JP6210080B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a vehicular display device including an imaging unit that captures the rear of a host vehicle and an electronic mirror monitor that displays a vehicle rear image captured by the imaging unit.

  The vehicle display device displays an image captured by a rear camera (imaging means) on a monitor mounted in a vehicle interior so that the driver can check the rear of the vehicle, and the driver can use a door side mirror, a rearview mirror, etc. Instead of observing the monitor as an electronic mirror, the state behind the vehicle is confirmed. With respect to such a vehicle display device, in recent years, as exemplified in Patent Document 1, a technique for a driver to display a state behind a vehicle more easily on a monitor is known.

  In order to make it easy to intuitively understand whether the video displayed on the display unit of the electronic mirror is a right rear image or a left rear video image of the electronic mirror, According to the positional relationship between the driver and the imaging means, it is arranged at a position that is removed from the front position of the driver, and this alleviates the driver's uncomfortable feeling due to the difference in the installation location of the electronic mirror and camera It is supposed to be possible.

  By the way, when the driver looks at the electronic mirror image, he / she tries to recognize the image displayed on the electronic mirror screen intuitively and empirically as if it was a mirror image seen through the side mirror. If there is a difference between the image capture direction and the display direction of the electronic mirror monitor screen, that is, the orientation of the rear camera and the electronic mirror monitor, the electronic mirror screen was imaged under a posture different from the orientation of the electronic mirror. Since the vehicle rear image is displayed, the driver may feel uncomfortable.

  In the case of Patent Document 1 described above, attention is paid to the difference in installation location between the electronic mirror monitor and the rear camera, but it is not considered that the driver feels uncomfortable due to the difference in installation angle. I do not get.

  In recent years, for example, as disclosed in Patent Document 2, a captured image captured by a rear camera is appropriately selected so that an electronic mirror image can be viewed without feeling uncomfortable due to a difference in installation angle between the electronic mirror monitor and the rear camera. Although a technique for displaying an output image subjected to the above image processing on an electronic mirror monitor has been proposed, it cannot be said that the uncomfortable feeling of the driver can be sufficiently eliminated, and further investigation is required.

JP 2005-329768 A JP 2013-216286 A

  Therefore, the present invention provides a vehicle display device that can display a vehicle rear image on the electronic mirror screen in a state in which the driver feels uncomfortable even when the arrangement of the imaging means and the electronic mirror monitor is misaligned. The purpose is to improve.

The present invention, self-imaging means vehicle for photographing the rear, a vehicle display device and an electronic mirror monitor for displaying the vehicle rear image captured by the imaging means, the driver the digital mirror monitor screen Is set to an angle formed by the display direction of the electronic mirror monitor screen and the elevation angle of the driver viewing the electronic mirror monitor screen, and the same reference posture as the orientation of the imaging means is set. the vehicle rear image displayed on the digital mirror monitor screen arranged in inclined position inclined toward the driver's side for, depending on the viewing angle when the electronic mirror monitor is disposed at the reference position a correction means for correcting the corrected image based on the viewing image was, the correcting means, the screen of the digital mirror monitor disposed at the reference position, before the electronic mirror monitor The electronic mirror arranged in the tilted posture is the perspective that appears in the vehicle rear image as the distance from the driver is different on one side and the other side in the orthogonal direction perpendicular to the tilted axis direction. Perspective emphasis expressing means for performing perspective emphasis correction that emphasizes and expresses on a monitor screen, and the corrected image is a perspective emphasis image obtained by correcting the perspective emphasis by the perspective emphasis expressing means. characterized in that there.

According to the above configuration, the vehicle rear image is corrected to a corrected image based on a visual image corresponding to a line-of-sight angle visually recognized by a driver when the electronic mirror monitor is arranged in the reference posture. Is displayed on the electronic mirror monitor screen arranged in the tilted posture, so that the driver does not feel discomfort due to the difference in angle between the reference posture (captured image placement posture) and the tilted posture. The contents can be recognized quickly .

Also as described above, the correction means is the screen of the digital mirror monitor disposed at the reference position, one side and the other side of the orthogonal direction perpendicular to electronic mirror monitor inclined axis inclined to the inclined posture Perspective emphasis correction that performs perspective emphasis correction that emphasizes and expresses the perspective generated in the vehicle rear image due to the difference in the distance from the driver on the screen of the electronic mirror monitor arranged in the tilted posture. The corrected image is arranged in the reference posture by using the perspective emphasis corrected image by the perspective emphasis expressing device on the screen of the electronic mirror monitor arranged in the tilted posture. In the screen of the electronic mirror monitor, the vehicle rear image is placed in the tilted posture in consideration of the above-described perspective that occurs in the vehicle rear image. It can be highlighted in the electronic mirror monitor screen.

Therefore, the above-mentioned uncomfortable feeling when the driver visually recognizes the vehicle rear image captured from the imaging direction corresponding to the reference attitude (imaging means arrangement attitude) through the electronic mirror monitor screen arranged in the tilt attitude, Can be reduced.

  Further, as an aspect of the present invention, among the both sides in the orthogonal direction of the vehicle rear image displayed on the screen of the electronic mirror monitor arranged in the reference posture, the driver side is inclined from the reference posture to the inclined posture. And the perspective-enhancing expression means directs at least one end in the tilt axis direction of the vehicle rear image toward the approaching image end. Thus, the trimming processing unit can perform trimming processing so that the trim width gradually increases.

  According to the above-described configuration, the trim processing unit causes the trim portion so that the trim width gradually increases with the at least one end side in the inclined axis direction of the vehicle rear image directed toward the approach side image end side. By forming it in the vehicle rear image, the perspective of the vehicle rear image displayed on the screen of the electronic mirror monitor arranged in the tilted posture can be obtained.

  When the trimming processing unit performs a trimming process for forming a trim portion on the vehicle rear image, it may be deformed by compressing the vehicle rear image together with the trimming process or not. There may be.

As an aspect of the present invention, the reference posture is a posture in which the electronic mirror monitor is arranged on an orthogonal plane orthogonal to the vehicle front direction, and the vehicle rear image is arranged in the inclined posture. in a state, the vertical end edges parallel to the vehicle vertical direction, has a front view substantially rectangular image frame in parallel to the side edge sides in the vehicle width direction, the perspective emphasizing representation means, said longitudinal end sides The perspective emphasis correction is performed only along the edge of the image having the larger angle among the angle formed by the vehicle vertical direction and the angle formed by the lateral edge and the vehicle width direction. it can.

According to the above construction, by the perspective emphasizing expression means, in a state arranged in the inclined posture the electronic mirror monitor, and an angle between the longitudinal end edges and the vehicle vertical direction, the side edge sides in the vehicle width direction By performing perspective emphasis correction such as trimming only along the image edge on the larger angle side, for example, for both the vertical edge and the horizontal edge As in the case where the vehicle rear image is trimmed, the visibility of the vehicle rear image is prevented from being lowered due to the image frame of the vehicle rear image becoming an irregular shape, etc. Visibility can be ensured.

Further, as an aspect of the present invention, the correction means tilts the vehicle rear image according to the driver's line of sight until the vehicle rear image displayed on the screen of the electronic mirror monitor when arranged in the reference posture. Projection correction means for performing projection correction on the screen of the electronic mirror monitor arranged in a posture, and the correction image can be a projection image obtained by projecting and correcting the vehicle rear image by the projection correction means.

According to the configuration, the driver displays the screen of the electronic mirror monitor arranged in the reference posture by displaying the projection image as the correction image on the screen of the electronic mirror monitor arranged in the inclined posture. The vehicle rear image that is visually recognized when viewed can be viewed from the screen of an electronic mirror monitor arranged in an inclined posture. Accordingly, the driver does not feel a sense of incongruity due to a deviation in the angle between the arrangement angle of the electronic mirror monitor arranged in the tilted posture and the imaging angle of the vehicle rear image displayed on the electronic mirror monitor, and The contents in the image can be recognized quickly.

  According to this invention, even when there is a deviation in the orientation between the imaging means and the electronic mirror monitor, the vehicle display device can display the vehicle rear image on the electronic mirror screen in a state in which the driver feels uncomfortable. Can be improved.

The block diagram which shows schematic structure of the display apparatus for vehicles. Explanatory drawing of the installation location of the electronic mirror monitor in a vehicle interior. Explanatory drawing which showed typically a driver | operator's driving | operation side view. The front view of the electronic mirror monitor which displayed the vehicle back image. The schematic diagram which shows the relationship between a driver | operator and the gaze angle of the electronic mirror monitor of Example 1. FIG. The flowchart which shows the control processing of the display apparatus for vehicles. FIG. 3 is a front view of a projection image according to the first embodiment. FIG. 6 is a front view of a perspective emphasis image according to the first embodiment. Explanatory drawing which showed typically a driver | operator's driving | running | working planar view. The schematic diagram which shows the relationship between a driver | operator and the gaze angle of the electronic mirror monitor of Example 2. FIG. FIG. 6 is a front view of a projection image in Embodiment 2. The front view of the perspective emphasis image in Example 2. FIG. The front view of the perspective emphasis image in other embodiments. The front view of a perspective emphasis image in still another embodiment.

An embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of the vehicle display device of the present embodiment, and FIG. 2 is an explanatory view of an installation location of the left electronic mirror monitor in the passenger compartment. FIG. 3 is an explanatory diagram schematically showing a side view of driving while looking at the left electronic mirror monitor disposed in an inclined posture at the front upper position of the driver, and is a peripheral portion of the left electronic mirror monitor FIG. FIG. 4 is a front view of the left electronic mirror monitor that displays the vehicle rear image before the correction process, and is an explanatory diagram of each edge and tilt axis of the image frame. FIG. 5 is an explanatory view schematically showing the relationship between the angle of the driver and the left electronic mirror monitor arranged at the upper front position of the driver, and the driver's line of sight according to the arrangement posture of the left electronic mirror monitor It is explanatory drawing explaining the difference in an angle. FIG. 6 is a flowchart showing the control process of the control process (driving support process) of the vehicle display device according to the first embodiment.
FIG. 7 is a front view schematically showing a projection image obtained by projecting and correcting the rear image of the vehicle by the projection correction unit of the vehicle display device according to the first embodiment. FIG. 8 is a perspective view of the vehicle display device according to the first embodiment. It is the front view which showed typically the perspective emphasis image which corrected the perspective emphasis correction | amendment of the vehicle back image by the emphasis correction part. However, reference numeral 12 in FIG. 5 and FIG. 10 to be described later schematically represents the left side surface of the left electronic mirror monitor, but represents only the left electronic mirror monitor screen 12A, and the outer peripheral side of the screen 12A. The housing portion is omitted.

Example 1
As shown in FIG. 1, a vehicle including the vehicle display device 1 of the first embodiment displays a left side camera 11 that captures the left rear of the host vehicle and a vehicle rear image captured by the left side camera 11. A left electronic mirror monitor 12 (left electronic mirror display 12) and an ECU 20 that performs various processes such as a control process of the vehicle display device 1 are provided.

  In addition, in the vehicle of the present embodiment, the devices provided on the left side of the vehicle such as the left side camera 11 and the left electronic mirror monitor 12 described above are also provided with corresponding devices on the right side. Of the pair of devices provided, the device provided on the right side has the same structure as the device provided on the left side except in particular cases, and therefore the configuration relating to the device provided on the left side of the vehicle will be mainly described.

  As shown in FIG. 2, the left side camera 11 is provided on the left side of the host vehicle, that is, the rear upper part of the left front fender (near the left front side window) so that the left rear of the host vehicle can be continuously imaged. Yes.

  The left side camera 11 is provided inside the left side camera housing on the front end side through a camera bracket that protrudes outward in the vehicle width direction from the vehicle body. For example, a CCD or the like that can capture images in the visible light region, the infrared region, etc. It consists of a small color camera or the like using a CMOS image sensor, and outputs the captured information in real time as moving picture information.

  Such a left side camera 11 is configured to be changeable with respect to its orientation, that is, a posture in which the lens (the optical axis direction of the camera, the imaging direction) of the left side camera 11 faces the vehicle rear R. In the embodiment, the left side camera 11 is arranged so as to be in the imaging direction toward the vehicle rear R without being inclined with respect to the horizontal direction (width direction W) and the vertical direction (vehicle vertical direction V). Shall.

  Although the side mirror of the vehicle of this embodiment is not provided with a door mirror (side mirror), a camera-integrated door mirror that includes a door mirror separately from the side camera and in which the side camera is embedded may be adopted. Good.

  The left electronic mirror monitor 12 is composed of a liquid crystal monitor or the like, and displays an image obtained by image processing by the ECU 20 to be described later on the state of the left rear of the host vehicle. Such a left electronic mirror monitor 12 is disposed at a front upper position Pu with respect to the driver (D), as shown in FIGS.

  In the present embodiment, the front upper position Pu is, for example, an elevation angle β of 20 degrees with respect to the horizontal plane (front F) as viewed from the driver so as to be visible from the driver, as shown in FIGS. 3 and 5. It is assumed that the driver has moved the line of sight from the front F in the direction.

  Specifically, as shown in FIGS. 2 and 3, the left electronic mirror monitor 12 is supported by the support member 3 and is at least around the vehicle width direction W axis (pitch direction αp) with respect to the reference posture Sb. It is connected to the front end portion of the support member 3 via a ball joint 3j so that the angle can be adjusted by tilting around the vertical V axis (yaw direction αy). Such a support member 3 is installed at substantially the same position in the vehicle width direction W as the position where the steering wheel 4 is disposed at the front portion of the vehicle roof 5.

  Here, the reference posture Sb is a posture before the left side camera 11 is tilted toward the driver, and in this embodiment, is the same posture as the arrangement posture of the left side camera 11, and the electronic mirror monitor screen 12A. Is a posture facing the vehicle rear R. In other words, the reference posture Sb is a posture arranged so that the screen 12A of the left electronic mirror monitor 12 coincides with the orthogonal plane orthogonal to the vehicle longitudinal direction.

  As shown in FIG. 4, the left electronic mirror monitor 12 has a substantially rectangular shape in front view with a vertical end Ty parallel to the vehicle vertical direction V and a horizontal end Tx parallel to the vehicle width direction W in the reference posture Sb. A front-view substantially rectangular screen 12A capable of displaying a vehicle rear image having an image frame F is provided.

  Here, among the pair of horizontal end sides Tx and Tx provided on the upper and lower sides of the image frame F, the horizontal end side Tx positioned at the upper end is set as the upper side horizontal end side Txu and the horizontal end side positioned at the lower end. Tx is set to the lower horizontal end side Txd. Further, among the pair of vertical end sides Ty, Ty on the left and right sides of the image frame F, the vertical end side Ty located at the left end in the vehicle width direction W is set as the left vertical end side Tyl, and the vehicle width direction The vertical end side Ty located at the right end of W is set as the right vertical end side Tyr. Further, the vehicle vertical direction V and the vehicle width direction W in the reference posture Sb of the left electronic mirror monitor screen 12A are set to the vertical direction Y and the horizontal direction X, respectively. Yu is set to the vertical lower side Yd, and the left side in the vehicle width direction W and the right side in the vehicle width direction W are set to the horizontal left side Xl and the horizontal right side Xr, respectively (see FIG. 4).

  Note that the image displayed on the left electronic mirror monitor screen 12A in FIG. 4 is an example of the vehicle rear image P1 before image correction that has not been subjected to image correction processing described later after being generated by the image generation unit 21 described later. Is shown.

  Furthermore, as described above, the left electronic mirror monitor 12 is tilted in the negative direction of the pitch direction αp (the direction in which the screen 12A is lying down) with the ball joint 3j as the center, so that a partially enlarged view in FIG. As shown, it can be tilted to a tilted posture Sa tilted toward the driver side with respect to the reference posture Sb. However, in the present embodiment, as shown in FIG. 4, the tilt axis (rotation axis) in the pitch direction αp tilted from the reference posture Sb to the tilted posture Sa is typically along the lower lateral end side Txd. The description will be made assuming that the left electronic mirror monitor 12 is tilted from the reference posture Sb to the tilted posture Sa around the lower horizontal end side Txd axis.

  The tilt posture Sa is not particularly limited as long as the screen 12A of the left electronic mirror monitor 12 is tilted toward the driver with respect to the reference posture Sb, but the tilt posture Sa in the present embodiment is illustrated in FIG. As shown in FIG. 5, a posture that is substantially directly (coincident) with the line-of-sight direction of the driver who is viewing the screen 12 </ b> A of the left electronic mirror monitor 12, that is, an inclination angle with respect to the reference posture Sb in this embodiment. It is assumed that the posture is inclined so that αp becomes a dip angle of 20 degrees.

  The ECU 20 includes a CPU for controlling various processes, a ROM for storing programs and parameters for executing processes performed by the CPU, a RAM as a work area for temporarily storing data generated in the process, and the like. It comprises a well-known microcomputer provided.

  The ECU 20 includes an image generation unit 21 and an image correction unit 22 that perform control processing (driving support processing) using the vehicle display device 1 of the present embodiment (see FIG. 1).

  The image generating unit 21 horizontally inverts an intermediate generated image generated based on the imaging data of the vehicle left rear landscape captured by the left side camera 11 and displays the left electronic mirror in FIG. 4 as an image corresponding to the horizontally inverted image. The vehicle left rear image P1 before image correction as displayed on the screen 12A of the monitor 12 is processed.

  Based on a command from the ECU 20, the image correction unit 22 determines the vehicle rear image P1 before image correction according to the line-of-sight angle θ viewed by the driver when the left electronic mirror monitor 12 is arranged in the reference posture Sb. The execution program corrects the corrected image based on the visually recognized video, and includes a projection correction unit 23 and a perspective emphasis correction unit 24 (see FIG. 1).

Here, as shown in FIG. 5, the line-of-sight angle θ is an angle at which the driver visually recognizes the screen 12A of the left electronic mirror monitor 12, and when viewing the screen 12A of the left electronic mirror monitor 12, the left electronic mirror This is the angle formed between the display direction Dd of the screen 12A of the monitor 12 and the line-of-sight direction Ds where the driver visually recognizes the screen 12A of the left electronic mirror monitor 12.

Specifically, as shown in FIG. 5, the left electronic mirror monitor 12 is disposed at a position where the line of sight is moved in the direction Ds of the elevation angle (βp) of 20 degrees with respect to the horizontal plane when viewed from the driver. When the left electronic mirror monitor 12 is arranged in the reference posture Sb (tilt angle αp = 0 °), the line-of-sight angle θ is 20 degrees. On the other hand, when the left electronic mirror monitor 12 is arranged in the tilt posture Sa (tilt angle αp = 20 °) at the upper front position Pu of the driver, the display direction Dd of the screen 12A of the left electronic mirror monitor 12 is The line-of-sight angle θ is 0 degrees substantially facing the line-of-sight direction Ds of the driver viewing 12A.
When the vehicle rear image P1 before image correction is displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the reference posture Sb, the projection correction unit 23 follows the line of sight from the driver up to the screen 12A. The vehicle rear image P1 is compressed and corrected with a projection ratio (compression ratio) projected on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa, for example, as shown in FIG. A projection image P2 is generated.

  In addition, in the case of the present embodiment in which the left electronic mirror monitor 12 is arranged in the reference posture Sb at the front upper position Pu of the driver, as shown in FIG. As the distances Lsu and Lsd from the driver differ between the side of the upper horizontal end Txu and the side of the lower horizontal end Txd in the longitudinal direction Y of the vehicle rear image displayed on the screen 12A of the monitor 12, the vehicle The projected image P2 is expressed with the perspective emphasis scale unit 25 so that the perspective generated in the rear image is expressed in the vehicle rear image displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa. This is correction processing performed by the trimming processing unit 26 (see FIG. 1).

  More specifically, when the left electronic mirror monitor 12 is arranged in the reference posture Sb at the upper front position Pu of the driver, the distance from the driver to the upper horizontal end Txu on the screen 12A of the left electronic mirror monitor 12 Lsu is located farther than the distance Lsd from the driver to the lower lateral end side Txd (see FIG. 5).

  Then, the upper horizontal end side Txu located farther from the lower horizontal end side Txd when viewed from the driver is inclined to the posture Sa by tilting the left electronic mirror monitor 12 from the reference posture Sb with the lower horizontal end side Txd as the tilt axis. When tilted, the vehicle approaches the driver as compared to the case of the reference posture Sb. That is, when the left electronic mirror monitor 12 is disposed in the tilted posture Sa, the distance from the driver to the upper lateral edge Txu and the distance from the driver to the lower lateral edge Txd are substantially the same. In the vehicle rear image displayed under Sa, the distance from the driver is different between the upper horizontal end side Txu side and the lower horizontal end side Txd side as compared with the case of the reference posture Sb. There is almost no perspective.

  Then, for example, when the vehicle rear image captured in the reference posture Sb is displayed on the screen 12A of the left electronic mirror monitor 12 as it is as the vehicle rear image P1 shown in FIG. When the driver looks at the image P1 through the screen 12A of the left electronic mirror monitor 12 placed in the tilted position Sa, it is easy to feel uncomfortable due to a mismatch between the imaging direction and the display direction. For this reason, the perspective emphasis correction unit 24 allows the driver to view the vehicle rear image over the mirror surface of the left side mirror that is disposed in the reference posture Sb (left side camera placement posture) at the upper front position Pu of the driver. It is corrected by emphasizing it so that it has a perspective equal to or greater than the perspective that is seen when looking at the vehicle rear R, and the corrected image is displayed on the screen 12A of the left electronic mirror monitor 12 arranged in a tilted posture Sa. is there.

  Specifically, the perspective emphasis scale unit 25 serves as a tilt axis as a perspective emphasis image P3 shown in FIG. 8 as a first means for emphasizing and expressing the perspective generated in the vehicle rear image. The compression correction is performed so that the compression ratio of the length in the horizontal direction X gradually increases as it proceeds from the lower horizontal end side Txd to the upper horizontal end side Txu in the vertical direction upper side Yu.

  The trimming processing unit 26, as a second means for emphasizing and expressing the perspective generated in the vehicle rear image, includes the left vertical edge Tyl and the right vertical edge Tyr direction in the vehicle rear image. Trimming processing is performed so that the trim width gradually increases toward at least one vertical end side Ty toward the vertical upper side Yu (see FIG. 8).

The vehicle display device 1 according to the present embodiment has the above-described configuration. Next, a control process according to the first embodiment of the dual-purpose display device will be described with reference to a flowchart shown in FIG.
However, it is assumed that the left electronic mirror monitor 12 is arranged in an inclined posture Sa.
For example, when the driver turns on the ignition switch and starts the engine (step S1: Yes), the power of various on-vehicle devices such as the main monitor 30 (see FIG. 2) is started, and the left side camera 11 Is started (step S2).

  The left side camera 11 is not limited to operating after the driver turns on the ignition switch, but the driver operates the shift lever 31 to the “D” mode or the “R” mode, or depresses the accelerator pedal. When detecting that the host vehicle starts to move, imaging of the left rear of the vehicle may be started.

  The image generation unit 21 generates an intermediate generation image based on the imaging data of the vehicle left rear landscape captured by the left side camera 11, performs a process of horizontally reversing the intermediate generation image, and a vehicle corresponding to the horizontally reversed image A left rear image P1 is generated (step S3).

Subsequently, projection correction processing is performed in the image correction processing in step S4 (step S41).
In the projection correction processing, the vehicle rear image P1 displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the reference posture Sb is tilted by the projection correction unit 23 according to the line of sight from the driver to the screen 12A. Projection image P2 as shown in FIG. 7 is generated by performing projection correction that is reduced by a magnification that becomes an image size displayed when projected onto the screen 12A of the left electronic mirror monitor 12 arranged in the posture Sa.

  Specifically, when the driver visually recognizes the vehicle rear image P1 displayed on the screen 12A of the left electronic mirror monitor 12, the distortion in the vertical direction Y of the vehicle rear image P1 with the line-of-sight angle θ is that in the horizontal direction X. Therefore, the projected image P2 has a reduction ratio in the vertical direction Y rather than the horizontal direction X with respect to the size of the vehicle rear image P1 before image correction, as indicated by Lv and Ly in FIGS. (Compression rate) is increased, and an image as shown in FIG. 7 in which the vertical direction Y is compressed with respect to the horizontal direction X is obtained.

  Subsequently, perspective emphasis correction processing is performed in the image correction processing in step S4 (step S42). In this perspective emphasis correction processing, perspective emphasis scale processing and trimming processing are performed, and a corrected image as shown in FIG. A perspective emphasis image P3 as P3 is generated.

  In the perspective emphasis scale processing, in the case of the first embodiment in which the left electronic mirror monitor 12 is disposed in the tilt posture Sa at the driver's front upper position Pu, the lower horizontal end side Txd having on the tilt axis in the pitch direction αp. The perspective image is reduced and corrected by the perspective emphasis scale unit 25 so that the compression rate in the horizontal direction X gradually increases as it proceeds from the first to the upper horizontal edge Txu in the vertical upper direction Yu. This compression rate is not particularly limited as long as it is a magnification that can express the perspective of the vehicle rear image with emphasis, but the upper horizontal edge Txu of the perspective enhanced image P3 is, for example, the upper horizontal edge Txu of the projection image P2. Compression can be performed within a range of 70% to 95%.

  In the trimming process performed together with the perspective emphasis scale process in step S42, the left vertical end side Tyl and the right vertical end side Tyr are set to, for example, about 5 degrees to 30 degrees with respect to the vertical direction Y as shown in FIG. The trim processing unit 26 forms a substantially triangular trim portion T that has an edge that is inclined toward the inside of the screen frame with a gradient and that has a trim width that increases as the trim width advances in the vertical direction Yu on the left and right sides of the screen 12A. Trimming process.

  That is, the perspective emphasis image P3 is an image frame in which the width in the horizontal direction X is narrowed from both sides from the lower horizontal end side Txd to the vertical upper side Yu as shown in FIG. Expressed with emphasis.

  Note that the left vertical edge Tyl and the right vertical edge Tyr are not limited to linearly inclined edges so that the trim width increases toward the upper side Yu in the vertical direction inside the screen frame. It is good also as the edge inclined in curvilinear form, such as a quadratic curve.

  The corrected image P3 generated by the above-described image correction process is continuously displayed on the left electronic mirror monitor 12 arranged in the tilted posture Sa as a moving image that changes momentarily as the vehicle travels (Step S6: No). When the ignition switch is turned off, the control process of the vehicle display device 1 is terminated (step S6: Yes).

  As described above, the vehicle display device 1 of the present embodiment described above includes the left side camera 11 as an imaging unit that captures the rear of the host vehicle, and the left electronic mirror monitor that displays the vehicle rear image captured by the left side camera 1. The left electronic mirror monitor is disposed in a tilted posture Sa that is tilted toward the driver (D) with respect to the same reference posture Sb as that of the left side camera 11. The vehicle rear image P1 displayed on the 12 screen 12A is converted into a corrected image P3 based on a visual image corresponding to the visual line angle θ viewed by the driver when the left electronic mirror monitor 12 is arranged in the reference posture Sb. An image correction unit 22 is provided as correction means for correction (see FIG. 1).

  According to the above configuration, the vehicle rear image P1 is corrected to the corrected image P3 based on the visual image corresponding to the line-of-sight angle θ visually recognized by the driver when the left electronic mirror monitor 12 is arranged in the reference posture Sb. In order to display the corrected image P3 on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa, the driver feels uncomfortable due to the difference in angle between the reference posture Sb (left-side camera placement posture) and the tilted posture Sa. It is possible to quickly recognize the contents in the vehicle rear image without feeling.

  Specifically, the screen 12A of the left electronic mirror monitor 12 arranged in the direction in which the left side camera 11 arranged in the reference attitude Sb (left side camera arrangement attitude) images the vehicle rear R and the inclination attitude Sa is arranged in the vehicle rear. When there is a deviation in angle with the image display direction, the driver visually recognizes the vehicle rear image captured under the reference posture Sb through the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa. As a result, it becomes easy to feel uncomfortable, and it may take time to recognize the contents in the vehicle rear image.

  Specifically, when the left electronic mirror monitor 12 is arranged in the tilted posture Sa, the driver can view the image displayed on the screen 12A of the left electronic mirror monitor 12 as if the left side is arranged in the tilted posture Sa. It tries to recognize the space as a mirror image seen through the mirror, and tries to recognize the space intuitively. However, when the vehicle rear image captured from the imaging direction corresponding to the reference posture Sb (left side camera placement posture) different from the tilt posture Sa is displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilt posture Sa, Since the angle between the tilted posture Sa and the arrangement posture of the left side camera 11 is misaligned, the driver may feel uncomfortable.

  For this reason, the driver has captured the vehicle rear image displayed on the screen 12A of the left electronic mirror monitor 12 placed in the tilted posture Sa, not in the tilted posture Sa but under the placement posture of the left side camera 11. Therefore, it is necessary to re-recognize this in the head, so that the contents in the vehicle rear image cannot be quickly recognized.

  On the other hand, in this embodiment, the vehicle rear image P1 as shown in FIG. 4 is displayed according to the line-of-sight angle θ visually recognized by the driver when the left electronic mirror monitor 12 is arranged in the reference posture Sb. The driver corrects the corrected image P3 as shown in FIG. 8 based on the visually recognized video, and displays the corrected image P3 on the screen 12A of the left electronic mirror monitor 12 disposed in the tilted position Sa. The contents can be recognized quickly.

  Further, as an aspect of the present invention, the image correction unit 22 includes the upper horizontal edge Txu of the vertical upper side Yu and the lower horizontal edge of the vertical lower side Yd on the screen 12A of the left electronic mirror monitor 12 arranged in the reference posture Sb. Perspective emphasis correction is performed by emphasizing and expressing the perspective generated in the vehicle rear image P1 due to the difference in the distance from the driver from Txd on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa. This is a perspective emphasis correction unit 24 as perspective emphasis expression means (see FIG. 1).

  According to the above configuration, rather than the perspective that the driver feels when looking at the vehicle rear R through the left side mirror disposed in the reference upper position Pu at the front upper position Pu of the driver, in other words, the driver is inclined. A perspective-enhanced image P3 as shown in FIG. 8 is emphasized rather than the perspective felt when viewing the projected image P2 displayed under Sa, and is displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa. To do.

  As a result, the driver feels uncomfortable when the driver visually recognizes a vehicle rear image taken under the reference posture Sb (left side camera placement posture) through the screen 12A of the left electronic mirror monitor 12 placed in the tilt posture Sa. It can be further reduced.

  Further, as an aspect of the present invention, the driver is tilted from the reference posture Sb to the tilted posture Sa among the upper and lower sides in the Y direction of the vehicle rear image displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the reference posture Sb. The upper horizontal edge Txu on the side approaching the vehicle side is set as the approaching image edge, and the perspective emphasis correcting unit 24 sets the left vertical edge Tyl and the right vertical edge Tyr in the vehicle rear image in the vertical direction Y. This is a trimming processing unit 26 that performs trimming processing so that the trim width gradually becomes larger (see FIG. 1).

  With the above configuration, a perspective-enhanced image P3 as shown in FIG. 8 is displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa as compared with the projection image P2 obtained by changing the compression ratio of the vehicle rear image. By doing so, a sense of perspective can be further generated.

(Example 2)
Next, in the second embodiment, the left electronic mirror monitor 12 is not disposed at the front upper position Pu of the driver as in the first embodiment, but at the front left position Pl of the driver as shown in FIG. The arranged embodiment will be described with reference to FIGS.
However, the same components as those of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 9 is an explanatory view schematically showing a state in which the driver is driving while looking at the left electronic mirror monitor arranged in a tilted posture toward the left front position, and FIG. 10 is a driver's view. Is an explanatory diagram schematically showing the relationship between the angle of the driver and the left electronic mirror monitor arranged at the left front position of the driver, and shows the difference in the driver's line-of-sight angle θ according to the arrangement posture of the left electronic mirror monitor. It is explanatory drawing demonstrated. FIG. 11 is a front view schematically showing a projection image P2 obtained by projecting and correcting the vehicle rear image by the projection correction unit of the vehicle display device according to the second embodiment. FIG. 12 is a perspective view of the vehicle display device according to the second embodiment. It is the front view which showed typically the perspective emphasis image P3 which corrected the perspective emphasis correction | amendment of the vehicle back image by the feeling emphasis correction part.

  Here, the front left position Pl of the driver in the present embodiment is the left direction (plan view) by 20 degrees with respect to the vertical plane perpendicular to the vehicle width direction W when viewed from the front F of the vehicle so that the driver can visually recognize the front side. It is assumed that the driver has moved his / her line of sight from the front F in the counterclockwise direction).

  Specifically, as shown in FIG. 9, the support member 3 </ b> A that supports the left electronic mirror monitor 12 is a main monitor provided at the center position in the vehicle width direction W of the instrument panel 51 (left side position relative to the steering wheel 4). It is installed at the upper position of 30.

  Further, as described above, the left electronic mirror monitor 12 arranged at the front left position Pl of the driver is tilted in the yaw direction αy minus (counterclockwise in the vehicle plan view) with the ball joint 3Aj as the center. Thus, the tilted posture Sa can be tilted toward the driver side with respect to the reference posture Sb. In the tilted posture Sa in the present embodiment, as shown in FIG. An attitude that is substantially directly (coincident) with the line-of-sight direction Ds of the driver viewing the screen 12A of the left electronic mirror monitor 12, that is, tilted by 20 degrees αy counterclockwise with respect to the vehicle width direction W in the vehicle plan view. It should show the posture.

  However, in the present embodiment, as shown by the phantom line in FIG. 4, the tilt axis (rotation axis) in the yaw direction αy that tilts from the reference posture Sb to the tilted posture Sa is schematically set to the right vertical end Tyr. The left electronic mirror monitor 12 is assumed to be inclined from the reference posture Sb to the posture Sa about the right vertical end Tyr axis.

  The left electronic mirror monitor 12 according to the first embodiment is disposed at the front upper position Pu of the driver, whereas the left electronic mirror monitor 12 according to the second embodiment is disposed at the front left position Pl of the driver. When the driver looks at the left electronic mirror monitor 12, the difference from the correction processing of the first embodiment is noted by paying attention to the difference in the line-of-sight angle θ due to the difference in the location of the left electronic mirror monitor 12. The explanation is centered.

  First, paying attention to the projection correction process (step S41 in FIG. 6) performed in the control process of the vehicular display device 1 according to the second embodiment, the left electronic mirror monitor 12 is tilted to the front left position Pl of the driver and arranged in the posture Sa. In the case of the second embodiment, the projection image PA2 has a distortion in the horizontal direction X accompanying the line-of-sight angle θ larger than that in the vertical direction Y with respect to the vehicle rear image P1, as shown in FIG. The reduction ratio (compression ratio) in the horizontal direction X is larger than that in the vertical direction Y, and the length (Lw) in the horizontal direction X with respect to the vertical direction Y is compressed to the right in the horizontal direction Xr.

  Next, perspective emphasis scale processing and trimming correction processing as perspective emphasis correction processing (step S42 in FIG. 6) performed in the control processing of the second embodiment of the vehicle display device 1 will be described.

  In the case of the present embodiment in which the left electronic mirror monitor 12 is disposed in a tilted posture Sa at the front left side position Pl of the driver, the perspective emphasis scale processing unit 24, as shown in FIG. The perspective emphasis scale unit 25 corrects the compression so that the compression ratio in the vertical direction Y gradually increases as it proceeds from the vertical end side Tyr to the left vertical end side Tyl in the horizontal direction left side Xl. The compression rate is not particularly limited as long as it is a magnification that can express the perspective of the vehicle rear image with emphasis, but the left vertical edge Tyl of the perspective enhanced image PA3 is, for example, the right vertical edge Tyl of the projection image PA2. Compression can be performed within a range of 70% to 95%.

  In the trimming process according to the present embodiment, as illustrated in FIG. 12, the trimming processing unit 26 sets the upper lateral end side Txu and the lower lateral end side Txd to, for example, 5 degrees to 30 degrees with respect to the lateral direction X. Trimming processing is performed so that the edges that are inclined inwardly to the inner side of the screen frame with a gradient of about 20 degrees and the trim width T increases substantially as the trim width advances to the left side Xl in the horizontal direction on both the upper and lower sides of the screen 12A. To do.

  That is, the perspective-enhanced image PA3 as the corrected image PA3 of Example 2 is an image frame in which the width in the vertical direction Y is narrowed from both sides from the right vertical end Tyr toward the horizontal left side Xl as shown in FIG. F, which is expressed with emphasis over the perspective that actually occurs.

  Even if the left electronic mirror monitor 12 is tilted to the front left position Pl of the driver and arranged in the posture Sa by the correction process described above, the driver does not feel uncomfortable and the left electronic mirror monitor 12 is moved to the driver's left side position Pl. The same effects as those of the first embodiment arranged at the front upper position Pu can be obtained.

In the correspondence between the configuration of the present invention and the above-described embodiment, the imaging means of the present invention corresponds to the left side camera 11 of this embodiment,
The electronic mirror monitor corresponds to the left electronic mirror monitor 12,
The correction means corresponds to the image correction unit 22,
The projection correction unit corresponds to the projection correction unit 23, and
The perspective emphasis expression means corresponds to the perspective emphasis correction unit 24,
Projection correction corresponds to the projection correction processing in step S41,
Perspective emphasis correction corresponds to the perspective emphasis correction process in step S42.
The tilt axis direction corresponds to the axial direction along the lower horizontal end side Txd of Example 1 or the axial direction along the right vertical end side Tyr of Example 2,
The orthogonal direction corresponds to the vertical direction Y of Example 1 or the horizontal direction X of Example 2,
One side in the orthogonal direction corresponds to the lower horizontal end side Txd of Example 1 or the right vertical end side Tyr of Example 2,
The other side in the orthogonal direction corresponds to the upper horizontal end side Txu of Example 1 or the left vertical end side Tyl of Example 2, and the approach side image end side (the end side closer to the driver side) is Corresponding to the upper horizontal end side Txu of Example 1 or the left side vertical end side Tyl of Example 2,
The at least one side edge in the tilt axis direction is the vertical edge Ty on at least one side of the left vertical edge Tyl and the right vertical edge Tyr in the first embodiment, and the upper horizontal edge in the second embodiment. The present invention is not limited to the configuration of the above-described embodiment, although it corresponds to the horizontal end Tx on at least one side of Txu and the lower horizontal end Txd.

  For example, when performing the image correction process in step 4 in FIG. 6 on the vehicle rear image displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa, the projection correction process in step S41 is omitted. Only the perspective emphasis scaling process and the trimming process may be performed as the perspective emphasis correction process in step S42.

In this way, only the perspective emphasis correction process (perspective emphasis scale process and trimming process) in step S42 is performed as the image correction process, thereby correcting the vehicle rear image as shown in FIGS. 13 (a) and 13 (b). The images P3A and PA3A can be displayed on the screen 12A of the left electronic mirror monitor 12 in the tilted posture Sa.
FIG. 13A is a front view schematically showing a perspective emphasis image P3A as a corrected image P3A obtained by performing the perspective emphasis correction of the first embodiment without performing projection correction on the vehicle rear image P1. FIG. 13B is a front view schematically showing a perspective emphasis image P3A as a corrected image PA3A obtained by performing the perspective emphasis correction of the second embodiment without performing projection correction on the vehicle rear image P1. is there.

  In this way, as described above, by enhancing the perspective of the vehicle rear image by the perspective emphasis correction processing in step S42, driving based on the difference in angle between the reference posture Sb (captured image arrangement posture) and the tilted posture Sa. It is possible to display a vehicle rear image in which a wide range behind the vehicle is displayed on the screen 12A of the left electronic mirror monitor 12 as compared with the case where the projection correction process in step S41 is performed while alleviating the discomfort that the person holds. it can.

  Alternatively, as another embodiment, when correcting the vehicle rear image displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa by the image correction unit 22, the projection correction process in step S41 is omitted. Further, in the perspective emphasis correction process in step S42, the perspective emphasis scale process may be omitted and only the trimming process may be performed.

In this way, by performing only the trimming process as the image correction process in step 4, the corrected images P3B and PA3B as shown in FIGS. 14A and 14B are tilted as the vehicle rear image, and the left electronic mirror monitor in the posture Sa 12 screens 12A.
FIG. 14A is a front view schematically showing a perspective emphasis image P3B as a corrected image P3B obtained by performing the trimming process correction of the first embodiment as an image correction process on the vehicle rear image P1. FIG. 14B is a front view schematically showing a perspective enhanced image PA3B as a corrected image PA3B obtained by performing the trimming process correction of the second embodiment as an image correction process on the vehicle rear image P1.

  Accordingly, by performing image processing that adds only the trim portion T to the vehicle rear image P1 without correcting the scale, it is possible to make the driver easily visible while alleviating the uncomfortable feeling that the driver has. it can.

  In addition, as described above, the image correction unit 22 tilts the vehicle rear image according to the driver's line of sight until reaching the vehicle rear image displayed on the screen 12A of the left electronic mirror monitor 12 when arranged in the reference posture Sb. The projection correction unit 23 is provided as a projection correction unit that performs projection correction on the screen 12A of the left electronic mirror monitor 12 arranged in the posture Sa (see FIG. 1). However, as another embodiment, the projection correction unit 23 is arranged in the inclined posture Sa. The projected image P2 projected by the projection correcting unit 23 may be displayed on the screen 12A of the left electronic mirror monitor 12 (see FIG. 7).

  Thus, even when the projected image P2 as the corrected image is displayed on the screen 12A of the left electronic mirror monitor 12 arranged in the tilted posture Sa, the driver can move the left in the reference posture Sb. Since the vehicle rear image visually recognized when viewing the screen 12A of the electronic mirror monitor 12 can be viewed from the screen 12A of the left electronic mirror monitor 12 disposed in the tilted position Sa, there is no feeling of discomfort described above. The contents in the vehicle rear image can be quickly recognized.

  Although not shown in the drawings, as another embodiment, the perspective emphasis correction unit 24 is an angle formed by the vertical direction Y of the vehicle rear image and the vertical direction V of the vehicle in a state where the left electronic mirror monitor 12 is disposed in the tilted posture Sa. Further, the image correction processing in step 4 may be performed only for the image edge along the direction of the larger angle among the angles formed by the lateral direction X and the vehicle width direction W.

  With the above configuration, it is possible to ensure ease of visual recognition while enhancing the perspective of the vehicle rear image.

  Specifically, in the case of the first embodiment, for example, the left electronic mirror monitor 12 is disposed at the driver's front upper side position Pu, so that a perspective in the vertical direction Y is obtained along the vertical edge Ty. Perspective emphasis correction such as perspective emphasis scale processing and trimming processing was performed.

  On the other hand, in the case of the second embodiment, since the left electronic mirror monitor 12 is disposed at the front left position Pl of the driver, the perspective only along the lateral edge Tx in order to give a sense of perspective in the lateral direction X. Perspective emphasis correction such as emphasis scale processing and trimming processing was performed.

  However, for example, when the left electronic mirror monitor 12 is disposed at a position shifted with respect to the front of the driver's vehicle in both the vehicle vertical direction V and the vehicle width direction W, the left electronic mirror monitor 12 is When the screen 12A is changed to the tilted posture Sa tilted so as to face the driver, it is necessary to tilt the screen 12A in both directions around the lower horizontal end side Txd axis and the right vertical end side Tyr axis.

  In such a case, when the vehicle rear image P1 is subjected to image correction processing such as trimming processing for both the vertical end side Ty and the horizontal end side Tx in order to give a perspective to the vehicle rear image P1, On the contrary, the image frame F of the vehicle rear image has an irregular shape, and it is difficult to perceive the perspective intuitively, or the area that can be visually recognized becomes narrow, and the vehicle rear image may be difficult to visually recognize. is there.

  On the other hand, the left electronic mirror monitor 12 is thus disposed at a position shifted with respect to the driver's vehicle front F with respect to the vehicle vertical direction V and the vehicle width direction W in both directions. In the perspective emphasis correction unit 24, the angle formed by the vertical direction Y of the vehicle rear image and the vertical direction V of the vehicle, the horizontal direction X, and the vehicle width direction in a state where the left electronic mirror monitor 12 is disposed in the tilted position Sa. Since the image correction of step 4 is performed only for the image edge along the direction of the larger angle among the angles formed by W, the visibility of the vehicle rear image can be improved while providing a sense of perspective. Can be secured.

  As described above, the present invention is useful for a vehicle display device including, for example, an imaging unit that captures the back of the host vehicle and an electronic mirror monitor that displays a vehicle rear image captured by the imaging unit. .

DESCRIPTION OF SYMBOLS 1 ... Vehicle display apparatus 11 ... Left side camera 12 ... Left electronic mirror monitor 12A ... Screen 21 ... Image generation part 22 ... Image correction part 23 ... Projection correction part 24 ... Perspective emphasis correction part 26 ... Trimming correction part F ... Image Frame Sb ... Reference posture Sa ... Inclined posture Tx ... Horizontal edge Ty ... Vertical edge Txu ... Upper horizontal edge Txd ... Lower horizontal edge Tyl ... Left vertical edge Tyr ... Right vertical edge θ ... Gaze angle P1 ... Vehicle rear image P2, PA2 (before correction processing) Projection image (corrected image)
P3, PA3, P3A, PA3A, P3B, PA3B ... Perspective emphasis image (corrected image)
Y ... Vertical direction X ... Horizontal direction V ... Vehicle vertical direction W ... Vehicle width direction

Claims (4)

Imaging means for photographing the rear of the vehicle;
A vehicle display device comprising an electronic mirror monitor for displaying a vehicle rear image captured by the imaging means,
The line-of-sight angle when the driver visually recognizes the electronic mirror monitor screen is set to an angle formed by the display direction of the electronic mirror monitor screen and the elevation angle of the driver who visually recognizes the electronic mirror monitor screen,
The electronic mirror monitor displays the vehicle rear image displayed on the electronic mirror monitor screen arranged in an inclined posture inclined toward the driver with respect to the same reference posture as the arrangement posture of the imaging means. in a correction means for correcting the corrected image, wherein based on the visual image according to the viewing angle when it is disposed,
The correction means includes
In the screen of the electronic mirror monitor arranged in the reference posture, the distance from the driver is different on one side and the other side in the orthogonal direction perpendicular to the tilting axis direction for tilting the electronic mirror monitor to the tilted posture. Perspective emphasis expressing means for performing perspective emphasis correction for emphasizing and expressing the perspective generated in the vehicle rear image on the screen of the electronic mirror monitor arranged in the tilted posture,
The display device for a vehicle, wherein the corrected image is a perspective emphasized image obtained by correcting the perspective enhancement of the vehicle rear image by the perspective emphasis expressing unit . Of the both sides in the orthogonal direction of the vehicle rear image displayed on the screen of the electronic mirror monitor arranged in the reference posture, the edge on the side approaching the driver side by tilting from the reference posture to the tilted posture Is set to the edge of the approaching image,
The perspective emphasis expressing means is a trimming processing unit that performs a trimming process so that a trim width gradually increases toward an edge of the approaching image at least one end side in the tilt axis direction of the vehicle rear image. The vehicle display device according to claim 1 . The reference posture is a posture in which the electronic mirror monitor is disposed on an orthogonal plane orthogonal to the vehicle front direction,
The vehicle rear image is
In the state where the electronic mirror monitor is arranged in the tilted posture,
It has an image frame with a substantially rectangular shape in front view with a vertical edge parallel to the vehicle vertical direction and a horizontal edge parallel to the vehicle width direction,
The perspective emphasis expressing means is:
An angle formed by the vertical edge and the vehicle vertical direction;
The transverse end sides and of the angle between the vehicle width direction, claim 1 was configured to perform only perspective enhancement correction along with the image end sides of the large angle side, or 2 to display a vehicle according apparatus. The correction means includes the electronic device in which the vehicle rear image is arranged in the tilted posture according to the driver's line of sight to the vehicle rear image displayed on the screen of the electronic mirror monitor when arranged in the reference posture. Projection correction means for correcting the projection on the screen of the mirror monitor,
The corrected image, the display device for a vehicle according to the vehicle rear image to any one of claims 1 to 3 is a projected image projected corrected by the projection correcting means.

Images