JP6227874B2 - Image processing apparatus and driving support method - Google Patents

Description

  The present invention relates to an image processing apparatus and a driving support method for superimposing an index on a captured image generated by imaging a vehicle periphery.

  2. Description of the Related Art A driving support device that displays a captured image around a vehicle captured by an imaging device mounted on the vehicle on a display device installed in the vehicle when the vehicle is traveling is known. By checking the captured image displayed on the display device, the driver can travel while recognizing obstacles around the vehicle, and can park in the parking area accurately and easily during parking.

  Furthermore, in an example of such a driving support device, not only a captured image around the vehicle but also an index for supporting driving is displayed superimposed on the captured image (see Patent Document 1). The index superimposed on the captured image is, for example, an expected course line of the vehicle. By displaying such an index superimposed on the captured image, the driver can more accurately and easily grasp the distance and width between the vehicle and the object.

JP 2010-1020 A

  It is desirable that the index to be displayed is an aspect that stands out as much as possible with respect to the background captured image. In general, therefore, a color that is easy for the driver to visually recognize, such as yellow or red, is used as the indicator.

  However, the captured image may generally approximate the index color. For example, in the nighttime and indoor spaces, when the surroundings of the vehicle are illuminated by light sources such as headlights, tail lamps, and brake lamps, the entire captured image can be dyed to the color of the light source and approximate to the color of the index. In such a case, it may be difficult for the driver to visually recognize the index.

  Accordingly, an object of the present invention made in view of such circumstances is to provide an image processing apparatus and a driving support method that maintain the visibility of an index when the color of a captured image approximates the color of the index.

In order to solve the above-described problems, the image processing apparatus according to the first aspect is
A receiving unit for acquiring a captured image generated by imaging a subject around the vehicle;
A combining unit that superimposes an index on the captured image;
And a color determination unit that changes the hue of the captured image to a color different from the color of the index without changing the hue of the index when the color of the captured image approximates the color of the index.

In addition, the image processing apparatus
The receiving unit is capable of receiving a lighting signal for turning on a light source of a vehicle that illuminates the surroundings of the vehicle with illumination light of a color that approximates the color of the indicator,
Color determining portion, when receiving the lighting signal, it is preferable to change the color of the captured image.

In addition, the image processing apparatus
A detection unit that detects the color of the subject based on the captured image;
The color determination unit preferably changes the hue of the captured image to a color different from the index color when the detected subject color approximates the index color.

In addition, the image processing apparatus
Preferably, the color determination unit changes the hue of the captured image to a color different from the color of the index at least one of when the index is superimposed at night and when the vehicle is indoors.

In addition, the image processing apparatus
When the color of the captured image approximates the color of the index, the color determination unit preferably changes the hue of the captured image to a color different from the color of the index by rotating in the following equation (1) .

... (1)
However,
(R, G, B): Pixel output value of the captured image irradiated with the brake lamp
(R ', G', B '): Pixel output value after the hue is rotated by calculation
b, c, d, f, g, h: coefficients according to each imaging device
a, e, i: Coefficient according to the hue rotation of the desired image

In addition, the image processing apparatus
It is preferable that the color determination unit changes the hue of the captured image so that the color of the index and the hue of the captured image are complementary colors.

  As described above, the solution of the present invention has been described as an apparatus. However, the present invention can be realized as a method, a program, and a storage medium storing the program, which are substantially equivalent thereto, and the scope of the present invention. It should be understood that these are also included.

For example, a driving support method that realizes the first aspect of the present invention as a method includes:
An imaging step of imaging the ambient of the vehicle, generates a captured image,
A changing step hue of the indicator to change color phase of the captured image without changing when the color of the captured image is approximate to the color of the indicator to be superimposed on the captured image,
And a superimposition step of superimposing an index on the captured image.

  According to the image processing apparatus and the driving support method according to the present invention configured as described above, it is possible to maintain the visibility of the index when the color of the captured image approximates the color of the index.

1 is a block diagram illustrating a schematic configuration of a driving support device including an image processing device according to a first embodiment of the present invention. It is the picked-up image which superimposed the driving assistance index displayed on the display part. It is a captured image in a state where the brake lamp is turned off and turned on. It is a figure of the hue ring which expressed the hue of the captured image by the angle. 3 is a flowchart illustrating a driving support process executed by the image processing apparatus in the first embodiment. It is a block diagram which shows schematic structure of the driving assistance apparatus containing the image processing apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart which shows the driving assistance process which an image processing apparatus performs in 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, a driving support device including an image processing device according to the first embodiment will be described. As shown in FIG. 1, the travel support apparatus 10 according to the present embodiment includes an imaging unit 11, a brake sensor 12, a lamp switch 13, an ECU (Engine Control Unit) 14, a display unit 15, and an image processing device 16. Composed.

  The imaging unit 11 is installed so that the rear side of the vehicle can be imaged. For example, the imaging unit 11 is fixed with a depression angle of about 30 ° above the rear part of the vehicle, and images a subject in a region approximately 8 m rearward. The imaging unit 11 includes an optical system and an imaging element, and captures a subject image formed on the imaging element by the optical system. The imaging element has a color filter array and can capture a color image. The imaging unit 11 captures one frame of a subject image every 1/30 seconds, for example, for displaying a real-time moving image. The imaging unit 11 generates a captured image as an image signal by imaging and transmits it to the image processing device 16.

  The brake sensor 12 detects the amount of depression of the brake pedal. The brake sensor 12 transmits the detected depression amount to the ECU 14.

  The lamp switch 13 detects input of turning on and off of the headlamp of the vehicle. The lamp switch 13 transmits the detected input to the ECU 14.

  The ECU 14 acquires information and inputs detected from various sensors and switches provided in the vehicle, and controls various operations of the vehicle. For example, the ECU 14 adjusts the amount of fuel supplied to the engine based on the accelerator opening detected by the accelerator sensor and the temperatures detected by temperature sensors provided in various parts of the engine. Further, the ECU 14 adjusts the braking force of the brake based on the depression amount detected by the brake sensor 12, and lights a brake lamp that emits a first color, for example, red light. Further, the ECU 14 turns on and off the headlamp based on the lighting input and the lighting off input detected by the lamp switch 13.

  The ECU 14 also indicates braking information indicating that the vehicle is in a braking state based on the amount of depression detected by the brake sensor 12 and lighting information indicating that the headlamp is in an on state based on a lighting input detected by the lamp switch 13. To the image processing device 16.

  The display unit 15 is an LCD, for example, and is installed near the driver's seat. The display unit 15 can display a real-time moving image. In order to display a real-time moving image, for example, the display unit 15 acquires an image signal of one frame every 1/30 seconds from the image processing device 16 and switches the image to be displayed every 1/30 seconds. Display moving images.

  The image processing device 16 performs predetermined image processing on the image signal generated by the imaging unit 11 and transmits the image signal to the display unit 15. As described above, the imaging unit 11 generates one frame of image signal every 1/30 seconds, and the image processing device 16 acquires one frame of image signal every 1/30 seconds. The image processing device 16 transmits an image signal obtained and subjected to image processing to the display unit 15 every 1/30 seconds.

  The image processing device 16 has a travel support function for backward travel, and can perform image processing for displaying a travel support index for assisting backward travel on a real-time moving image. The display of the driving support index will be described below together with the configuration of the image processing device 16. The image processing device 16 includes an I / F 17, a normal processing unit 18, a storage unit 19, a detection unit 20, a color determination unit 21, and a synthesis unit 22.

  The I / F 17 is connected to the imaging unit 11, the ECU 14, and the display unit 15, and can communicate information and signals with these devices. For example, the I / F 17 acquires an image signal from the imaging unit 11 and braking information and lighting information from the ECU 14. The I / F 17 transmits an image signal subjected to image processing in the image processing device 16 to the display unit 15. The I / F 17 is connected to the normal processing unit 18, the storage unit 19, the detection unit 20, the color determination unit 21, and the synthesis unit 22, and communicates information and signals with these parts.

  The normal processing unit 18 performs normal image processing such as AGC, white balance, color interpolation, and gamma correction on the captured image acquired from the imaging unit 11.

  The storage unit 19 stores data necessary for various controls executed by the image processing device 16. For example, the storage unit 19 stores the contour and position of the driving support index.

  Based on the image signal acquired from the imaging unit 11, the detection unit 20 detects a color in the vicinity where the driving support index is superimposed on the captured image. The detection unit 20 detects the color of the captured image when acquiring lighting information, that is, when the headlamp is in a lighting state.

  Whether or not the color determination unit 21 changes the hue of the captured image based on the comparison between the color of the subject in the captured image in the vicinity where the lighting information, the braking information, and the driving support index are superimposed and the color used for the driving support index. If it is to be changed, the hue is determined. The color determination unit 21 determines whether or not the headlamp is in a lighting state based on the lighting information in order to determine the hue to be changed in the captured image.

  The color determination unit 21 does not change the hue of the captured image when the light is off. When the color determination unit 21 is in the lighting state, the color determination unit 21 further determines whether or not the color in the vicinity where the travel support index is superimposed on the captured image approximates the color of the travel support index, for example, red.

  In the present embodiment, the color in the range of a ° from red to both sides in the hue circle is determined as a color that approximates red. The color determination unit 21 does not change the hue of the captured image when the color in the vicinity does not approximate red. When the color in the vicinity approximates red, the color determination unit 21 changes the hue of the captured image to a hue that is rotated by a predetermined angle.

  The synthesizing unit 22 superimposes the driving support index on the captured image subjected to the normal image processing. The combining unit 22 reads the position and contour of the driving support index from the storage unit 19 for superimposing the driving support index, and superimposes the driving support index on the captured image at the position read from the storage unit 19.

  When the driving support function is executed, as shown in FIG. 2, the captured image 24 on which the driving support index 23 is superimposed is synthesized and displayed on the display unit 15. The driving support index 23 is formed by a vehicle width extension line 25 and a distance guide line 26. The vehicle width extension line 25 is a trajectory that passes through both ends of the vehicle during reverse travel. The distance guide line 26 indicates a predetermined distance from the current vehicle, for example, a distance of 1 m and 3 m. The driver can recognize the traveling direction when the vehicle is moving backward by the driving support index 23.

  For example, when the driving support function is executed at night or indoors and the brake is stepped on while observing the photographed image 241 as shown in FIG. 3A, the brake lamp is turned on and the photograph shown in FIG. The portion 27 irradiated with the brake lamp as in the image 242 is stained with the color of the brake lamp. That is, the hue of the captured image 24 changes. When the color of the driving support index 23 and the color of the brake lamp are approximate, the color of the irradiated portion 27 and the color of the driving support index 23 may be difficult to distinguish as shown in FIG.

  FIG. 4 shows a change in hue caused by the irradiation of the brake lamp in a hue circle. When the hue of the photographed image 241 before the brake shown in FIG. 3A on the hue ring is plotted, the position indicated by a point 31 is obtained. On the other hand, when the hue of the captured image 242 irradiated with the brake lamp shown in FIG. The average pixel value for each color component in the photographed image 241 in FIG. 3A is R = 168, G = 136, and B = 108, and the hue angle obtained from this is 28 °. Similarly, the average pixel value for each color component in the captured image 242 of FIG. 3B is R = 165, G = 69, and B = 68, and the hue angle obtained from this is 0.62 °. In order to eliminate the change in the hue due to the irradiation of the brake lamp and prevent the visibility of the driving support index 23 from being lowered, it is necessary to rotate the hue by 27.38 ° to return to the hue before the brake is stepped on.

Next, a method for rotating the hue will be described. When the image output value of the captured image 242 irradiated with the brake lamp is (R, G, B) and the pixel output value after the hue is rotated by calculation is (R ', G', B ') The operation for rotating the phase can be expressed by the following equation.

Although b, c, d, f, g, and h are coefficients corresponding to each imaging apparatus, these coefficients are set to 0 on the assumption that the apparatus performs ideal color reproduction. The coefficients a, e, and i are obtained by substituting each pixel output value into (1) with the hue of the image desired to be obtained by the rotation of the hue as the captured image 241 before stepping on the brake.

As a result, a = 168/165, e = 136/69, and i = 108/68.

The actual control of the image pickup apparatus is realized by adjusting the gains of R, G, and B as follows.
Rgain = 20 log (168/165) = 0.16 dB
Ggain = 20 log (136/69) = 5.89 dB
Bgain = 20 log (108/68) = 4.02 dB
Next, driving support processing by the image processing apparatus 16 executes will be described with reference to the flowchart of FIG. The driving support process starts when the input unit included in the image processing device 16 detects an input for starting execution of the driving support function. The driving support process ends when an input for stopping execution of the driving support function is detected.

  In step S <b> 100, the image processing device 16 receives an image signal from the imaging unit 11. When the image signal is received, the process proceeds to step S101.

  In step S101, the image processing apparatus 16 determines whether lighting information has been acquired. If the lighting information is acquired, it is determined that the headlamp is in a lighting state, and the process proceeds to step S102. If the lighting information is not acquired, it is determined that the headlamp is turned off, and the process proceeds to step S106.

  In step S102, the image processing device 16 determines whether braking information has been acquired. If the braking information has not been acquired, it is determined that the brake lamp is off, and the process proceeds to step S106.

  In step S <b> 103, the image processing device 16 changes the hue of the captured image 24. After the hue change, the process proceeds to step S104.

In step S104, the image processing device 16 determines whether or not the color in the vicinity where the driving support index 23 is superimposed on the captured image 24 whose hue has been changed approximates to red. If the near color does not approximate, the process proceeds to step S106. If the color of the neighborhood is approximated, the process proceeds to step S10 5.

  In step S105, the image processing device 16 changes the color of the driving support index 23 to blue-green. After the color change, the process proceeds to step S107.

  In step S <b> 106, the image processing device 16 superimposes the driving support index 23 on the captured image 24. After the driving support index 23 is superimposed on the captured image, the process proceeds to step S108.

  In step S <b> 107, the image processing device 16 transmits the captured image 24 on which the driving support index 23 is superimposed to the display unit 15. After transmitting the captured image 24, the process returns to step S100.

  According to the image processing device 16 of the first embodiment configured as described above, the hue of the captured image 24 is changed when the braking information is acquired. As described above, the driving support index 23 is displayed in red, which is easy to visually recognize during normal times. However, when the brake lamp is turned on and the subject behind the vehicle is irradiated with red light, the entire captured image 24 becomes reddish, and it is difficult to visually recognize the red driving support index 23. Therefore, in the present embodiment, it is considered that the color of the captured image 24 approximates red when the brake lamp is turned on, and in such a case, the hue of the captured image 24 is changed. Therefore, even when the captured image 24 approximates red, the hue is changed and the distance from the red is changed, and the driving support index 23 is easily visually recognized.

Further, according to the image processing device 16 of the first embodiment, the hue of the captured image 24 is changed only when the headlamp is turned on. When the headlamps are extinguished, it is considered that the outside light is bright enough during the day. Therefore, in such a situation, even if the brake lamp is lit, the color of the subject around the vehicle does not approximate red, and the driver can visually recognize the red driving support index 23. Conceivable. On the other hand, it is considered that the headlamp is turned on at night and indoors. In such a situation, the ratio of red light of the brake lamp increases in the light irradiated to the subject around the vehicle. Therefore, since the hue of the captured image 24 changes only in a situation that is considered to be at night or indoors, it is possible to prevent unnecessary changes in the hue.

  Further, according to the image processing apparatus 16 of the first embodiment, even if the hue of the captured image 24 is changed in a situation where the brake lamp is illuminated with a color that approximates the color of the driving support index 23, the driving support index 23 When approximating the color, the color of the driving support index 23 is changed. Even if the subject in the vicinity of the driving support index 23 changes the hue of the captured image 24 irradiated with the brake lamp, the driving support index 23 may be difficult to visually recognize if it approximates the color of the driving support index 23. In such a case, since the color of the driving support index 23 is changed, the driver can easily see the driving support index 23.

  Moreover, according to the image processing apparatus 16 of 1st Embodiment, the hue of a picked-up image is changed based on lighting information. Therefore, since the color is changed without performing complicated processing, it is possible to shorten the time required for the change.

  Further, according to the image processing device 16 of the first embodiment, the color of the driving support index 23 when the subject in the captured image 24 whose hue is changed approximates the color (red) of the driving support index 23 is red. Change to the complementary blue-green color. Therefore, even if the hue is changed, it is possible to improve the visibility of the driving support index 23 in the captured image 24 that is colored with a color that approximates the driving support index 23.

  Next, a second embodiment of the present invention will be described. In the second embodiment, the trigger for changing the color of the driving support index is different from that in the first embodiment. The second embodiment will be described below with a focus on differences from the first embodiment. In addition, the same code | symbol is attached | subjected to the site | part which has the same function and structure as 1st Embodiment.

  As illustrated in FIG. 6, the travel support apparatus 100 according to the second embodiment includes an imaging unit 11, a display unit 15, and an image processing device 160. Unlike the first embodiment, the driving support device 100 does not include a brake sensor, a lamp switch, and an ECU. The configurations and functions of the imaging unit 11 and the display unit 15 are the same as those in the first embodiment.

  Similar to the first embodiment, the image processing device 160 performs predetermined image processing on the image signal generated by the imaging unit 11 and transmits the image signal to the display unit 15. Similarly to the first embodiment, the image processing apparatus 160 has a driving support function, and can perform image processing for displaying a driving support index for supporting driving on a real-time moving image. is there.

  The image processing device 160 includes an I / F 170, a normal processing unit 18, a storage unit 190, a detection unit 200, a color determination unit 210, and a synthesis unit 22. The configurations and functions of the normal processing unit 18 and the combining unit 22 are the same as those in the first embodiment.

  The I / F 170 is connected to the imaging unit 11 and the display unit 15 and can communicate information and signals with these devices. Unlike the first embodiment, the I / F 170 is not connected to the ECU. Similar to the first embodiment, the I / F 170 is connected to the normal processing unit 18, the storage unit 190, the detection unit 200, the color determination unit 210, and the synthesis unit 22. Communicate.

  The storage unit 190 stores the contour and position of the driving support index 23 as in the first embodiment.

  The detection unit 200 detects the color of each pixel constituting the captured image 24 based on the image signal acquired from the imaging unit 11. Based on the hue of each pixel, the detection unit 200 determines whether or not the entire captured image 24 is colored in a specific color. The detection unit 200 detects the color of the captured image 24 when the color of the entire captured image 24 is tinted with a specific color.

  Whether or not the color of the entire captured image 24 is a specific color is determined by the method described below. When the detection unit 200 detects the color of each pixel, the detection unit 200 then classifies the detected hue into one of the closest colors among a plurality of determined colors. The plurality of determined colors are colors obtained by equally dividing the hue circle. The detection unit 200 creates a histogram centered on the color with the highest frequency among the classified colors. The number of samples classified into a predetermined range of colors centering on the color having the highest frequency is detected, and the ratio to the total number of samples is calculated. When the calculated ratio exceeds the threshold, the detection unit 200 determines that the color of the entire captured image 24 is tinted with a specific color, and detects the color with the highest frequency as the color of the captured image 24. .

  The color determination unit 210 determines a color to be used for the driving support index 23 based on whether the detection unit 200 detects a specific color of the captured image and the specific color of the captured image 24 detected by the detection unit 200. To do. The color determination unit 210 determines whether the detection unit 200 has detected a specific color of the captured image 24 in order to determine the color used for the driving support index 23.

  The color determination unit 210 does not change the hue of the captured image 24 when the detection unit 200 has not detected a specific color of the captured image 24. When the detection unit 200 detects a specific color of the captured image 24, the color determination unit 210 determines whether the captured image is based on the comparison between the specific color of the captured image 24 and the color of the driving support index 23. Whether or not to change the hue is determined.

Next, the driving support process executed by the image processing apparatus 160 will be described with reference to the flowchart of FIG . The driving support process starts when the input unit included in the image processing device 160 detects an input for starting execution of the driving support function. The driving support process ends when an input for stopping execution of the driving support function is detected.

  In step S <b> 200, the image processing device 160 receives an image signal from the imaging unit 11. When the image signal is received, the process proceeds to step S201.

  In step S201, the image processing device 160 detects the color of each pixel constituting the captured image 24 corresponding to the image signal received in step S200. If the pixel color is detected, the process proceeds to step S202.

  In step S202, the image processing apparatus 160 classifies the color of the pixel detected in step S201 into any color on a predetermined hue circle. When the color classification of all the pixels of the captured image is finished, the process proceeds to step S203.

  In step S <b> 203, the image processing apparatus 160 determines the color with the highest frequency among the classified colors, that is, the number of pixels as a sample. When the most frequent color is determined, the process proceeds to step S204.

  In step S204, the image processing apparatus 160 creates a histogram for each color centered on the color determined in step S203. Once the histogram is created, the process proceeds to step S205.

  In step S205, the image processing apparatus 160 measures the number of samples classified from the most frequently used color to a predetermined range of colors, and calculates the total number of samples, that is, the ratio of the measured number of samples to the total number of pixels. After calculating the ratio, the process proceeds to step S206.

In step S206, the image processing apparatus 160 compares the ratio calculated in step S206 with a threshold value. If the percentage exceeds the threshold, the process proceeds to step S207. When the ratio is below the threshold, the process proceeds to step S20 8.

In step S207, the image processing apparatus 160 determines the color determined in step S203 as the specific color of the captured image 24, and based on the comparison between the determined color and the color of the driving support index 23, the hue of the captured image 24 is determined. Whether or not to change the color, and if so, change its hue. After changing the hue, the process proceeds to step S20 8.

In step S20 8, the image processing apparatus 160, the driving support indicators 23, superimposed on the captured image 24. After superposition of the driving support indicator 23 to the captured image 24, the process proceeds to step S2 09.

In step S <b > 2 09 , the image processing device 160 transmits the captured image 24 on which the driving support index 23 is superimposed to the display unit 15. After sending the captured image, the process returns to step S200.

  Also by the image processing apparatus 160 of the second embodiment configured as described above, the color of the driving support index 23 is approximated to the color of the driving support index 23 by coloring the entire captured image 24 to a specific color. The hue of the captured image 24 is changed while Therefore, even when the captured image 24 approximates the color (red) of the driving support index 23, the driving support index 23 can be easily viewed.

  Further, according to the image processing apparatus 160 of the second embodiment, when the entire captured image 24 whose hue has been changed is tinted in the color of the driving support index 23, the color of the captured image 24 whose hue has been changed. The driving support index 23 is colored in a complementary color to. Therefore, the visibility of the driving support index 23 can be improved.

  Although the present invention has been described based on the drawings and embodiments, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

  For example, in each of the first embodiment and the second embodiment, the color of the driving support index 23 is changed to a complementary color of the color of the captured image 24. However, at least one of hue, lightness, and saturation is present. The configuration may be changed to a different color.

  In the first embodiment, the color of the driving support indicator 23 is changed based on the lighting information, assuming that the headlamp is lit, that is, at night or indoors. It is not limited. For example, the configuration may be such that the hue of the captured image 24 is changed based on the average value of the luminance of the entire captured image, assuming that it is at night or indoors.

DESCRIPTION OF SYMBOLS 10,100 Travel support apparatus 11 Imaging part 12 Brake sensor 13 Lamp switch 14 ECU (Engine Control Unit)
15 Display Unit 16, 160 Image Processing Device 17, 170 I / F
18 Normal processing unit 19, 190 Storage unit 20, 200 Detection unit 21, 210 Color determination unit 22 Composition unit 23 Driving support index 24, 241, 24 2 Captured image 25 Vehicle width extension line 26 Distance guide line 27 Irradiated by brake lamp Part 30 hue ring

Claims (7)

A receiving unit for acquiring a captured image generated by imaging a subject around the vehicle;
A combining unit that superimposes an index on the captured image;
A color determining unit that changes the hue of the captured image to a color different from the color of the index without changing the hue of the index when the color of the captured image approximates the color of the index. An image processing apparatus. The image processing apparatus according to claim 1,
The receiving unit is capable of receiving a lighting signal for lighting a light source of the vehicle that illuminates the periphery of the vehicle with illumination light having a color that approximates the color of the indicator,
The color determination unit changes the hue of the captured image when receiving the lighting signal. The image processing apparatus according to claim 1, wherein:
A detection unit that detects the color of the subject based on the captured image;
The color determination unit changes the hue of the captured image to a color different from the color of the index when the detected color of the subject approximates the color of the index.   4. The image processing apparatus according to claim 1, wherein the color determination unit is configured to display at least one of a case where the indicator is superimposed at night and a case where the vehicle is indoors. 5. An image processing apparatus that changes the hue of the captured image to a color different from the color of the index. 5. The image processing apparatus according to claim 1, wherein the color determination unit determines a hue of the captured image when the color of the captured image approximates the color of the index. An image processing apparatus characterized in that it is rotated and changed in the following equation (1) to a color different from the above color.

... (1)
However,
(R, G, B): Pixel output value of the captured image irradiated with the brake lamp
(R ', G', B '): Pixel output value after the hue is rotated by calculation
b, c, d, f, g, h: coefficients according to each imaging device
a, e, i: Coefficient according to the hue rotation of the desired image 6. The image processing apparatus according to claim 1, wherein the color determination unit is configured to store the captured image so that a color of the index and a hue of the captured image are complementary colors . An image processing apparatus characterized by changing a hue . An imaging step of imaging the surroundings of the vehicle and generating a captured image;
A change step of changing the hue of the captured image without changing the hue of the index when the color of the captured image approximates the color of the index superimposed on the captured image;
A driving support method, comprising: a superimposing step of superimposing the index on the captured image.