A and a following vehicle can be calculated from the position of the following vehicle in the picked-up image of a camera.

In addition, as another method for calculating the inter-vehicle distance based on the photographed image, for example, a method of calculating from the size of the subsequent vehicle in the photographed image and its change, the license plate of the subsequent vehicle in the photographed image, or the characters of the license plate For example, a calculation method based on an object having a known size, a calculation method based on a captured image taken using a stereo camera, or the like may be used.
Further, when an object detection device such as a laser range finder, an in-vehicle millimeter wave radar or a laser radar is mounted on the own vehicle A, the distance between the following vehicles based on the information detected by the object detection device May be calculated. Alternatively, the inter-vehicle distance from the following vehicle may be calculated based on both the result of the image processing on the captured image of the camera group 11 and the information detected by the object detection device.

  The inter-vehicle distance determination unit 202 compares the inter-vehicle distance detected by the inter-vehicle distance detection unit 201 with a distance threshold stored in advance in the ROM 13 and determines whether the inter-vehicle distance is equal to or greater than the distance threshold. The inter-vehicle distance determination unit 202 outputs information indicating the determination result to the blurring process control unit 106. In the present embodiment, the inter-vehicle distance determination unit 202 outputs information indicating a determination result equal to or greater than the distance threshold to the blurring process control unit 106 when acquiring information indicating that no subsequent vehicle has been detected.

Based on the determination result of the inter-vehicle distance from the inter-vehicle distance determination unit 202, the blurring processing control unit 106 sets the blur cancellation flag in the area for the blur cancellation flag preset in the RAM 12. Specifically, when determining that the inter-vehicle distance is equal to or greater than the distance threshold, the blurring process control unit 106 sets the blur removal flag to off (for example, “0”). On the other hand, if it is determined that the inter-vehicle distance is less than the distance threshold, the blur release flag is set to on (for example, “1”).
Here, the blur cancellation flag is a flag for the blur processing unit 108 to determine whether or not to perform the blur processing.

Based on the detection result of the succeeding vehicle detection unit 200, the transmission composition control unit 107 sets a transmission display flag in a region for a transmission display flag preset in the RAM 12. Specifically, when the transmission composition control unit 107 determines that a subsequent vehicle (own vehicle lane subsequent vehicle) traveling in the traveling lane of the host vehicle A is detected based on the detection result of the subsequent vehicle detection unit 200, the transmission display flag is displayed. Set to ON (for example, “1”). On the other hand, when it is determined that the following vehicle traveling in the traveling lane of the host vehicle A is not detected, the transmission display flag is set to off (for example, “0”).
Here, the transparent display flag is a flag for the blurring processing unit 108 to determine whether or not to perform a transparent composition process (described later).

The blur processing unit 108 includes a blur degree setting unit 300, a blur image generation unit 301, and an image composition unit 302.
Based on the division result of the area division unit 104, the detection result of the vanishing point detection unit 102, and the calculation result of the vanishing point distance calculation unit 103, the blurring degree setting unit 300 applies to each divided region of the side image region. Set the blur level. Specifically, the blurring degree setting unit 300 sets a stronger blurring degree for a divided region having a larger distance from the vanishing point, and sets a weaker blurring degree for a divided region having a smaller distance from the vanishing point. That is, in the perspective direction of the image, a weaker blurring degree is set in a farther divided area, and a stronger blurring degree is set in a closer divided area.

  The relationship between the intensity of the blurring degree and the distance is not limited to the relationship using the distance to the vanishing point, and the portions corresponding to the divided regions of the side image region in the side portions of the monitors 405 and 406 and the own vehicle A. It can be replaced with the relationship using the distance. That is, a stronger blurring degree is set for a divided region corresponding to a side portion closer to the monitors 405 and 406, and a weaker blurring degree is set for a divided region corresponding to a side portion farther from the monitors 405 and 406. When using the distance relationship with the monitor for setting the blurring degree, for example, the ROM 13 stores in advance information on the positional relationship between the monitor and the side image area in the rear side image.

The blurred image generation unit 301 performs a blurring process on the side image region based on the setting content of the blur cancellation flag set in the RAM 12 and the setting content of the blur level of the blur level setting unit 300. In the following description, when there is no need to distinguish between the right side image area and the left side image area, only the side image area will be described without distinction between right and left.
Specifically, if the blur image generation unit 301 determines that the blur cancel flag is off based on the blur cancel flag, the blur image generation unit 301 performs a blur process. On the other hand, if it is determined that the blur cancellation flag is on, the blur processing is stopped. When the blurred image generation unit 301 determines that the blur cancellation flag is off, the blurred image generation unit 301 performs a blurring process on each divided region of the side image region with the blurring degree set by the blurring degree setting unit 300. Then, the image data of the side image area subjected to the blurring process is output to the image composition unit 302.

  Note that the blur processing includes, for example, processing for reducing the resolution of the image in the side image region, processing for blurring the edge portion of the image in the side image region (processing for smoothing the degree of color change of the edge portion), and the like. . Here, for example, the process of blurring while retaining the image content (shape, etc.) as much as possible without exchanging pixels is more than the blurring process such as exchanging pixels of the image as in mosaic processing. Desirable from human visual characteristics.

On the other hand, if the blur image generation unit 301 determines that the blur cancel flag is on based on the blur cancel flag, the blur image generation unit 301 stops the blur processing. Then, the image data of the side image area not subjected to the blurring process is output to the image composition unit 302.
Further, the blurred image generation unit 301 determines the output destination of the side image area data that has been subjected to the blurring process or the side image area data that has not been subjected to the blurring process, based on the transparent display flag set in the RAM 12. Hereinafter, the side image area data subjected to the blurring process is referred to as blurred side image area data, and the side image area data not subjected to the blurring process is referred to as clear side image area data.

  When the blurred image generation unit 301 specifically determines that the transparent display flag is OFF, the blurred image generation unit 301 outputs the blurred side image region data or the clear side image region data to the normal combining unit 303 (described later) of the image combining unit 302. . On the other hand, if it is determined that the transmissive display flag is ON, the blurred side image area data or the clear side image area data is output to a transmissive composition unit 304 (described later) of the image composition unit 302.

The image composition unit 302 includes a normal composition unit 303 and a transmission composition unit 304.
The normal combining unit 303 combines the blurred side image area data or the clear side image area data from the blurred image generation unit 301 with the rear side image data from the camera group 11. That is, the image other than the side image area in the photographed rear side image and the image of the blurred side image area data or the clear side image area data from the blurred image generation unit 301 are combined. Hereinafter, this image composition is referred to as normal composition.
The normal combining unit 303 further generates an image display signal of the combined image and outputs the generated image display signal to a corresponding monitor in the monitor group 14. Here, in order to make the display image of each monitor an image corresponding to the reflection image of the left and right door mirrors, the normal combining unit 303 generates an image display signal of an image obtained by horizontally inverting each combined image.

  The transmission combining unit 304 combines the blurred side image region data or the clear side image region data from the blurred image generation unit 301 with the rear side image data and the rear image data from the camera group 11. Specifically, the transmission compositing unit 304 corresponds to the side image area in the image of the rear image data with the translucency p that is set to be semi-transparent for the image of the blurred side image area data or the clear side image area data. The image composition is performed so that the image area at the position (hereinafter referred to as the corresponding image area) is transparently displayed. That is, when a subsequent vehicle traveling in the traveling lane of the host vehicle A is detected, the rear image includes the detected image of the subsequent vehicle. A composite image is generated in which the image of the succeeding vehicle is transmissively displayed with the side image area being translucent. Hereinafter, this image composition is referred to as transmission composition.

  As the transparent composition processing, for example, the side image is displayed so that the image of the blurred side image region data or the clear side image region data is thinned out in line units, and an image corresponding to the thinned position of the corresponding image region is displayed for the thinned portion. There is a process of combining the area and the corresponding image area. Also, for example, there is a process of combining the side image area and the corresponding image area using the known α blending with the side image area as the foreground and the corresponding image area as the background. In the α blending, each pixel value in the side image region (foreground) is multiplied by a coefficient α (0 <α <1) corresponding to a preset transmittance, and each pixel value in the corresponding image region (background) is (1). Multiply -α). Then, the pixel values after multiplication of the corresponding pixel positions are added.

  The transmission composition unit 304 further generates an image display signal of the transmission composite image and outputs the generated image display signal to a corresponding monitor in the monitor group 14. Note that the transmission composition unit 304 generates an image display signal of an image obtained by horizontally inverting each transmission composition image in order to display an image corresponding to the reflected image of each mirror on the monitor, similarly to the normal composition unit 303.

(Back view support processing)
Next, the process procedure of the rear view assistance process performed in the function structure part of the rear view assistance apparatus 100 for vehicles is demonstrated.
FIG. 5 is a flowchart illustrating an example of a processing procedure of the rear view support process.
When the power is turned on (ignition is turned on) and a dedicated program is executed in the CPU 10, the process first proceeds to step S100 as shown in FIG.
In step S100, the CPU 10 executes an initialization process for initially setting timers, counters, and flags used in the subsequent processes, and the process proceeds to step S102.

In step S102, the CPU 10 transmits a shooting start instruction to the camera group 11, starts shooting the left and right rear side images, the left and right rear images, and the center rear image, and proceeds to step S104.
In step S104, the CPU 10 executes a deblurring flag setting process and proceeds to step S106.
In step S106, the CPU 10 executes a transparent display flag setting process, and proceeds to step S108.

In step S108, the side image area detection unit 101 detects the side image area from the rear side image captured by the camera group 11, and the process proceeds to step S110.
In step S110, the vanishing point detection unit 102 detects the vanishing point from the rear side image. Then, the coordinate information of the detected vanishing point is output to the vanishing point distance calculation unit 103, and the process proceeds to step S112. In the present embodiment, the vanishing point detection unit 102 sets an extension line of the side image region and a horizontal line in the rear side image, and detects these intersections as vanishing points.

In step S112, the vanishing point distance calculation unit 103 calculates the distance between the vanishing point and each pixel based on the coordinate information of each pixel in the side image region and the coordinate information of the vanishing point. Then, the calculated distance information is output to the area dividing unit 104, and the process proceeds to step S114.
In step S114, the region dividing unit 104 logically divides the side image region detected in step S108 into a plurality of regions in the perspective direction of the image based on the information on the distance between the vanishing point calculated in step S112 and each pixel. To do. Then, the coordinate information of each divided region is output to the blurring degree setting unit 300, and the process proceeds to step S116.

In step S116, the blurring degree setting unit 300 sets the blurring degree for each divided region of each side image region based on the coordinate information of each divided region of each side image region from the region dividing unit 104. The process proceeds to step S118.
Here, with regard to the degree of blurring, the smaller the distance from the vanishing point, the weaker the blurring degree, and the larger the distance from the vanishing point, the higher the degree of blurring. For example, it is assumed that the side image area is divided into three and the first to third divided areas are arranged in descending order of the distance from the vanishing point. In this case, the blurring degree of the third divided area with the smallest distance is set to the weakest degree, and the blurring degree of the first divided area with the largest distance is set to the strongest degree. Then, the blurring degree of the second divided area having the second smallest distance is set to a degree of strength intermediate between the blurring degrees of the first and third divided areas.

In step S118, the blurred image generation unit 301 determines whether or not the blur cancellation flag is set to ON based on the blur cancellation flag set in the RAM 12. If it is determined that the blur removal flag is set to on (Yes), the process proceeds to step S120. If the blur removal flag is not set to on (No), the process proceeds to step S130.
When the process proceeds to step S120, the blurred image generation unit 301 determines whether or not the transparent display flag set in the RAM 12 is set to ON. If it is determined that the transparent display flag is set to ON (Yes), the process proceeds to step S122. If it is determined that the transparent display flag is not set to ON (No), the process proceeds to step S126. To do.

When the process proceeds to step S122, the blurred image generation unit 301 outputs the clear side image area data to the transmission and synthesis unit 304 without performing the blurring process on the side image area detected by the side image area detection unit 101. Then, the process proceeds to step S124.
In step S <b> 124, the transparent composition unit 304 performs transparent composition of the clear side image area data image, the rear image data image, and the rear side image data image. Then, an image display signal of an image obtained by horizontally inverting the generated transmission composite image is generated, and the generated image display signal is output to a monitor corresponding to the generated signal in the monitor group 14. Thereafter, the process proceeds to step S142.

On the other hand, when it is determined in step S120 that the transparent display flag is not set to ON and the process proceeds to step S126, the blurred image generation unit 301 blurs the side image region detected by the side image region detection unit 101. The sharp side image area data is output to the normal composition unit 303 without performing the processing. Thereafter, the process proceeds to step S128.
In step S128, the normal combining unit 303 normally combines the clear side image data image, the rear side image data image, and the rear image data image. Then, an image display signal of an image obtained by horizontally inverting the generated normal composite image is generated, and the generated image display signal is output to a monitor corresponding to the generated signal in the monitor group 14. Thereafter, the process proceeds to step S142.

If it is determined in step S118 that the blur release flag is not set to ON and the process proceeds to step S130, the side image is determined based on the blur level set by the blur level setting unit 300 in the blur image generation unit 301. The blurring process is performed on each divided area, and the process proceeds to step S132.
In step S132, the blurred image generation unit 301 determines whether or not the transparent display flag set in the RAM 12 is set to ON. If it is determined that the transparent display flag is set to ON (Yes), the process proceeds to step S134. If it is determined that the transparent display flag is not set to ON (No), the process proceeds to step S138. To do.

When the process proceeds to step S134, the blurred image generation unit 301 outputs the blurred side surface image area data subjected to the blurring process to the transmission composition unit 304, and the process proceeds to step S136.
In step S136, the transmission composition unit 304 performs transmission composition on the image of the blurred side image area data, the image of the rear image data, and the image of the rear side image data. Then, an image display signal of an image obtained by horizontally inverting the generated transmission composite image is generated, and the generated image display signal is output to a monitor corresponding to the generated signal in the monitor group 14. Thereafter, the process proceeds to step S142.

On the other hand, when it is determined in step S132 that the transparent display flag is not set to ON and the process proceeds to step S138, the blurred image generation unit 301 outputs the blurred side image region data to the normal composition unit 303. Thereafter, the process proceeds to step S140.
In step S140, the normal combining unit 303 normally combines the blurred side image data image, the rear side image data image, and the rear image data image. Then, an image display signal of an image obtained by horizontally inverting the generated normal composite image is generated, and the generated image display signal is output to a monitor corresponding to the generated signal in the monitor group 14. Thereafter, the process proceeds to step S142.

In step S142, it is determined whether or not there is an unprocessed blur cancel flag. If it is determined that there is an unprocessed blur cancel flag (Yes), the process proceeds to step S118. On the other hand, if it is determined that there is no unprocessed blur release flag (No), the process proceeds to step S144.
Here, the blur removal flag is set for each of the left and right side image regions. Therefore, in this step, it is determined whether or not processing has been performed for both. For example, if the processing for the setting of the deblurring flag for the right side image area is performed first, the processing for the setting of the deblurring flag for the left side image area is performed next.

In step S144, a composite image corresponding to the input image display signal is displayed on each monitor of the monitor group 14, and the process proceeds to step S146.
In step S146, the CPU 10 determines whether or not the ignition is turned off based on a signal from an ignition switch (not shown). If it is determined that it has been turned off (Yes), the series of processing is terminated, and if it is determined that it has not been turned off (No), the process proceeds to step S104.

(Deblurring flag setting process)
Next, the processing procedure of the blur removal flag setting process performed in step S104 will be described.
FIG. 6 is a flowchart illustrating an example of a processing procedure of the blur removal flag setting process.
When the blur release flag setting process is started in step S104, as shown in FIG. 6, first, the process proceeds to step S200.
In step S200, the succeeding vehicle detection unit 200 acquires various photographed image data obtained by photographing with the cameras 400 to 404 from the camera group 11, and proceeds to step S202.

In step S202, the subsequent vehicle detection unit 200 performs a subsequent vehicle detection process for detecting the subsequent vehicle from the images of the various captured image data acquired in step S200, and the process proceeds to step S204.
In step S204, when the subsequent vehicle is detected by the subsequent vehicle detection unit 200, information on the detection result including the type of the detected subsequent vehicle (own lane, right lane, left lane) is transmitted to the inter-vehicle distance detection unit 201 and the transmission composition. Each is output to the control unit 107, and the process proceeds to step S206. On the other hand, when the following vehicle is not detected, information indicating that the following vehicle does not exist is output to the inter-vehicle distance detection unit 201 and the transmission composition control unit 107, and the process proceeds to step S206.

In step S <b> 206, the inter-vehicle distance detection unit 201 determines whether or not a subsequent vehicle has been detected based on the detection result information from the subsequent vehicle detection unit 200. And when it determines with having detected (Yes), it transfers to step S208. On the other hand, when it determines with not having detected (No), it transfers to step S222.
When the process proceeds to step S208, the inter-vehicle distance detection unit 201 detects the camera 400 to 404 based on the installation position, installation angle, and focal distance stored in advance in the ROM 13, and the captured image data including the following vehicle. The inter-vehicle distance between each succeeding vehicle and the host vehicle A is calculated. Thereafter, the process proceeds to step S210.
In step S210, the inter-vehicle distance detection unit 210 outputs information associating the calculation result of the inter-vehicle distance in step S208 with the type of each subsequent vehicle to the inter-vehicle distance determination unit 202, and the process proceeds to step S212.

In step S212, the inter-vehicle distance determination unit 202 detects the inter-vehicle distance in each subsequent vehicle detected based on the information on the calculation result of the inter-vehicle distance from the inter-vehicle distance detection unit 201 and the information on the distance threshold stored in the ROM 13. It is determined whether or not there is a following vehicle having a distance less than the distance threshold. If it is determined that there is a subsequent vehicle having an inter-vehicle distance less than the distance threshold (Yes), the process proceeds to step S214, and if it is determined that there is no subsequent vehicle having an inter-vehicle distance less than the distance threshold (No). The process proceeds to step S218.
When the process proceeds to step S214, the inter-vehicle distance determination unit 202 uses information indicating that there is a subsequent vehicle less than the distance threshold as information on the determination result, and blurs the process control unit. 106, and the process proceeds to step S216.

  In step S216, the blurring process control unit 106 sets the blurring cancellation flag to ON, ends the series of processes, and returns to the original process. Specifically, a value (for example, “1”) indicating ON is set (stored) in a region for blurring cancellation flag set in advance in the RAM 12. Note that the blur release flag is set independently for the left and right side image areas. In the present embodiment, when the inter-vehicle distance with the vehicle following the right lane is less than the distance threshold, the blur release flag for the right side image area is set to ON, and when the inter-vehicle distance with the vehicle following the left lane is less than the distance threshold Set the deblurring flag for the left side image area to ON. Further, when the inter-vehicle distance from the vehicle following the own lane is less than the distance threshold, both the blur release flags for the left and right side image areas are set to ON. Accordingly, when only the inter-vehicle distance from the vehicle following the right lane is less than the distance threshold, the blur release flag for the right side image area is set to ON, and the blur release flag for the left side image area is set to OFF. Further, when only the inter-vehicle distance with the vehicle following the left lane is less than the distance threshold, the blur release flag for the left side image area is set to ON, and the blur release flag for the right side image area is set to OFF.

On the other hand, when the process proceeds to step S218, the inter-vehicle distance determination unit 202 outputs information indicating that there is no following vehicle less than the distance threshold to the blurring process control unit 106 as information on the determination result, and then proceeds to step S220. Transition.
In step S220, the blurring process control unit 106 sets the blurring cancellation flag to OFF, ends the series of processes, and returns to the original process. Specifically, a value (for example, “0”) indicating OFF is set (stored) in a region for blurring cancellation flag set in advance in the RAM 12. Here, both the deblurring flags for the left and right side image areas are set to OFF.

(Transparent display flag setting process)
Next, the process procedure of the transparent display flag setting process performed in step S106 will be described.
FIG. 7 is a flowchart illustrating an example of a processing procedure of the transparent display flag setting process.
In step S106, when the transparent display flag setting process is started, as shown in FIG. 7, first, the process proceeds to step S300.
In step S300, the transmission composition control unit 107 determines whether information indicating the detection result of the subsequent vehicle has been acquired from the subsequent vehicle detection unit 200. If it is determined that the information indicating the detection result is acquired (Yes), the process proceeds to step S302. If it is determined that the information indicating the detection result is not acquired (No), the determination is performed until the information is acquired. Repeat the process.

When the process proceeds to step S302, the transmission composition control unit 107 determines whether a vehicle following the own lane is detected based on information indicating the detection result. And when it determines with having detected the own lane succeeding vehicle (Yes), it transfers to step S304, and when it determines with not detecting the own lane succeeding vehicle (No), it transfers to step S306.
When the process proceeds to step S304, the transmission composition control unit 107 sets the transmission display flag to ON, ends the series of processes, and returns to the original process. Specifically, a value (for example, “1”) indicating ON is set (stored) in a region for a transparent display flag set in advance in the RAM 12.
On the other hand, when the process proceeds to step S306, the transmission / combination control unit 107 sets the transmission display flag to OFF, ends the series of processes, and returns to the original process. Specifically, a value (for example, “0”) indicating OFF is set (stored) in a region for a transparent display flag set in advance in the RAM 12.

(Operation)
Next, based on FIGS. 8-10, operation | movement of the back view assistance apparatus 100 for vehicles of this embodiment is demonstrated.
FIG. 8 is a schematic diagram illustrating an example of the right rear side image captured by the camera 400. FIG. 9A is a schematic diagram illustrating an example of the degree of blur set in each divided region of the right side image region, and FIGS. 9B to 9D are diagrams of images subjected to blur processing for reducing the resolution. It is a schematic diagram which shows an example, (e)-(g) is a schematic diagram which shows an example of the image which performed the blurring process using the Gaussian blurring filter. FIGS. 10A to 10D are schematic diagrams illustrating examples of display results of various images according to the inter-vehicle distance from the following vehicle.

  When the ignition switch is turned on and the power is turned on, a dedicated program is executed in the CPU 10. When the program is executed, first, in addition to the initialization of the timer and the counter, various flags and variables used in the program are initialized (S100). In the initialization process, the cameras 400 to 404 are also initialized. Here, the cameras 400 to 404 are arranged at preset angles at preset positions. Then, shooting is performed with the orientation, shooting range, and the like fixed at the arranged positions.

  When the initialization process is completed, the cameras 400 to 404 of the camera group 11 start the photographing operation, and the camera 400 shoots the right rear side image and the camera 401 shoots the left rear side image. Further, a right rear image is taken by the camera 402, a left rear image is taken by the camera 403, and a central rear image is taken by the camera 404 (S102).

Hereinafter, the operation will be described assuming that the host vehicle A is a right-hand drive vehicle.
When shooting by the camera group 11 is started, the vehicular rear view assistance device 100 first executes a blur release flag setting process (S104).
When the blur release flag setting process is started, the succeeding vehicle detection unit 200 of the other vehicle detection unit 105 captures the right rear side image, the left rear side image, the right rear image, and the left rear image captured by the camera group 11. An image and a center rear image are acquired (S200). And based on these acquired picked-up images, the process which detects a following vehicle is performed (S202).

  Specifically, the following vehicle detection unit 200 reads template data stored in the ROM 13 in advance, and detects other vehicles in the captured image by matching processing using the read template data. Here, for example, it is assumed that a right rear side image as shown in FIG. 8 is obtained. For convenience of explanation, it is assumed here that there are no following vehicles other than the right lane following vehicle in the captured image.

Therefore, as shown in FIG. 8, there is a succeeding vehicle in the right rear side image. Therefore, the subsequent vehicle detection unit 200 detects the subsequent vehicle by template matching (Yes in S206). Thereby, the following vehicle detection unit 200 outputs information indicating that the right lane following vehicle has been detected to the inter-vehicle distance detection unit 201 and the transmission composition control unit 107, respectively.
When the inter-vehicle distance detection unit 201 receives the detection result information, the geometric information (installation position, installation angle, angle of view, focal length, etc.) of the camera 400 stored in advance in the ROM 13 and the acquired right rear side Based on the image, the inter-vehicle distance between the host vehicle A and the detected vehicle in the right lane is calculated (S208). The inter-vehicle distance detection unit 201 outputs the calculated inter-vehicle distance information of the vehicle following the right lane to the inter-vehicle distance determination unit 202 (S210).

  When the inter-vehicle distance determination unit 202 receives the information indicating the inter-vehicle distance from the vehicle following the right lane from the inter-vehicle distance detection unit 201, the inter-vehicle distance determination unit 202 reads a distance threshold value (for example, 5 [m]) stored in the ROM 13. Then, based on the read distance threshold value and the acquired inter-vehicle distance of the right lane succeeding vehicle, it is determined whether or not there is a succeeding vehicle whose inter-vehicle distance is less than the distance threshold value. In the example shown in FIG. 8, the following vehicle on the right lane is traveling at a position separated by 5 [m] or more, so the inter-vehicle distance determination unit 202 determines that there is no subsequent vehicle that is less than the distance threshold (Yes in S212). ). Then, information indicating that there is no subsequent vehicle having an inter-vehicle distance of less than 5 [m] is output to the blurring process control unit 106 (S214).

Thereby, the blurring process control unit 106 sets the blur release flag for the left and right side image areas of the RAM 12 to OFF (“0”) (S220).
When the blur release flag setting process is completed in this way, the vehicle rear vision support apparatus 100 next executes a transparent display flag setting process (S106).
When the transmission display flag setting process is started, the transmission composition control unit 107 determines whether information indicating the detection result of the subsequent vehicle has been acquired from the subsequent vehicle detection unit 200 (S300). Here, information indicating that only the vehicle following the right lane has been detected is acquired from the vehicle following detection unit 200 (Yes in S300). Therefore, the transmission composition control unit 107 determines that the following vehicle (own lane following vehicle) traveling in the traveling lane of the own vehicle A has not been detected (No in S302). As a result, the transmission composition control unit 107 sets the transmission display flag of the RAM 12 to OFF (S306).

  When the transparent display flag setting processing is thus completed, the vehicular rear view assistance apparatus 100 causes the side image area detection unit 101 to execute the right side image area and the left side surface from the right rear side image and the left rear side image. An image area is detected (S108). Here, the side image area detection unit 101 reads the template data of the left and right side image areas of the host vehicle A stored in the ROM 13 in advance, and the left and right rear sides by template matching between the read template data and the left and right rear side images. The left and right side image areas are detected from the side image. The side image area detecting unit 101 outputs the detected image data of the left and right side image areas to the area dividing unit 104.

On the other hand, the vanishing point detection unit 102 sets an extension line and a horizontal line of the left and right side image regions in the left and right rear side images, and detects an intersection of these as a vanishing point (S110).
Specifically, the vanishing point detection unit 102 first moves backward from the rear side image captured by the cameras 400 to 401 along the side image region in the traveling direction of the host vehicle A (that is, the far direction in the perspective direction of the image). Detect the infinity point of the extended line. For example, the positional relationship between the camera installation conditions such as the direction of the imaging axis of the cameras 400 to 401 and the side image area is stored in the ROM 13 in advance. Then, an infinite point is detected from the positional relationship corresponding to the current camera installation conditions. Alternatively, an infinite point is detected from the road surface flow (optical flow) near the side image area. Then, a straight line connecting the side image region and the infinity point is calculated. The vanishing point detection unit 102 sets this straight line as an extension line of the side image area.

  Next, the vanishing point detection unit 102 detects a horizon from a rear side image captured by the cameras 400 to 401. For example, the positional relationship between the camera installation conditions such as the direction of the imaging axes of the cameras 400 to 401 and the horizon is stored in the ROM 13 in advance. And the horizon of the position corresponding to the installation conditions of the present camera is set. Alternatively, when the host vehicle A is traveling on a road with a small road gradient (for example, an expressway) that can be regarded as a flat road, the horizon may be calculated by detecting the boundary between the road surface and the landscape.

By one of the above setting methods, for example, as shown in FIG. 8, an extension line and a horizon line are set in the right rear side image. These intersections are detected as vanishing points. The vanishing point detection unit 102 outputs the detected vanishing point coordinate information and the image data of the left and right side image regions to the vanishing point distance calculation unit 103.
The vanishing point distance calculation unit 103 calculates the distance from the vanishing point to each pixel in each side image region based on the coordinate information and image data from the vanishing point detection unit 102 (S112). Then, the calculation result is output to the area dividing unit 104.

  Based on the image data of the left and right side image regions from the side image region detection unit 101 and the calculation result from the vanishing point distance calculation unit 103, the region dividing unit 104 converts the left and right side image regions into a plurality of regions in the perspective direction of the image. Divide into Here, as shown in FIG. 9A, for example, the side image region is divided into three regions of first to third divided regions 500 to 502. Note that reference numeral 503 in FIG. 9A denotes an image area other than the side image area. The area dividing unit 104 outputs the coordinate information of the first to third divided areas 500 to 502 to the blurring degree setting unit 300.

  The blurring degree setting unit 300 sets the blurring degree according to the distance from the vanishing point for the first to third divided regions 500 to 502 (S114). As shown in FIG. 9A, the distance between the vanishing point and the first to third divided areas is the largest in the first divided area 500, the second largest in the second divided area 501, and the third The divided area 502 is the smallest. Therefore, the blurring degree setting unit 300 sets the strongest blurring degree for the first divided area 500 and the second divided area 501 with respect to the second divided area 501 as shown by the color intensity in FIG. Next, set a strong blur level. Then, the weakest blurring degree is set for the third divided region 502 (S116). In FIG. 9A, the darker the color, the stronger the blurring degree. The blurring degree setting unit 300 outputs the setting content of the blurring degree and the image data of the left and right side image areas to the blurred image generation unit 301.

  The blurred image generation unit 301 determines whether or not the blur cancellation flag is on based on the blur cancellation flag set in the RAM 12 (S118). Here, the process is executed first from the blur release flag for the right side image area. Currently, both the deblurring flags for the left and right side image areas are set to off. Therefore, the blurred image generation unit 301 determines that the blur release flag for the right side image area is set to OFF (No in S118). As a result, the blurred image generation unit 301 performs a blurring process on the right side image region (S130).

  Specifically, the blurred image generation unit 301 performs a blurring process on the right side image area according to the blurring degree set by the blurring degree setting unit 300 and a preset blurring processing method. For example, when the blurring processing method for reducing the resolution is set, as shown in FIG. 9B, blurring processing for lowering the resolution is performed on the first divided region 500 to obtain the first low A resolution blur region 504 is generated. Next, as shown in FIG. 9C, the second divided area 501 is subjected to a blurring process that lowers the resolution second, thereby generating a second low-resolution blur area 505. Finally, as shown in FIG. 9D, the third divided area 502 is subjected to a blurring process that lowers the resolution third, thereby generating a third low-resolution blur area 506.

  On the other hand, when the blurring processing method using the Gaussian blurring filter is set, the blurring image generation unit 301 has the highest blurring degree with respect to the first divided region 500 as shown in FIG. The first Gaussian blurring region 507 is generated by performing blurring processing using the Gaussian blurring filter. Next, as shown in FIG. 9 (f), the second divided region 501 is subjected to blurring processing using a Gaussian blurring filter having the second largest blurring degree, so that the second Gaussian blurring region 508 is obtained. Generate. Finally, as shown in FIG. 9G, the third divided region 502 is subjected to blurring processing using a Gaussian blur filter with the smallest blurring degree to generate a third Gaussian blur region 509. .

The same blurring process is performed on the left side image region.
Next, the blurred image generation unit 301 determines whether or not the transmissive display flag is on based on the transmissive display flag set in the RAM 12 (S132). Since the transparent display flag is currently set to OFF (No in S132), the blurred image generation unit 301 outputs the blurred right side image area data to the normal composition unit 303 (S138). Here, the blurred right side image area data is low resolution blurred right side image area data composed of the image data of the first to third low resolution blurred areas 504 to 506. Or it becomes Gaussian blur right side image area data composed of image data of the first to third Gaussian blur areas 507 to 509. The blurred image generation unit 301 outputs one of these to the normal synthesis unit 303.

  When the normal combining unit 303 acquires the low resolution blurred right side image area data from the blurred image generating unit 301, the normal combining unit 303 combines this image data with the right rear side image data (S140). Thereby, the normal synthesizing unit 303 has a low resolution in which the right side image area in the right rear side image is composed of the first to third low resolution blur areas 504 to 506 as shown in FIG. A normal composite image replaced with the blurred right side image area is generated.

On the other hand, when the normal combining unit 303 acquires the Gaussian blurred right side image area data from the blurred image generating unit 301, the normal combining unit 303 combines this image data with the right rear side image data (S140). Thereby, the normal synthesizing unit 303 performs low-resolution blurring in which the right side image area in the right rear side image includes first to third Gaussian blurring areas 507 to 509 as shown in FIG. A normal composite image replaced with the right side image area is generated.
The normal combining unit 303 generates an image display signal of an image obtained by horizontally inverting the generated normal combined image, and outputs the generated image display signal to the monitor 405.
A similar normal composition process is performed on the left rear side image.
While the setting contents of the respective flags are the same, the same processing as described above is repeatedly performed.

Next, the operation when the detected vehicle following the right lane approaches a distance that is less than the distance threshold will be described.
In this case, the inter-vehicle distance determination unit 202 determines that there is a following vehicle having an inter-vehicle distance less than the distance threshold (Yes in S212). The inter-vehicle distance determination unit 202 outputs information indicating the determination result that there is a subsequent vehicle less than the distance threshold to the blurring process control unit 106 (S214).
When the blurring process control unit 106 acquires information indicating a determination result indicating that there is a subsequent vehicle less than the distance threshold from the inter-vehicle distance determination unit 202, the blurring process control unit 106 sets the blur cancellation flag of the RAM 12 to ON (S216).
Here, it is assumed that the vehicle following the own lane is not detected and the transmission display flag is set to OFF by the transmission composition control unit 107 (S306).

Subsequently, as described above, side image area detection processing, vanishing point detection processing, distance calculation processing from the vanishing point, region division processing, and blurring degree setting processing are performed (S108 to S116).
Here, when a fixed camera is used as the camera group 11, the side image area detection process, the vanishing point detection process, the distance calculation process from the vanishing point, the area division process, and the blurring degree setting process are turned on. After that, each processing result is stored in the RAM 12. The blurred image generation unit 301 can be configured to repeatedly use each processing result stored in the RAM 12.

Next, the blurred image generation unit 301 has the blur release flag turned on (Yes in S118) and the transparent display flag is turned off (No in S120). The blurring process performed on the image of the plane image area data is stopped. Then, the blurred image generation unit 301 outputs the clear right side image area data that has not been subjected to the blurring process to the normal synthesis unit 303.
When the normal combining unit 303 acquires the clear right side image area data from the blurred image generation unit 301, the normal combining unit 303 combines this image data with the right rear side image data.
As a result, as shown in FIG. 10C, the blurring processing applied to the right side image area in the normal composite image of FIG. 10A or 10B is canceled, and the right side image area is not blurred. A normal composite image is generated.

The normal combining unit 303 generates an image display signal of an image obtained by horizontally inverting the generated normal combined image, and outputs the generated image display signal to the monitor 405.
Here, when the blur release flag is on, the configuration is such that the clear side image area data is combined with the rear side image data, but the configuration is not limited thereto. It is good also as a structure which uses the back side image acquired from the cameras 400-401 as it is, without synthesize | combining clear side image area data with back side image data.

Next, an operation when a vehicle following the own lane is detected will be described.
In this case, the succeeding vehicle detection unit 200 outputs information on a detection result including information indicating that the own lane following vehicle has been detected to the transmission composition control unit 107 (S214).
Thereby, the transmission composition control unit 107 determines that the vehicle following the own lane has been detected (Yes in S302), and sets the transmission display flag to ON (S304).
Here, it is assumed that the blur release flag is set to off.
Since the blur removal flag is set to OFF (No in S118), the blurred image generation unit 301 performs the blurring process on the side image region (S130).

Next, since the transparent display flag is set to ON (Yes in S132), the blurred image generation unit 301 outputs the blurred side image area data to the transparent composition unit 304 (S134).
The transmission composition unit 304 includes an image of the blurred side image region data (hereinafter referred to as a blurred side image region) from the blurred image generation unit 301 and an image region (corresponding to the side image region in the image of the rear image data). The image region is transmitted and synthesized (S136).

Specifically, taking the right side image area as an example, the transmission composition unit 304 determines that the corresponding image area is blurred with a preset transmittance p (for example, p = 50 [%]) with respect to the right side image area. Image composition is performed so that it is transparently displayed. Next, the blurred right side image area after transmission composition (hereinafter referred to as the blurred transmission right side image area) is combined with the right rear side image. For the transparent synthesis, thinning synthesis may be used, or α blending may be used.
As a result, as shown in FIG. 10D, the image region at the position corresponding to the blurred right side image region in the right rear image is transparently displayed with the transmittance p with respect to the blurred right side image region. In the example of FIG. 10D, since the own lane following vehicle is included in the corresponding image area, the own lane following vehicle is transparently displayed.

  Here, in the above description, the cameras 400 to 401 constitute a rear side image photographing unit. The cameras 402 to 403 constitute a rear image photographing unit. The monitors 405 to 409 constitute display means. The side image area detection unit 101 constitutes a side image area detection unit. The vanishing point detecting unit 102 constitutes a vanishing point detecting unit. The vanishing point distance calculation unit 103 constitutes a vanishing point distance calculation unit. The area dividing unit 104 constitutes an area dividing unit. The subsequent vehicle detection unit 200 constitutes a subsequent vehicle detection unit. The inter-vehicle distance detection unit 105 constitutes inter-vehicle distance detection means. The inter-vehicle distance determination unit 202 constitutes an inter-vehicle distance determination unit. The blur processing control unit 106 constitutes a blur processing control unit. The blur processing unit 108 constitutes a blur processing unit.

(Effect of this embodiment)
This embodiment has the following effects.
(1) The cameras 400 to 401 mounted on the host vehicle A capture a rear side image that is an image of a rear side region of the host vehicle A including a part of the side surface portion of the host vehicle A in the shooting range. . The blurring processing unit 108 performs a blurring process that is a process of blurring an image on a side image area that is an image area including a part of the side surface portion of the rear side images captured by the cameras 400 to 401. The subsequent vehicle detection unit 200 detects a subsequent vehicle traveling in an adjacent lane adjacent to the traveling lane of the host vehicle A, which is included in the rear side image based on the rear side images captured by the cameras 400 to 401. When the inter-vehicle distance detection unit 201 determines that the subsequent vehicle is detected based on the detection result of the subsequent vehicle detection unit 200, the inter-vehicle distance between the detected subsequent vehicle and the host vehicle A is detected. The inter-vehicle distance determination unit 202 determines whether the inter-vehicle distance is less than a preset distance threshold based on the detection result of the inter-vehicle distance detection unit 201. When the blurring process control unit 106 determines that the inter-vehicle distance with the following vehicle is equal to or greater than the distance threshold based on the determination result of the inter-vehicle distance determining unit 202, the blurring processing unit 108 performs the blurring process, and the inter-vehicle distance with the following vehicle Is determined to be less than the distance threshold, the blurring processing unit 108 stops the blurring process. The monitors 405 (407) to 406 (408) display the rear side image subjected to the blurring process in the side image area when the blurring processing unit 108 is performing the blurring process, and the blurring processing unit 108 blurs the image. When the process is stopped, a rear side image not subjected to the blurring process is displayed in the side image area.

  When the inter-vehicle distance between the host vehicle A and the following vehicle is equal to or greater than the distance threshold, the blurring process is performed, and the rear side image subjected to the blurring process is displayed in the side image area. On the other hand, when the inter-vehicle distance between the host vehicle A and the following vehicle is less than the distance threshold, the blurring process is stopped, and a rear side image that is not subjected to the blurring process is displayed in the side image area. That is, when the inter-vehicle distance with the following vehicle is equal to or greater than the distance threshold, the rear side image subjected to the blurring process having the same visual effect as the blurring of the near view due to the distant gaze in the human eye is displayed. On the other hand, when the inter-vehicle distance with the following vehicle is less than the distance threshold value, the side image region at the depth of field close to the following vehicle is also in focus. Therefore, when the inter-vehicle distance with the following vehicle is less than the distance threshold, the rear side image that is not subjected to the blurring process is displayed in the side image region. In this way, the perception of distance equivalent to a door mirror can be reproduced by canceling the blurring process as the following vehicle approaches. This makes it possible for the driver to display an image that makes it easy to direct the line of sight to the attention object in the rear side image and to perceive a sense of distance from the attention object.

(2) The side image area detection unit 101 detects a side image area from a rear side image captured by the cameras 400 to 401. The blur processing unit 108 performs blur processing on the side image region detected by the side image region detection unit 101, and combines the side image region subjected to the blur processing with the rear side image captured by the cameras 400 to 401. .
Thereby, even when the installation positions of the cameras 400 to 401 are different for each vehicle type, or when the installation angle of the camera can be changed, the side image area can be detected from the captured rear side image. Therefore, it is possible to deal with various situations with the same apparatus without changing programs or data.

(3) An image of an area behind the vehicle including an area where the cameras 402 to 403 mounted on the own vehicle A are blind spots due to a part of the side surface portion of the own vehicle A when the rear images are captured by the cameras 400 to 401. Shoot. The succeeding vehicle detection unit 200 detects a succeeding vehicle traveling in the traveling lane of the host vehicle A included in the image area of the rear image in addition to the following vehicle traveling in the adjacent lane. When it is determined that the blur processing unit 108 has detected a succeeding vehicle traveling in the traveling lane based on the detection result of the following vehicle detection unit 200, the position corresponding to the side image region in the rear side image and the side image region in the rear image. The image area is synthesized so that the image area can be displayed in a transmissive manner with respect to the side image area with a translucent transmittance that is set in advance.

  Thus, when there is a succeeding vehicle in the traveling lane of the own vehicle A that becomes a blind spot by the side image region of the own vehicle A, the image region including the following vehicle in the rear image can be displayed transparently with respect to the side image region. it can. Therefore, the driver can easily perceive the following vehicle traveling in the traveling lane of the host vehicle A. Further, by making the side image area translucent and transparently displaying, it becomes possible for the driver to easily understand the sense of distance from the following vehicle.

(4) The area dividing unit 104 divides the side image area into a plurality of areas in the perspective direction of the image. The blurring processing unit 108 performs a blurring process in which the blurring degree is changed stepwise in the perspective direction with respect to the plurality of regions divided by the region dividing unit 104.
This enhances the sense of distance from the target object in the rear side image by, for example, reducing the blurring degree in the farther part of the side image area and increasing the blurring degree in the closer part. Is possible.

(5) The vanishing point detection unit 102 detects the vanishing point from the rear side image captured by the cameras 400 to 401. The vanishing point distance calculation unit 103 calculates the distance between the vanishing point detected by the vanishing point detection unit 102 in the rear side image and the side image area. Based on the distance calculated by the vanishing point distance calculating unit 103 by the blurring processing unit 108, the blurring degree of the blurring processing for the side image region is increased in the region portion where the distance from the vanishing point is large, and the distance from the vanishing point is small. Make the area weaker.
That is, the side image region portion closer to the vanishing point is displayed with a smaller blur and the side image region portion farther from the vanishing point is displayed with a larger blur. Thereby, it becomes possible to emphasize a sense of distance from the attention object in the rear side image.

(6) The blurring processing unit 108 is close to the installation position in a plurality of areas according to the distance between the installation position of the monitors 405 (407) to 406 (408) and a part of the side surface portion of the host vehicle A. The blurring degree is increased as the region corresponding to the side surface portion, and the blurring degree is decreased as the region corresponding to the side portion far from the installation position.
That is, the side image area portion closer to the installation position of the monitors 405 (407) to 406 (408) is more blurred, and the side image area portion farther from the installation position of 405 (407) to 406 (408) is more blurred. indicate. Thereby, it becomes possible to emphasize a sense of distance from the attention object in the rear side image.

(Second Embodiment)
Next, 2nd Embodiment of this invention is described based on drawing. FIGS. 11-14 is a figure which shows 2nd Embodiment of the vehicle back view assistance apparatus and vehicle back view assistance method which concern on this invention.
In the present embodiment, the blurring process on the side image area is stopped when the transmission included in the host vehicle A is shift-changed to the reverse (R) position. In addition, a transparent composition for transparently displaying the corresponding image region of the rear image is performed on the side image region in the rear side image. The difference from the first embodiment is that the rear side image that has been transparently combined is displayed on the monitor.
Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, description thereof will be omitted as appropriate, and different portions will be described in detail.

(Constitution)
FIG. 11 is a block diagram illustrating an example of a functional configuration of the vehicular rear view assistance device 100 of the present embodiment.
The vehicle rear view assistance device 100 of the present embodiment has a configuration in which an inhibitor switch (hereinafter referred to as an inhibitor SW) 15 is added to the vehicle rear view assistance device 100 of the first embodiment.
Further, as shown in FIG. 11, the backward (R) position detection unit 109 is added to the functional configuration unit of the vehicular rear view assistance device 100 of the first embodiment.

  The inhibitor SW15 is disposed on a shift lever (not shown) provided in the host vehicle A, and has a shaft that moves in accordance with the movement of the shift lever and a contact fitting corresponding to each gear. The inhibitor SW15 detects the shift position of a transmission (not shown) provided in the host vehicle A by detecting the presence / absence of conduction between each gear and the contact fitting (for example, the presence / absence of a 12 [V] voltage). Inhibitor SW15 inputs a detection signal to CPU10.

The R position detection unit 109 detects whether or not the shift position of the transmission included in the host vehicle A has been shifted to the R position based on the detection signal from the inhibitor SW15. The R position detection unit 109 outputs detection result information to the subsequent vehicle detection unit 200, the blurring processing control unit 106, and the transmission composition control unit 107, respectively.
If the blurring process control unit 106 determines that the shift position has been shifted to the R position based on the detection result information from the R position detection unit 109 in addition to the process of the first embodiment, the blurring process cancellation flag is turned on. Set to.
If the transmission composition control unit 107 determines that the shift position is shifted to the R position based on the detection result information from the R position detection unit 109 in addition to the processing of the first embodiment, the transmission display flag is turned on. Set to.

(Deblurring flag setting process)
Next, based on FIG. 12, the processing procedure of the deblurring flag setting processing of this embodiment will be described. FIG. 12 is a flowchart illustrating an example of a processing procedure of the blur release flag setting process according to the present embodiment.
When the blur removal flag setting process is executed in step S104, first, the process proceeds to step S400.
In step S400, the R position detection unit 109 receives the shift position detection signal from the inhibitor SW15, and the process proceeds to step S402.

In step S402, the R position detection unit 109 determines whether the detection signal is a signal indicating the R position based on the detection signal received in step S400. When it is determined that the signal indicates the R position (Yes), the process proceeds to step S404. When it is determined that the signal does not indicate the R position (No), the process proceeds to step S408.
When the process proceeds to step S404, the R position detection unit 109 transmits information indicating that the shift change to the R position is detected to the subsequent vehicle detection unit 200, the blurring processing control unit 106, and the transmission composition control unit 107, respectively. Output. Thereafter, the process proceeds to step S406.

In step S406, the blurring processing control unit 106 sets the blurring cancellation flag to ON according to the information indicating that the R position detection unit 109 has shifted to the R position, ends a series of processing, and returns to the original processing. Return to processing.
On the other hand, if it is determined in step S402 that the signal is not indicative of the R position and the process proceeds to step S408, the R position detection unit 109 obtains information indicating that a shift change to the R position has not been detected. The data are output to the output unit 200, the blur processing control unit 106, and the transmission composition control unit 107, respectively.

In step S410, the following vehicle detection unit 200 acquires various captured image data from the cameras 400 to 404 from the camera group 11 in accordance with information indicating that the R position from the R position detection unit 109 has not been detected. To do. Thereafter, the process proceeds to step S412.
In addition, since the process of subsequent step S412-S430 becomes the same as the process of step S202-S224 of the said 1st Embodiment, description is abbreviate | omitted.

(Transparent display flag setting process)
Next, based on FIG. 13, the processing procedure of the transparent display flag setting process of this embodiment is demonstrated. FIG. 13 is a flowchart illustrating an example of a processing procedure of the transparent display flag setting process of the present embodiment.
When the transparent display flag setting process is executed in step S106, first, the process proceeds to step S500.
In step S500, the transmission composition control unit 107 determines whether or not information indicating the detection result of the shift position is acquired from the R position detection unit 109. If it is determined that information indicating the detection result of the shift position has been acquired (Yes), the process proceeds to step S502. On the other hand, if it is determined that the information indicating the detection result of the shift position has not been acquired (No), the determination process is repeated until the information is acquired.

When the process proceeds to step S502, the transmission composition control unit 107 determines whether the shift position is the R position based on the information acquired in step S500. If it is determined that the position is the R position (Yes), the process proceeds to step S504. If it is determined that the position is not the R position (No), the process proceeds to step S506.
When the process proceeds to step S504, the transmission composition control unit 107 sets the transmission display flag to ON, ends the series of processes, and returns to the original process.

On the other hand, when the process proceeds to step S506, the transmission composition control unit 107 determines whether or not information indicating the detection result of the subsequent vehicle from the subsequent vehicle detection unit 200 has been acquired. And when it determines with having acquired the information which shows a detection result (Yes), it transfers to step S508. On the other hand, when it is determined that the information indicating the detection result is not acquired (No), the determination process is repeated until the information is acquired.
In addition, since the process of subsequent step S510-S512 becomes the same as the process of step S304-306 of the said 1st Embodiment, description is abbreviate | omitted.

(Operation)
Next, based on FIG. 14, the operation | movement of the vehicle rear view assistance apparatus 100 of this embodiment is demonstrated.
14A to 14C are schematic diagrams illustrating examples of display results of various images according to the detection result of the R position.
When the ignition switch is turned on and the power is turned on, a dedicated program is executed in the CPU 10. When the program is executed, first, in addition to the initialization of the timer and the counter, various flags and variables used in the program are initialized (S100). In the initialization process, the cameras 400 to 404 are also initialized. Here, the cameras 400 to 404 are arranged at preset angles at preset positions. Then, shooting is performed with the orientation, shooting range, and the like fixed at the arranged positions.

  When the initialization process is completed, the cameras 400 to 404 of the camera group 11 start the photographing operation, and the camera 400 shoots the right rear side image and the camera 401 shoots the left rear side image. Further, a right rear image is taken by the camera 402, a left rear image is taken by the camera 403, and a central rear image is taken by the camera 404 (S102).

Hereinafter, the operation will be described assuming that the host vehicle A is a right-hand drive vehicle.
When shooting by the camera group 11 is started, the vehicular rear view assistance device 100 first executes a blur release flag setting process (S104).
When the blur release flag setting process is started, the R position detection unit 109 receives a detection signal of the inhibitor SW 105 (S400). Based on the received detection signal, the R position detection unit 109 determines whether the detection signal is a signal indicating the R position (S402). Here, it is assumed that the signal indicating the R position is not present (No in S402). As a result, the R position detection unit 109 outputs information indicating that it is not the R position to the subsequent vehicle detection unit 200, the blurring processing control unit 106, and the transmission composition control unit 107, respectively (S408).

When the succeeding vehicle detection unit 200 acquires information indicating that the vehicle is not in the R position, the right rear side image, the left rear side image, the right rear image, the left rear image, and the center rear image that are captured by the camera group 11 are captured. Is acquired (S410). And based on these acquired picked-up images, the process which detects a following vehicle is performed (S412).
The subsequent operation of the blur release flag setting process is the same as in the first embodiment, and a part of the description is omitted.
Now, it is assumed that there are no following vehicles other than the right lane following vehicle in the photographed image, and the inter-vehicle distance from the right lane following vehicle is less than the distance threshold (No in S422).
As a result, the blurring process control unit 106 sets the blurring cancellation flag to OFF (S430).
When the blur removal flag setting process is completed, the vehicular rear view assistance apparatus 100 next executes a transmission display flag setting process (S106).

  When the transmissive display flag setting process is started, the transmissive composition control unit 107 determines whether or not information indicating the detection result of the shift position has been acquired from the R position detection unit 109 (S500). Here, information indicating that the R position has not been detected is acquired (Yes in S500). Therefore, the transmission composition control unit 107 determines that the shift position is not the R position (No in S502). Thereby, the transmission composition control unit 107 determines whether or not information indicating the detection result of the subsequent vehicle has been acquired from the subsequent vehicle detection unit 200 (S506). Here, information indicating that only the vehicle following the right lane has been detected is acquired from the vehicle following detection unit 200 (Yes in S506). Therefore, the transmission composition control unit 107 determines that no own lane following vehicle traveling in the traveling lane of the own vehicle A has been detected (No in S508). As a result, the transmission composition control unit 107 sets the transmission display flag of the RAM 12 to OFF (S512).

By the above flag setting processing, the blur release flag of the RAM 12 is set to OFF, and the transparent display flag is set to OFF.
As a result, the same processing as in the first embodiment is performed (S108 to S118, S130 to S140), and the right side image area subjected to the blurring process is displayed on the monitor 405 as shown in FIG. A composite image that is normally combined with the right rear side image is displayed.
On the other hand, assume that the R position is detected by the R position detection unit 109 (Yes in S402). The R position detection unit 109 outputs information indicating that the R position is detected to the subsequent vehicle detection unit 200, the blurring processing control unit 106, and the transmission composition control unit 107, respectively (S404).

The blurring processing control unit 106 sets the blurring cancellation flag of the RAM 12 to ON according to the information indicating that the R position is detected from the R position detection unit 109 (S406).
On the other hand, when the transmission composition control unit 107 obtains information indicating that the R position is detected from the R position detection unit 109 (Yes in S500, Yes in 502), the transmission display flag of the RAM 12 is set to ON ( S504).
Next, the same processing as in the first embodiment is performed (S108 to S116), and the blurring degree is set for the side image region divided into a plurality of regions.

Since the blurred image generation unit 301 has the deblurring flag turned on (Yes in S118) and the transparent display flag is turned on (Yes in S120), the side image area data from the blurring degree setting unit 300 is displayed. Stop the blurring process performed on the image. Then, the blurred image generation unit 301 outputs the clear side image area data that has not been subjected to the blurring process to the transmission composition unit 304 (S122).
The transmissive composition unit 304 synthesizes the image of the clear side image region data (hereinafter referred to as the clear side image region) from the blurred image generation unit 301 and the corresponding image region in the image of the rear image data.

Specifically, taking the clear right side image region as an example, the transmission composition unit 304 uses the clear right side surface with a transmissivity p (for example, p = 50 [%]) in which the corresponding image region becomes semi-transparent. Transparent composition is performed so that the image area is transparently displayed. For the transparent synthesis, thinning synthesis may be used, or α blending may be used. Next, the transmission composition unit 304 combines the clear right side image area after the transmission composition (hereinafter referred to as the clear transmission right side image area) into the right rear side image.
As a result, as shown in FIG. 14B, the image area at the position corresponding to the clear right side image area in the right rear image is transparently displayed at the transmittance p with respect to the clear right side image area. In the example of FIG. 14B, the own lane following vehicle existing behind the own vehicle A is included in the corresponding image area, and thus the own lane following vehicle is displayed in a transparent manner.

  In the present embodiment, the blurring process is stopped and the transparent display is performed in response to the detection of the R position. However, the present invention is not limited to this configuration. For example, in the following vehicle detection unit 200, in the travel lane of the own vehicle A, other vehicles that are stopped behind the own vehicle A, other vehicles that approach the own vehicle A, and other objects such as an object other than the vehicle Detect obstacles in the rear. And it is good also as a structure which displays transparently when an obstruction is detected (transparent display flag is set to ON). In this configuration, when there is no obstacle behind the host vehicle A, the right rear side image captured by the cameras 400 to 401 is displayed as it is as shown in FIG. Alternatively, a right rear side image obtained by normal synthesis of right side image regions not subjected to blurring processing is displayed.

  Here, in the above description, the cameras 400 to 401 constitute a rear side image photographing unit. The cameras 402 to 403 constitute a rear image photographing unit. The monitors 405 to 409 constitute display means. The side image area detection unit 101 constitutes a side image area detection unit. The vanishing point detecting unit 102 constitutes a vanishing point detecting unit. The vanishing point distance calculation unit 103 constitutes a vanishing point distance calculation unit. The area dividing unit 104 constitutes an area dividing unit. The subsequent vehicle detection unit 200 constitutes a subsequent vehicle detection unit. The inter-vehicle distance detection unit 105 constitutes inter-vehicle distance detection means. The inter-vehicle distance determination unit 202 constitutes an inter-vehicle distance determination unit. The blur processing control unit 106 constitutes a blur processing control unit. The blur processing unit 108 constitutes a blur processing unit. The inhibitor SW15 constitutes shift position detection means. The reverse position detector 109 constitutes a reverse position detector.

(Effect of this embodiment)
This embodiment has the following effects in addition to the effects of the first embodiment.
(1) The inhibitor SW15 detects the shift position of the transmission included in the host vehicle A. The R position detection unit 109 detects a shift change to the reverse (R) position based on the detection result of the inhibitor SW15. If the blurring process control unit 106 determines that a shift change to the reverse position has been detected based on the detection result of the reverse position detection unit 109, the blurring process of the blur processing unit 108 is stopped.

  In other words, the blurring process is stopped when it is determined that the shift position of the transmission provided in the host vehicle A has been shifted to the reverse position. Then, the rear side image not subjected to the blurring process is displayed in the side image region. As a result, when the host vehicle A moves backward, it is possible to perform image display that makes it easy to perceive the positional relationship between the side image area and the nearest obstacle.

(2) The area of the rear of the vehicle including the area where the cameras 402 to 403 disposed in the own vehicle A are blind spots due to a part of the side surface portion of the own vehicle A when the rear images are captured by the cameras 400 to 401. Take a picture. If the blurring processing unit 108 determines that a shift change to the reverse position has been detected based on the detection result of the reverse position detection unit 109, the side image region and the image region at a position corresponding to the side image region in the rear image are determined. The image area is synthesized so that it can be transmissively displayed on the side image area with a translucent transmittance set in advance.

  Thus, when there is an obstacle such as another vehicle behind the own vehicle A that becomes a blind spot due to the side image area of the own vehicle A, the image area including the obstacle in the rear image is transparently displayed with respect to the side image area. can do. Therefore, it becomes possible for the driver to easily perceive an obstacle existing behind the host vehicle A. In addition, by making the side image area translucent and transparently displaying it, it becomes possible for the driver to intuitively understand the sense of distance from the obstacle.

(Modification)
(1) In the above embodiment, the side image area detected by the side image area detecting unit 101 is divided into a plurality of areas by the area dividing unit 104. Then, with respect to the plurality of divided regions, the blur processing is performed in the perspective direction of the image so that the nearer divided region has a higher degree of blurring and the farther divided region has a lower degree of blurring. The present invention is not limited to this configuration, and the side image region may not be divided, and the entire image may be subjected to blurring processing with the same degree of blurring. For example, FIG. 15A is an example of a composite image when a right side image region that has been subjected to a blurring process that reduces the resolution with a certain degree of blurring is combined with a right rear side image. FIG. 15B is an example of a composite image when a right side image region that has been subjected to blurring processing using a Gaussian blurring filter with a certain degree of blurring is combined with a right rear side image.

By adopting such a configuration, it is possible to display the rear side image subjected to the blurring process having the same visual effect as the blurring of the foreground by the distant gaze in the human eye, as in the above embodiment. .
Further, in the vehicular rear view assistance device 100 according to the first embodiment, the vanishing point detecting unit 102, the vanishing point distance calculating unit 103, and the region dividing unit 104 can be dispensed with, and therefore compared with the first embodiment. Thus, it is possible to reduce the processing load related to the display processing of the rear side image.

(2) In the above embodiment, when a succeeding vehicle (own lane following vehicle) traveling in the traveling lane of the own vehicle A is detected, an image region at a position corresponding to the side image region in the rear image with respect to the side image region The (corresponding image area) is translucent and transparently displayed. Not only this configuration but also a configuration in which the transmissive display process is performed together with the blurring process even when there is no vehicle following the own lane. For example, FIG. 15C shows an example in which the corresponding image region is translucently displayed transparently with respect to the right side image region subjected to the blurring process for reducing the resolution in the rear side image of FIG. Similarly, FIG. 15D is an example in which the corresponding image region is translucently displayed transparently with respect to the right side image region subjected to the blurring process using the Gaussian blurring filter of FIG.

  By adopting such a configuration, as in the above embodiment, when there is a subsequent vehicle in the traveling lane of the own vehicle A that becomes a blind spot by the side image area of the own vehicle A, an image including the subsequent vehicle in the rear image. The region can be translucently displayed with respect to the side image region. Therefore, the driver can easily perceive the following vehicle traveling in the traveling lane of the host vehicle A. Further, by making the side image area translucent and transparently displaying, it becomes possible for the driver to easily understand the sense of distance from the following vehicle.

(3) In the above embodiment, the side image area is detected from the rear side images photographed by the cameras 400 to 401, and the detected side image area is subjected to the blurring process. It is good also as the following structure not only this structure. First, the installation position, installation angle, shooting range, and the like of the cameras 400 to 401 in the host vehicle A are fixed. That is, the shape, size, position, and the like of the side image area in the rear side image captured by the cameras 400 to 401 are fixed. A side image area is detected from a rear side image photographed in advance (for example, before factory shipment) under this installation condition, and a blurring process is performed on the detected side image area. The image data of the side image area subjected to the blurring process is stored in the ROM 13. Further, information on the position of the side image area in the rear side image is also stored in the ROM 13 in advance. Then, the image composition unit 302 synthesizes the side image area subjected to the blurring processing stored in the ROM 13 with the rear side image photographed by the cameras 400 to 401, and displays the synthesized image on the monitor.

  Note that the blurring process for the side image area is similar to the above-described embodiment, in which the side image area is divided into a plurality of areas, the blurring degree is increased as the divided area is closer, and the blurring degree is decreased as the farther divided area is reduced. can do. Further, similar to the above modification (1), it is possible to set the processing content to be subjected to the blurring process with a certain blurring degree. Further, in addition to performing any one of these blurring processes on the detected side image area, it is also possible to perform a process of performing transparent display as in the modification (2). Further, similarly to the above-described embodiment, it is also possible to adopt a configuration in which transmissive display is performed when the inter-vehicle distance from the vehicle following the own lane is less than the distance threshold.

As described above, by preparing the image data of the side image area that has been subjected to the blurring process in advance, the functional configuration of the rear view assistance device of the above embodiment can be simplified. Specifically, the vehicular rear view assistance apparatus according to the present modified example excludes all but the blur processing unit 108 from the functional components of the vehicular rear view support apparatus 100 of the first embodiment as a minimum configuration. A configuration in which all but the image composition unit 302 is excluded from the processing unit 108 can be adopted.
With this configuration, it is possible to greatly reduce the processing load for the display processing of the rear side image.

(4) In the said embodiment, it was set as the structure which image | photographs the area | region of the back side including a part of side part of the own vehicle A with the cameras 400-401. It is good also as a structure which uses not only this structure but cameras 402-403. In this configuration, the images of the side portions of the vehicle are not included in the captured images of the cameras 402 to 403, and therefore images (icons, etc.) corresponding to the partially captured images of the side portions by CG or the like in advance. ), And this image is superimposed and displayed on the captured images of the cameras 402 to 403. This configuration can be applied to, for example, the modified example (3).

(5) In the above embodiment, the blurring process has been described by taking, as an example, the process of reducing the resolution of the side image area and the process of blurring the edge portion of the side image area using Gaussian. The present invention is not limited to this configuration, and as the blurring process, a process for reducing the brightness of the side image region and a process for reducing the contrast can be performed.
With such a configuration, it is possible to reduce the brightness and hue of the side image region by reducing the brightness and contrast. As a result, the edge of the side image area is weakened and the image can be blurred. As a result, it is possible to emphasize the sense of distance from the following vehicle.

(6) In the above embodiment, as the blurring process, the process of reducing the resolution of the side image area and the process of blurring the edge portion of the side image area using Gaussian have been described as examples. Not only this configuration but also a configuration in which a transparent composition process is performed as the blurring process.
In other words, the side image area is made semi-transparent, and the image composition is performed so that the corresponding image area of the rear image is transparently displayed, so that the pixels of the side image area and the pixels of the rear image are mixed and the image is blurred. Can do. As a result, it is possible to emphasize the sense of distance from the subsequent vehicle and to visually recognize the subsequent vehicle included in the corresponding image region through the side image region.

The above embodiments are preferable specific examples of the present invention, and various technically preferable limitations are given. However, the scope of the present invention is described in particular in the above description to limit the present invention. As long as there is no, it is not restricted to these forms. In the drawings used in the above description, for convenience of illustration, the vertical and horizontal scales of members or parts are schematic views different from actual ones.
In addition, the present invention is not limited to the above-described embodiments, and modifications, improvements, equivalents, and the like within the scope that can achieve the object of the present invention are included in the present invention.

A Own vehicle 10 CPU
11 Camera group 12 RAM
13 ROM
14 Monitor group 15 Inhibitor SW
DESCRIPTION OF SYMBOLS 100 Vehicle rear view assistance apparatus 101 Side image area detection part 102 Vanishing point detection part 103 Vanishing point distance calculation part 104 Area division part 105 Other vehicle detection part 106 Blur process control part 107 Transmission composition control part 108 Blur process part 200 Subsequent vehicle inspection Output unit 201 Inter-vehicle distance detection unit 202 Inter-vehicle distance determination unit 300 Blur degree setting unit 301 Blurred image generation unit 302 Image synthesis unit 303 Normal synthesis unit 304 Transmission synthesis unit 400 to 404 Camera 405 to 409 Monitor 500 to 502 First to third Divided regions 503 Image regions 504 to 506 other than the side image regions First to third low-resolution blur regions 507 to 509 First to third Gaussian blur regions

Claims (9)

A rear side image photographing unit that is mounted on a vehicle and photographs a rear side image that is an image of a rear side region of the vehicle including a part of a side surface portion of the vehicle in a photographing range;
Blur processing means for performing blur processing that is a process of blurring an image on a side image area that is an image area including a part of the side surface portion of the rear side image captured by the rear side image capturing unit; ,
Subsequent vehicle detection means for detecting a succeeding vehicle traveling in an adjacent lane adjacent to the traveling lane of the vehicle included in the rear side image based on the rear side image captured by the rear side image capturing unit; ,
When it is determined that the subsequent vehicle is detected based on the detection result of the subsequent vehicle detection unit, an inter-vehicle distance detection unit that detects an inter-vehicle distance between the detected subsequent vehicle and the vehicle;
An inter-vehicle distance determination unit that determines whether the inter-vehicle distance is less than a preset distance threshold based on a detection result of the inter-vehicle distance detection unit;
Based on the determination result of the inter-vehicle distance determination means, when it is determined that the inter-vehicle distance with the following vehicle is equal to or greater than the distance threshold, the blur processing unit performs the blur processing, and the inter-vehicle distance with the subsequent vehicle is the distance A blurring process control unit that stops the blurring process of the blurring process unit when it is determined that the threshold value is less than a threshold;
When the blur processing means performs the blur processing, the rear side image subjected to the blur processing is displayed in the side image area, and when the blur processing means stops the blur processing And a display means for displaying the rear side image that has not been subjected to the blurring process. A side image region detecting means for detecting the side image region from the rear side image captured by the rear side image capturing unit;
The blur processing means performs the blur processing on the side image area detected by the side image area detection means, and the side image area subjected to the blur processing is photographed by the rear side image photographing unit. The vehicular rear view assistance device according to claim 1, wherein the vehicular rear view support device is combined with a rear side image. A rear image that is mounted on the vehicle and captures a rear image that is an image of a rear region of the vehicle including a region that becomes a blind spot by a part of a side surface portion of the vehicle in capturing the rear side image by the rear side image capturing unit. It has a rear image capture unit,
The succeeding vehicle detection means detects a succeeding vehicle traveling in the traveling lane of the vehicle included in the rear image in addition to the following vehicle traveling in the adjacent lane,
When the blur processing unit determines that a subsequent vehicle traveling in the traveling lane is detected based on the detection result of the subsequent vehicle detection unit, the side image region in the rear side image and the side image in the rear image 3. The image area at a position corresponding to the area is synthesized so that the side image area in which the image area is set in advance is translucently displayed with a translucency at which the side image area is translucent. Vehicle rear view support device. Shift position detecting means for detecting a shift position of a transmission provided in the vehicle;
A reverse position detecting means for detecting a shift change to the reverse position based on the detection result of the shift position detecting means,
The blur processing control unit stops the blur processing of the blur processing unit when it determines that a shift change to the reverse position is detected based on a detection result of the reverse position detection unit. The vehicle rear view assistance apparatus according to any one of claims 3 to 4. A rear image that is mounted on the vehicle and captures a rear image that is an image of a rear region of the vehicle including a region that becomes a blind spot by a part of a side surface portion of the vehicle in capturing the rear side image by the rear side image capturing unit. It has a rear image capture unit,
When the blur processing unit determines that a shift change to the reverse position is detected based on the detection result of the reverse position detection unit, the side image region and an image at a position corresponding to the side image region in the rear image are detected. 5. The vehicular rear view assisting device according to claim 4, wherein the region is combined so that the side image region in which the image region is set in advance can be transmissively displayed with a translucency that is translucent. An area dividing means for dividing the side image area into a plurality of areas in the perspective direction of the image;
The blur processing unit performs blur processing in which the blur degree is changed stepwise in the perspective direction with respect to the plurality of regions divided by the region dividing unit. The vehicle rear view assistance device according to any one of the above. Vanishing point detection for detecting a vanishing point from the rear side image captured by the rear side image capturing unit based on a horizon set in the rear side image and a perspective extension of the image of the side image region Means,
Vanishing point distance calculating means for calculating the distance between the vanishing point detected by the vanishing point detecting means in the rear side image and the side image area,
Based on the distance calculated by the vanishing point distance calculating unit, the blurring processing unit increases the blurring degree of the blurring processing with respect to the side image region in a region portion where the distance from the vanishing point is large, and the vanishing point The vehicular rear view assistance apparatus according to any one of claims 1 to 6, wherein a region portion having a smaller distance from the vehicle is weakened.   According to the distance between the installation position of the display means and a part of the side surface portion of the vehicle, the blurring processing unit has a degree of blurring in a region corresponding to the side surface portion closer to the installation position in the plurality of regions. The vehicular rear view assistance apparatus according to claim 6 or 7, wherein the degree of blurring is weakened in a region corresponding to a side portion far from the installation position. Part of the side portion in the rear side image obtained by photographing the rear side region of the vehicle including a part of the side portion of the vehicle in the photographing range by the rear side image photographing unit mounted on the vehicle A blur processing step for performing blur processing, which is processing for blurring an image on a side image region that is an image region of
A subsequent vehicle detection step for detecting a subsequent vehicle traveling in an adjacent lane adjacent to the traveling lane of the vehicle included in the image region of the rear side image;
When it is determined that the subsequent vehicle is detected based on the detection result of the subsequent vehicle detection step, an inter-vehicle distance detection step for detecting an inter-vehicle distance between the detected subsequent vehicle and the vehicle;
Based on the inter-vehicle distance and a preset distance threshold, when it is determined that the inter-vehicle distance is greater than or equal to the distance threshold, the blurring process is performed, and the inter-vehicle distance with the subsequent vehicle is less than the distance threshold. A blurring process control step for stopping the blurring process when it is determined that there is,
When the blur processing is performed, the rear side image subjected to the blur processing is displayed, and when the blur processing is not performed, the rear side image not subjected to the blur processing is displayed. A vehicle rear view support method, comprising: a display step.

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