JP6102733B2 - Vehicle periphery monitoring device - Google Patents

Description

  One aspect of the present invention relates to a vehicle periphery monitoring device.

  As a conventional vehicle periphery monitoring device, for example, in Patent Document 1, a driver monitor unit detects a driver's line-of-sight behavior to determine the state of the driver, and display control of information displayed on the driving display based on the determination result A control device for a vehicle that performs is described.

JP 2002-25000 A

  In the above-described prior art, even if the driver appropriately observes the direction or area to be watched according to the display on the display unit, the display may be switched to prompt the user to watch. In this case, the burden on the driver's eyes may increase.

  An object of one aspect of the present invention is to provide a vehicle periphery monitoring device that can reduce a burden on eyes of a driver.

  In order to solve the above problems, a vehicle periphery monitoring device according to one aspect of the present invention is a vehicle periphery monitoring device that monitors the periphery of a vehicle, and includes a surrounding state detection unit that detects the surrounding state of the vehicle, and a surrounding state detection A display control unit including a display unit that displays a display related to the surrounding situation detected by the unit, a display control unit that controls display on the display unit, and a driver monitoring unit that detects a viewing direction or a viewing area of the driver of the vehicle. Determines the direction or area to be watched by the driver based on the surrounding situation detected by the surrounding situation detection unit, and the direction or area to be watched based on the visual direction or viewing area of the driver detected by the gaze direction detection unit. If it is determined whether the driver has viewed the area, and if the driver determines that the driver is not viewing the direction or area to be watched, the driver is invited to view the area or area to be watched. Gaze displayed is displayed on the display unit for, if the direction or area to look carefully driver is judged to have visually not displayed on the display unit gaze display.

  In this vehicle periphery monitoring device, when it is determined that the driver has visually observed the direction or area to be watched, the gaze display for guiding the driver's eyes to the direction or area to be watched is not displayed. Therefore, when the driver has already viewed the direction or area to be watched, it is possible to suppress the gaze display from being displayed in the same manner as when the driver is not viewing. Therefore, it is possible to reduce the burden on the driver's eyes.

  The display control unit does not have to switch the display of the display unit when it is determined that the driver has viewed the direction or area to be watched. In this case, the burden on the driver's eyes can be effectively reduced.

  When the display control unit determines that the driver has visually observed the direction or area to be watched, the display control unit may cause the display unit to display a visible display indicating that the driver has already viewed the direction or area to be watched. . In this case, the driver can easily understand that the direction or area to be watched has been viewed.

  When the display control unit determines that the driver is not viewing the direction or area to be watched, the display control unit may display a highlighted display in which the direction or area to be watched is emphasized as a gaze display on the display unit. Thereby, the visual observation of the driver can be positively guided in the direction or area to be watched that has not yet been visually observed.

  The display control unit may cause the display unit to display a gaze display when a predetermined time has elapsed when it is determined that the driver is not viewing the direction or area to be gazed. In this case, for example, when a direction or a region to be watched newly occurs, it is possible to prevent the gaze display from being displayed immediately without the time delay necessary for visual observation. Therefore, the burden on the driver's eyes can be further reduced.

  The display control unit causes the display unit to display a first bird's-eye view image for a first predetermined range around the vehicle, and when at least one of a region to be watched and a driver's visual region is located outside the first predetermined range. The second bird's-eye view image that covers the second predetermined range that covers at least one of the region to be watched and the driver's viewing region over the wider range than the first predetermined range around the vehicle is replaced with the first bird's-eye view image. You may display on a display part. In this case, it is possible to display on the display unit a display corresponding to the area to be watched and the driver's viewing area.

  The display control unit determines whether or not the driver has visually observed the direction or area to be watched in the third predetermined range around the vehicle. It may be further determined whether or not the driver has viewed the direction or area to be watched in the fourth predetermined range over a wider range than the third predetermined range. In this case, the driver can be urged to drive at a higher level.

  According to one aspect of the present invention, it is possible to provide a vehicle periphery monitoring device that can reduce the burden on the driver's eyes.

It is a block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on 1st Embodiment. It is a figure which shows the driver monitoring sensor of the vehicle periphery monitoring apparatus which concerns on 1st Embodiment. It is a figure which shows the example of the bird's-eye view image displayed in the display apparatus of the vehicle periphery monitoring apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process of the vehicle periphery monitoring apparatus which concerns on 1st Embodiment. It is a figure explaining the process of the area | region determination in the vehicle periphery monitoring apparatus which concerns on 1st Embodiment. It is a figure explaining the adjustment of the bird's-eye view image displayed in the display apparatus of the vehicle periphery monitoring apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process of the vehicle periphery monitoring apparatus which concerns on 2nd Embodiment. It is a flowchart which shows the process of the vehicle periphery monitoring apparatus which concerns on 3rd Embodiment. It is a figure explaining the classification | category of the area used in the vehicle periphery monitoring apparatus which concerns on 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals are used for the same or corresponding elements, and duplicate descriptions are omitted.

[First Embodiment]
A vehicle periphery monitoring device according to the first embodiment will be described. 1 is a block diagram showing the configuration of the vehicle periphery monitoring device according to the first embodiment, FIG. 2 is a view showing a driver monitoring sensor of the vehicle periphery monitoring device of FIG. 1, and FIG. 3 is a vehicle periphery of FIG. It is a figure which shows the example of the bird's-eye view image displayed on the display apparatus of a monitoring apparatus.

  As shown in FIGS. 1 to 3, the vehicle periphery monitoring device 1 is mounted on a vehicle V such as an automobile and monitors the periphery of the vehicle V. The vehicle periphery monitoring apparatus 1 according to the present embodiment performs omnidirectional vehicle peripheral state display support that particularly displays and supports the peripheral state of the vehicle V in all directions. The vehicle periphery monitoring device 1 includes a periphery monitoring sensor (peripheral condition detection unit) 2, a driver monitoring sensor (driver monitoring unit) 3, a display device (display unit) 4, and an ECU (Electronic Control Unit, display control unit) 5. ing.

  The surrounding monitoring sensor 2 detects the surrounding situation of the vehicle V. Here, the surrounding monitoring sensor 2 identifies objects such as other vehicles, pedestrians, and obstacles (hereinafter also simply referred to as “peripheral objects”) around the vehicle V, and uses the position information of the surrounding objects as the surrounding situation. To detect. As the surrounding monitoring sensor 2, a radar or a camera is used.

  As shown in FIGS. 1 and 2, the driver monitoring sensor 3 monitors and detects the visual region of the driver D of the vehicle V, and includes a driver monitor camera 3a. The viewing area of the driver D is an area that the driver D is viewing (gazing), and includes a visual point (gazing point), and is a certain range in which a person can usually watch. The driver monitor camera 3a is disposed in front of the driver D in the vehicle V, for example, and images the face of the driver D.

  The driver monitoring sensor 3 acquires information about the face direction of the driver D, the gazing point, or the direction and movement of the eyeball of the driver D by the driver monitor camera 3a, and detects the viewing direction of the driver D based on the information. Further, since the convergence of the left and right eyeballs (movement that changes the separation distance of the iris (black eye) in the left and right eyeballs) and the viewing distance (distance to the viewing position) have a correlation, the driver monitoring sensor 3 Information regarding the convergence of the left and right eyeballs of the driver D is acquired by the monitor camera 3a, and the visual distance of the driver D is detected based on the information. Then, the driver monitoring sensor 3 detects the viewing area of the driver D based on the detected viewing direction and viewing distance of the driver D.

  The display device 4 displays a display relating to the surrounding state of the vehicle V detected by the surrounding monitoring sensor 2. The display device 4 here displays the surrounding situation of the vehicle V as an overhead image G (see FIG. 3). In the illustrated bird's-eye view image G, the host vehicle icon 10 corresponding to the vehicle V is displayed at the center position, and the other vehicle icon 11 is displayed at a position corresponding to other vehicles around the vehicle V. As the display device 4, for example, an in-vehicle display used in a navigation device or the like is used.

  The ECU 5 includes a CPU (Central Processing Unit) and various memories, and controls display on the display device 4. The ECU 5 obtains an area to be watched by the driver D based on the surrounding situation detected by the surrounding monitoring sensor 2. The ECU 5 determines whether or not the driver D has viewed the area to be watched based on the viewing area of the driver D detected by the driver monitoring sensor 3. The region to be watched corresponds to a region where a peripheral object exists in a predetermined peripheral range around the vehicle V. The region to be watched is, for example, a region that is a target to be visually confirmed (viewed) by the driver D in driving, and includes a peripheral object or is included in the peripheral object.

  Further, when it is determined that the driver D is not viewing the area to be watched, the ECU 5 causes the display device 4 to display a gaze display Z1 (see FIG. 3) that guides the driver D to view the area to be watched. On the other hand, the ECU 5 does not cause the display device 4 to display the gaze display Z1 when it is determined that the driver D has viewed the area to be watched. Specific processing of the ECU 5 will be described later.

  Next, processing related to gaze display control executed in the vehicle periphery monitoring apparatus 1 described above will be described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart showing the process of the vehicle periphery monitoring apparatus of FIG. 1, and FIG. 5 is a diagram for explaining the area determination process in the vehicle periphery monitoring apparatus of FIG. Note that the gaze display control described below is described on the assumption that the bird's-eye view image G is displayed on the display device 4 and icons related to peripheral objects are displayed on the bird's-eye view image G.

  As shown in FIG. 4, in the vehicle periphery monitoring device 1, first, the periphery monitoring sensor 2 detects the periphery of the vehicle V (S1). Subsequently, based on the detected surrounding situation, the ECU 5 obtains an area to be watched by the driver D (S2). At the same time, the driver monitoring sensor 3 detects the visual region of the driver D (S3).

  Subsequently, the ECU 5 determines whether or not the driver D has viewed the region to be watched determined in S2 based on the visual region of the driver D detected in S3 (S4: region visual determination). For example, as shown in FIG. 5, when the viewing area 16 of the driver D is separated from the area 15 to be watched and at least a part of the area 15 to be watched is not included in the viewing area 16, It is determined that the driver D is not viewing the area 15 to be watched.

  In the case of No in S4, the ECU 5 causes the gaze display Z1 for the region 15 to be watched to be displayed on the overhead image G of the display device 4. Thereby, the visual observation of the driver D is guided to the region 15 to be watched. For example, in the example illustrated in FIG. 3, as a result of determining that the driver D has not yet viewed the region 15 to be watched corresponding to the other vehicle Va on the left rear side of the vehicle V, A gaze display Z1 that is a highlighted display that extends from the host vehicle icon 10 in a fan shape so as to include the other vehicle icon 11a corresponding to Va is displayed.

  On the other hand, in the case of Yes in S4, the process proceeds to S1 again without displaying the gaze display Z1 on the overhead image G. That is, the display on the display device 4 (overhead image G) is left as it is, and the display on the display device 4 is not switched before and after the determination in S4.

  Subsequently, the visual field 16 of the driver D is detected again by the driver monitoring sensor 3 (S6). In the ECU 5, it is determined whether or not the driver D has viewed the region 15 to be watched determined in S2 based on the visual region 16 of the driver D detected in S6 (S7). If Yes in S7, the process in S5 is repeated. If Yes in S7, the ECU 5 ends (deletes) the display of the gaze display Z1 in the overhead image G, and the process ends (S8). .

  As described above, in the present embodiment, when the driver D views the area 15 to be watched, the gaze display Z1 that guides the driver D to view the area 15 to be watched is not displayed. Therefore, for example, when the driver D has already viewed the area 15 to be watched (Yes in S4), the gaze display Z1 can be suppressed from being displayed in the same manner as when the driver D is not viewing. Therefore, the burden on the eyes of the driver D can be reduced, and the feeling of fatigue of the driver D can be reduced.

  In particular, in this embodiment, when the driver D determines that the area 15 to be watched has been viewed, the display on the display device 4 is left as it is, and the display on the display device 4 is not switched before and after the determination (Yes in S4 above). reference). Therefore, it is possible to effectively reduce the burden on the eyes of the driver D.

  In this embodiment, the region 15 to be watched is transmitted to the driver D using the display device 4, so that the region 15 to be watched and thus the object to be watched can be easily communicated to the driver D. In addition, it is possible to prevent a delay in discovery of surrounding objects that occurs when the region 15 to be watched is not visually observed. Furthermore, the driver D can confirm via the display device 4 whether the region 15 to be watched can be correctly viewed.

  In this embodiment, since the highlight display is displayed on the display device 4 as the gaze display Z1, the visual observation of the driver D can be actively guided to the region 15 to be watched that has not yet been viewed.

  FIG. 6 is a diagram for explaining the adjustment of the bird's-eye view image displayed on the display device of the vehicle periphery monitoring device in FIG. 1. The ECU 5 of the present embodiment is an overhead image in which at least one of the viewing area 16 of the driver D detected in S3 and S6 and the area 15 to be watched obtained in S2 is currently displayed on the display device 4. When the image is present outside the peripheral range to be G, an overhead image G showing a wider range than the normal peripheral range may be displayed on the display device 4.

  For example, as shown in FIG. 6A, the display device 4 displays a first bird's-eye view image G1 for a normal peripheral range (first peripheral range) P1 around the vehicle V. At this time, when the region 15 to be watched is located outside the normal peripheral range P1, as shown in FIG. 6B, an enlarged peripheral range (second peripheral range) that covers the vehicle V and is wider than the normal peripheral range P1. ) The second overhead image G2 targeting P2 may be displayed on the display device 4 instead of the first overhead image G1.

  The second bird's-eye view image G2 has a larger scale than the first bird's-eye view image G1 because the target range is enlarged. The enlarged peripheral range P2 includes a region 15 to be watched. The normal peripheral range P1 is, for example, 30 m around the vehicle V, and the enlarged peripheral range P2 is, for example, 50 m around the vehicle V. Thereby, it is possible to display the overhead image G corresponding to the region 15 to be watched on the display device 4. The normal peripheral range P1 and the enlarged peripheral range P2 are not particularly limited and can be various ranges.

  In the example of FIG. 6, for example, when the viewing area 16 of the driver D is outside the normal peripheral range P1, the second overhead view image relating to the enlarged peripheral range P2 that covers a wider range than the normal peripheral range P1 and includes the viewing area 16. G2 may be displayed instead of the first overhead image G1. In this case, the overhead image G corresponding to the viewing area 16 of the driver D can be displayed on the display device 4.

[Second Embodiment]
Next, the vehicle periphery monitoring apparatus of 2nd Embodiment is demonstrated. In the description of the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 7 is a flowchart showing a process of the vehicle periphery monitoring apparatus according to the second embodiment. As shown in FIG. 7, in the vehicle periphery monitoring device of the present embodiment, in the case of Yes in S <b> 4, after increasing the determination threshold for region determination, the process proceeds to S <b> 2 again (S <b> 9).

  Specifically, in S <b> 2, the region 15 to be watched in the normal peripheral range (third peripheral range) around the vehicle V is obtained. In S4, it is determined whether or not the driver D has viewed the region 15 to be watched in the normal peripheral range. In the case of Yes in S4, the normal peripheral range in S2 is set to an enlarged peripheral range (fourth peripheral range) over a wider range than the normal peripheral range (S9). And it transfers again to the process of said S2. As a result, after that, a region 15 to be watched in the enlarged peripheral range around the vehicle V is obtained, and it is determined whether or not the driver D has viewed the region 15 to be watched in the enlarged peripheral range. Become. The normal peripheral range and the enlarged peripheral range are not particularly limited, and can be various ranges.

  As described above, also in the present embodiment, the above effect, that is, the effect of reducing the burden on the eyes of the driver D is achieved. Further, in the present embodiment, when the driver D views the area 15 to be watched, the derivation range of the area 15 to be watched is widened to be an enlarged peripheral area. Therefore, the region determination (see S4 above) is determined up to the far-off region 15 that has not been the target. That is, when the driver D can correctly view the area 15 to be watched, the determination threshold value for the area determination can be increased and the driver D can be urged to drive at a higher level.

[Third Embodiment]
Next, the vehicle periphery monitoring apparatus of 3rd Embodiment is demonstrated. In the description of the present embodiment, differences from the first embodiment will be mainly described.

  FIG. 8 is a flowchart showing processing of the vehicle periphery monitoring apparatus according to the third embodiment, and FIG. 9 is a diagram for explaining classification of areas used in the vehicle periphery monitoring apparatus according to the third embodiment. As shown in FIG. 8, in the vehicle periphery monitoring device 1 of the present embodiment, the following processing is repeatedly executed.

  That is, first, the driver monitoring sensor 3 detects the face direction or gazing point of the driver D, and based on the face direction or the gazing point, it is determined which of the plurality of classifications the viewing area 16 of the driver D corresponds to. Then, the visual region 16 of the driver D is detected (S11).

  For example, when the driver D is viewing the front, it corresponds to the first classification shown in FIG. 8A, and the front area A1 of the vehicle V is detected as the viewing area 16 of the driver D. When the driver D is gazing at the right mirror, it corresponds to the second classification shown in FIG. 8B, and the right rear side area A2 of the vehicle V is detected as the viewing area 16 of the driver D. When the driver D is gazing at the left mirror, it corresponds to the third classification shown in FIG. 8C, and the left rear side area A3 of the vehicle V is detected as the viewing area 16 of the driver D.

  When the driver D is gazing at the room mirror, it corresponds to the fourth classification shown in FIG. 8D, and the rear area A4 of the vehicle V is detected as the viewing area 16 of the driver D. When the driver D is viewing the inside of the right window, it corresponds to the fifth classification shown in FIG. 8E, and the right side area A5 of the vehicle V is detected as the viewing area 16 of the driver D. When the driver D is viewing the inside of the left window, it corresponds to the sixth classification shown in FIG. 8F, and the right side area A6 of the vehicle V is detected as the viewing area 16 of the driver D.

  In conjunction with S11, the surrounding monitoring sensor 2 detects a surrounding object as the surrounding situation of the vehicle V (S12). Subsequently, the ECU 5 determines whether or not the detected peripheral object has already been viewed (S13). For example, the determination here can be performed based on whether or not the object is a visually recognized peripheral object stored in S19 described later.

  In the case of No in S13, the ECU 5 displays an icon related to the peripheral object as a new target display at a position corresponding to the peripheral object on the overhead image G (S14). Here, the new target display is a display targeting a newly detected peripheral object, for example, a red other vehicle icon display. Subsequently, the ECU 5 detects a peripheral object presence area that is an area where the peripheral object exists and is an area 15 that the driver D should watch (S15).

  Specifically, it is determined in which of the areas A1 to A6 in the first to sixth classifications classified as shown in FIG. Then, any one of the areas A1 to A6 where the peripheral object exists is detected as a peripheral object presence region. Note that in S15, when there are peripheral objects in a plurality of areas A1 to A6 (peripheral objects exist in overlapping areas of areas A1 to A6), the plurality of areas in which the peripheral objects exist are defined as peripheral objects. The existence area. Subsequently, the ECU 5 determines whether or not the driver D has viewed the peripheral object presence area detected in S15 based on the visual area 16 of the driver D detected in S11 (S16).

  In the case of No in S16, the ECU 5 determines whether or not a certain time (for example, 5 seconds) has elapsed (S17). When it is determined that the predetermined time has elapsed, the ECU 5 displays a highlighted display as a gaze display on the surrounding object existence area on the overhead image G of the display device 4 (S18). The highlighting here is a display targeting a peripheral object that has not been visually observed by the driver D for a certain period of time, for example, a frame that surrounds and blinks an icon related to the peripheral object. The fixed time is a fixed time from detection of the surrounding object presence area (above S15) or determination of whether or not the driver D has viewed the surrounding object existence area (above S16), which may be a fixed value or a variable value. Good. If it is determined that the fixed time has not elapsed, the processing is terminated as it is.

  On the other hand, in the case of Yes in S16 described above, the ECU 5 displays a visible display on the surrounding object existence area on the overhead image G of the display device 4 (S19). The visually recognized display here indicates that the driver D has already viewed the surrounding object existence area, and is a display targeting the visually recognized surrounding object. For example, the other vehicle icon changed to green It is a display. In S19, for example, the peripheral object is stored in the ECU 5 as a visually recognized peripheral object. Then, the process ends.

  On the other hand, in the case of Yes in S13, the ECU 5 determines whether or not there is a change in the state of the surrounding object (for example, a change in position or speed) based on the surrounding state detected by the surrounding monitoring sensor 2 (S20). ). If it is determined that there is no state change, the process is terminated as it is. When it is determined that there is a state change, the ECU 5 detects the surrounding object presence area (S21), as in S15. Then, the ECU 5 determines whether or not the driver D has viewed the peripheral object presence area detected in S21 based on the visual area 16 of the driver D detected in S11 (S22).

  If No in S22, the process proceeds to S17. On the other hand, in the case of Yes in S22, the ECU 5 causes the state change display for the surrounding object presence area to be displayed on the overhead image G of the display device 4 (S23). Here, the state change display is a display intended for a peripheral object that has been visually observed by the driver D and whose state has changed, and is, for example, an other vehicle icon display that has been changed to orange. Then, the process ends. Incidentally, when there are a plurality of peripheral objects around the vehicle V, the above processing is executed on the plurality of peripheral objects simultaneously or in parallel.

  As described above, also in the present embodiment, the above effect, that is, the effect of reducing the burden on the eyes of the driver D is achieved. In this embodiment, when it is determined that the driver D is not viewing the surrounding object existing area, which is the area 15 to be watched, when a certain time has elapsed (Yes in S17), highlighting is displayed as the gaze display. It is displayed on the display device 4. Thereby, for example, when a surrounding object presence area is newly detected, it is possible to prevent a gaze display from being displayed immediately without a time margin necessary for viewing the surrounding object existence area. Therefore, the burden on the eyes of the driver D can be further reduced.

  In the present embodiment, when the driver D determines that the peripheral object presence area has been visually observed, a visual indication is displayed on the display device 4 (see S19 above). As a result, it is possible to make the driver D easily understand that the peripheral object existence region has been viewed. Further, when the driver D determines that the peripheral object existence area related to the peripheral object whose state has changed is displayed, a state change display is displayed on the display device 4 (see S23 above). As a result, the driver D can easily understand that the surrounding object whose state has changed has been viewed. Furthermore, when it is determined that the driver D is not viewing the surrounding object presence area, the highlighted display is displayed on the display device 4 as a gaze display. Thereby, the visual observation of the driver D can be positively guided to the surrounding object existence region that has not yet been visually observed.

  As mentioned above, although embodiment of this invention was described, this invention is not restricted to the said embodiment, Even if it changes in the range which does not change the summary described in each claim, or applies to another thing Good.

  For example, in the above embodiment, the driver monitoring sensor 3 is used to detect the visual region 16 of the driver D of the vehicle V. However, instead of or in addition to this, a driver model obtained by formulating the driver operation is used. The visual region 16 of the driver D may be detected by using it. For example, the ECU 5 may calculate the visual distance using a forward gaze model of steering, and detect the visual region 16 of the driver D based on the visual distance. In this case, the ECU 5 constitutes a driver monitoring unit.

  In the above-described embodiment, the visual region 16 of the driver D is detected (see S3, S6, and S11 above). Alternatively, the visual direction of the driver D may be detected. The viewing direction of the driver D is a direction in which the driver D views (gazing) and is also referred to as a viewing direction. In addition, although the area 15 (peripheral object existence area) to be watched by the driver D is obtained (see S2, S15, and S21 above), the direction to be watched by the driver D (direction in which the surrounding object is present) may be obtained. . The direction to be watched by the driver D corresponds to a direction in which a peripheral object is present within a predetermined peripheral range around the vehicle V, and is a direction that the driver D should visually check (to see) during driving.

  In the above embodiment, it is determined whether the driver D has viewed the area 15 to be watched based on the detected viewing area 16 of the driver D. However, the area 15 to be watched is determined based on the viewing direction of the driver D. The driver D may determine whether or not the driver D has visually observed, or may determine whether or not the driver D has visually observed the direction to be watched based on the visual region 16 of the driver D. It may be determined whether or not the driver D has viewed the direction to be watched based on the viewing direction.

  In the above embodiment, the gaze display is not particularly limited, a display in which at least one of the shape, size and color of the icon is changed, a display with a frame added, a flashing display, and these A combined display may be used. Further, the gaze display may be a display indicating an area or direction in which a peripheral object exists. In short, the gaze display only needs to guide the driver D in the direction or area to be watched. Similarly, the visual display, the state change display, and the highlight display are not particularly limited, and may be a display in which at least one of the shape, size, and color of the icon is changed.

  In the above embodiment, the driver monitoring sensor 3 detects the face direction or gazing point of the driver D and detects the viewing area 16 of the driver D based on the detected information, but the viewing area of the driver D is based on the acquired information. The process of detecting 16 may be executed by the ECU 5. In this case, the driver monitoring sensor 3 and the ECU 5 constitute a driver monitoring unit.

  In the above embodiment, the bird's-eye view image G is displayed on the display device 4. However, instead of or in addition to the bird's-eye view image G, an image corresponding to the area seen by the mirror of the vehicle V may be displayed. What is necessary is just to display the display regarding a surrounding condition. In the above-described embodiment, the icons related to the peripheral objects may have different display modes (display methods) for each type (classification) of the peripheral objects.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle periphery monitoring apparatus, 2 ... Perimeter monitoring sensor (periphery condition detection part), 3 ... Driver monitoring sensor (driver monitoring part), 4 ... Display apparatus (display part), 5 ... ECU (display control part), 15 ... Area to be watched, 16 ... viewing area, D ... driver, G1 ... first bird's-eye view image, G2 ... second bird's-eye view image, P1 ... normal peripheral area (first peripheral area), P2 ... enlarged peripheral area (second peripheral area) ), V ... vehicle, Z1 ... gaze display (highlight display).

Claims (6)

A vehicle periphery monitoring device for monitoring the periphery of a vehicle,
A surrounding situation detector for detecting the surrounding situation of the vehicle;
A display unit for displaying a display related to the surrounding state detected by the surrounding state detection unit;
A display control unit for controlling display in the display unit;
A driver monitoring unit that detects a viewing direction or a viewing area of the driver of the vehicle, and
The display control unit
Based on the surrounding situation detected by the surrounding situation detection unit, the driver determines the direction or area to be watched,
Based on the visual direction or visual area of the driver detected by the driver monitoring unit, it is determined whether the driver has visually observed the direction or area to be watched,
When it is determined that the driver is not viewing the direction or area to be watched, the display unit displays a gaze display that guides the driver to view the direction or area to be watched,
When it is determined that the driver has viewed the direction or area to be watched, the gaze display is not displayed on the display unit ,
The display control unit
While displaying the first bird's-eye view image for the first peripheral range around the vehicle on the display unit,
When at least one of the region to be watched and the visual region of the driver is located outside the first peripheral range, the region around the vehicle is wider than the first peripheral range, and the region to be watched and the driver A second bird's-eye view image that covers a second peripheral range including at least one of the viewing areas of the image is displayed on the display unit instead of the first bird's-eye view image,
The first peripheral range is a vehicle peripheral monitoring device that is a rectangular range that extends around the vehicle when the vehicle is looked down on . A vehicle periphery monitoring device for monitoring the periphery of a vehicle,
A surrounding situation detector for detecting the surrounding situation of the vehicle;
A display unit for displaying a display related to the surrounding state detected by the surrounding state detection unit;
A display control unit for controlling display in the display unit;
A driver monitoring unit that detects a viewing direction or a viewing area of the driver of the vehicle, and
The display control unit
Based on the surrounding situation detected by the surrounding situation detection unit, the driver determines the direction or area to be watched,
Based on the visual direction or visual area of the driver detected by the driver monitoring unit, it is determined whether the driver has visually observed the direction or area to be watched,
If it is determined that the driver is not viewing the direction or area to be watched, the display unit displays a gaze display that guides the driver to view the direction or area to be watched,
When it is determined that the driver has viewed the direction or area to be watched, the gaze display is not displayed on the display unit ,
The display control unit
Determining whether the driver has viewed the direction or area to be watched in the third peripheral area around the vehicle;
When it is determined that the driver has visually observed the direction or area to be watched, the driver has visually observed the direction or area to be watched in the fourth peripheral range that is wider than the third peripheral range around the vehicle. Whether or not
The third peripheral range is a vehicle peripheral monitoring device , which is a rectangular range that extends around the vehicle when the vehicle is looked down on . 3. The vehicle periphery monitoring device according to claim 1, wherein the display control unit does not switch the display of the display unit when it is determined that the driver views the direction or area to be watched. When the display control unit determines that the driver has visually observed the direction or area to be watched, the display control unit displays a visual display indicating that the driver has already viewed the direction or area to be watched. display, a vehicle surroundings monitoring apparatus according to claim 1 or 2. When the display control unit determines that the driver is not viewing the direction or area to be watched, the display control unit causes the display unit to display a highlighted display that emphasizes the direction or area to be watched as the gaze display. The vehicle periphery monitoring device according to any one of claims 1 to 4 . Wherein the display control unit, when the direction or area to be the attention predetermined time has passed in when the driver is determined not to be visually displays the gaze displayed on the display unit, any claim 1-5 The vehicle periphery monitoring device according to claim 1.