JP6234701B2 - Ambient monitoring device for vehicles - Google Patents

Description

  The present invention relates to a vehicle surrounding monitor device that is mounted on a vehicle and shoots and displays a situation around the vehicle.

  In recent years, many efforts have been made to reduce the blind spot of a vehicle by attaching a camera to the vehicle, taking a picture of an area that becomes a blind spot of the driver, and displaying this picture on a monitor. A part of the system has been put into practical use as a system that reduces the blind spot behind the vehicle, for example, called a back monitor.

  An attempt has been made to replace a rearview mirror (back mirror) mounted on a vehicle with a camera (for example, Patent Document 1).

JP 2008-141578 A

  However, in the vehicle periphery visual recognition device described in Patent Document 1, the position of the driver's head is detected, and based on the detected head position, Since the video of the area that the driver wants to pay attention is cut out and displayed, the video of the area that the driver is paying attention can be displayed, but only the necessary area is cut and displayed each time. However, since the display form is not changed, there is a problem that a display with high visibility is not necessarily obtained.

  The present invention has been made in view of the above problems, and an object of the present invention is to display an image focused by a driver with higher visibility.

  The vehicle surrounding monitor device according to the present invention displays an image displayed at a position focused by a driver on a monitor with high visibility.

That is, the vehicle surrounding monitoring device according to the present invention is installed in a vehicle and has two imaging units, i.e., an imaging unit that captures the left and right rear sides of the vehicle, and a left and right rear side of the vehicle that is captured by the imaging unit. a video display unit for displaying an image, on the basis of the predetermined behavior of the driver of the vehicle, the two images displayed on the image display unit, gazing image specifying unit the driver to identify the images to be gazing And a display form control unit that enlarges the display size of the specified video, and the display form control unit is different from the specified video in the video that is subsequently specified by the gaze video specifying unit. sometimes, on the image display unit, it characterized that you display the two images in a uniform size.

According to the surroundings monitoring device for a vehicle according to the present invention configured as above, the two images of the left and right rear side of the photographed vehicle by the imaging unit when the indicated table on the video display unit, gazing video specification in part two Film images or al that is displayed on the video display unit, the driver of the vehicle based on the behavior to look video display unit, identifies the image to be watching the driver, the display mode control section Since the display size of the identified video is enlarged and displayed on the video display unit, the visibility of the video that the driver wants to watch can be improved. As a result, it is possible to reduce a visual load for a driver traveling on the vehicle to check road conditions and traffic conditions around the vehicle.

  According to the vehicle surrounding monitor device of the present invention, it is possible to reduce the visual load when the driver checks the road conditions and traffic conditions around the vehicle.

1 is a block diagram illustrating a schematic configuration of a vehicle surrounding monitoring device according to a first embodiment of the present invention. (A) is a figure which shows schematic structure of the vehicle by which the surrounding monitor apparatus for vehicles which concerns on Example 1 of this invention was mounted. (B) is a figure explaining the installation position of a video display part. (C) is a figure which shows an example of the image | video displayed on the video display part. It is a block diagram which shows the detailed structure of the surrounding monitor apparatus for vehicles which concerns on Example 1 of this invention. It is a figure which shows schematic structure of the white-eye / pupil detection part of the surrounding monitor apparatus for vehicles which concerns on Example 1 of this invention. It is a figure which shows an example of the image which image | photographed the driver | operator's face which is gazing at the image | video display part, (a) is an image which shows the state which is gazing at the left side of a screen. (B) is an image showing a state in which the center of the screen is being watched. (C) is an image showing a state in which the right side of the screen is being watched. It is a figure explaining the method to calculate a gaze position from the position of the eyeball detected from the image which image | photographed the driver | operator's face, and the position of the pupil. It is a state transition diagram explaining the change of the display form of the image | video displayed on an image | video display part in Example 1 of this invention. It is a flowchart which shows the flow of the whole process performed in Example 1 of this invention. FIG. 10 is a first half of a flowchart showing a detailed flow of processing for reading and writing video information in the flowchart shown in FIG. 8. FIG. 9 is the latter half of the flowchart showing a detailed flow of processing for reading and writing video information in the flowchart shown in FIG. 8. (A) is a detailed flowchart of the process which changes a setting shown in FIG. 7 so that the left screen may be displayed largely. (B) is a detailed flowchart of the process shown in FIG. 7 for changing the setting so that the left and right are displayed equally. FIG. 8C is a detailed flowchart of the process for changing the setting so as to display the right screen in a large size, as shown in FIG. It is a state transition diagram explaining the modification of Example 1 of this invention. It is a block diagram which shows schematic structure of the surrounding monitor apparatus for vehicles which concerns on Example 2 of this invention. (A) is a figure explaining the structure of the gaze image specific | specification part of the surrounding monitor apparatus for vehicles which concerns on Example 2 of this invention. FIG. 14B is an enlarged view of the display form changeover switch of FIG. It is a block diagram which shows schematic structure of the surrounding monitor apparatus for vehicles which concerns on Example 3 of this invention. It is a figure which shows schematic structure of the vehicle by which the vehicle periphery monitoring apparatus which concerns on Example 3 of this invention was mounted. It is a state transition diagram explaining the change of the display form of the image | video displayed on an image | video display part in Example 3 of this invention.

  Embodiments of an imaging apparatus according to the present invention will be described below with reference to the drawings.

  The present embodiment is an example in which a door mirror, which is one of the rear-view mirrors of a vehicle, is substituted with the vehicle surrounding monitor device of the present invention.

(Explanation of system configuration)
First, the schematic configuration of the present embodiment will be described with reference to FIGS. As shown in FIG. 1, the vehicle surrounding monitoring apparatus 1 according to the present embodiment is installed in a vehicle 5 (see FIG. 2A), and includes an imaging unit 10, a video input / output control unit 20, and a gaze position. The detection unit 30 (gaze image specifying unit), a display form control unit 40, and a video display unit 50 are included.

  The imaging unit 10 includes a first imaging unit 10a that substitutes for the left door mirror of the vehicle 5 (see FIG. 2A) and a second imaging unit 10b that substitutes for the right door mirror of the vehicle 5.

  The video input / output control unit 20 transmits a timing signal for shooting to the imaging unit 10 and receives a plurality of videos shot by the imaging unit 10. The detailed configuration of the video input / output control unit 20 will be described later.

  The gaze position detection unit 30 is configured as an example of a gaze image specifying unit according to the present invention, and the driver of the vehicle 5 (see FIG. 2A) displays the video displayed on the video display unit 50 described later. Identify which video is being watched. The detailed configuration of the gaze position detection unit 30 will be described later.

  The display form control unit 40 enlarges the display size of the video that the driver is gazing specified by the gaze position detection unit 30 and changes the display form of the entire video.

  The video display unit 50 is composed of, for example, a liquid crystal monitor, and displays the video created by the display form control unit 40.

  The vehicle surrounding monitor device 1 is mounted on a vehicle 5 as shown in FIG. The first imaging unit 10a is installed at the position of the left door mirror of the vehicle 5, and captures an image of the range originally captured by the left door mirror. Further, the second imaging unit 10b is installed at the position of the right door mirror of the vehicle 5, and captures an image of the range originally captured by the right door mirror.

  The door mirror is usually composed of a plane mirror or a curved mirror, and takes into consideration that the image in the range corresponding to the movement of the driver's head position is taken into consideration, the first imaging unit 10a and the second imaging unit. The imaging unit 10b is designed to capture a wide range of images.

  The video display unit 50 is installed in, for example, a meter cluster. Specifically, as shown in FIG. 2 (b), it is installed between the engine tachometer 6 and the speedometer 8 provided in the meter cluster 7. The video display unit 50 is preferably installed as close to the front of the driver as possible in order to shorten the viewing time.

  For example, a video 60 shown in FIG. 2C is displayed on the video display unit 50. On the left side of the image 60, an image captured by the first imaging unit 10a is displayed. In the example of FIG. 2 (c), an image including an obstacle 100a (see FIG. 2 (1)) on the left rear side of the vehicle 5 is displayed. Also, on the right side of the video 60, a video shot by the second imaging unit 10b is displayed. In the example of FIG. 2 (c), an image including an obstacle 100b (see FIG. 2 (1)) on the right rear side of the vehicle 5 is displayed. Note that these images are images taken at the same time.

  A boundary line 62 composed of a thick solid line is displayed between the two images displayed on the image display unit 50 so that it can be emphasized that images in different directions are displayed. Increase the discriminability of video.

(Explanation of detailed system configuration)
Next, the detailed configuration of the vehicle surrounding monitoring device 1 will be described with reference to FIGS. 3 and 4.

  As shown in FIG. 3, the video input / output control unit 20 includes a timing generator 201, a first line memory 202, a second line memory 203, a third line memory 204, a fourth line memory 205, a first line memory 205, and a first line memory 205. The switch 206, the second switch 207, the third switch 208, and the fourth switch 209 are included.

  In response to an instruction from the display form control unit 40, the timing generator 201 transmits a timing signal T for performing imaging to the imaging unit 10. Further, as described later, the timing generator 201 switches the first switch 206, the second switch 207, the third switch 208, and the fourth switch 209, and reads (inputs) the video signal to the video input / output control unit 20. And a video signal read (output) from the video input / output control unit 20 are switched appropriately. The specific contents will be described in the operation of the first embodiment.

  The first line memory 202 is a line memory capable of storing information for one line in the horizontal direction of the video displayed on the video display unit 50, and corresponds to one line in the horizontal direction of the video signal C1 captured by the first imaging unit 10a. Store information.

  The second line memory 203 is a line memory capable of storing information for one line in the horizontal direction of the video displayed on the video display unit 50, and corresponds to one line in the horizontal direction of the video signal C1 captured by the first imaging unit 10a. Store information.

  The third line memory 204 is a line memory capable of storing information for one line in the horizontal direction of the video displayed on the video display unit 50, and is equivalent to one line in the horizontal direction of the video signal C2 captured by the second imaging unit 10b. Store information.

  The fourth line memory 205 is a line memory capable of storing information for one line in the horizontal direction of the video displayed on the video display unit 50, and corresponds to one line in the horizontal direction of the video signal C2 captured by the second imaging unit 10b. Store information.

  The first switch 206 is a switch for switching the storage destination of information for one line in the horizontal direction of the video signal C <b> 1 captured by the first imaging unit 10 a to one of the first line memory 202 and the second line memory 203. . The first switch 206 is configured by software and is controlled by the timing generator 201.

  The second switch 207 stores the information for one line in the horizontal direction of the video signal C1 captured by the first imaging unit 10a stored in the first line memory 202 or the second line memory 203 to the display form control unit 40. This is a switch to output. The second switch 207 is configured by software and is controlled by the timing generator 201.

  The third switch 208 is a switch for switching the storage destination of information for one line in the horizontal direction of the video signal C2 captured by the second imaging unit 10b to either the third line memory 204 or the fourth line memory 205. . The third switch 208 is configured by software and is controlled by the timing generator 201.

  The fourth switch 209 stores information for one line in the horizontal direction of the video signal C2 captured by the second imaging unit 10b, stored in the third line memory 204 or the fourth line memory 205, in the display form control unit 40. This is a switch to output. The fourth switch 209 is configured by software and is controlled by the timing generator 201.

  The gaze position detection unit 30 (gaze image specifying unit) captures an image including the left and right eyeballs of the driver, detects an eyeball from the captured image, and further detects a pupil (black eye) in the eyeball. The position is detected, and the direction in which the user is gazing is calculated based on the position of the pupil in the eyeball.

  As shown in FIG. 4, the gaze position detection unit 30 includes a gaze position instruction unit 32, an eyeball / pupil position detection unit 33, a gaze position calculation unit 34, and a driver observation camera 35.

  The gaze position instruction unit 32 is used for calibration (calibration) performed to measure the driver's gaze position before actually operating the vehicle surrounding monitor device 1 (see FIG. 1). Specifically, the gaze position instructing unit 32 includes a switch that transmits that the driver has gazes at a specific position. The specific operation of the gaze position instruction unit 32 will be described later in the description of the gaze position detection method described later.

  The driver observation camera 35 is a small camera installed in the vicinity of the video display unit 50 (see FIG. 2B) inside the meter cluster 7 (see FIG. 2B). As shown in FIG. 4, the driver observation camera 35 is arranged so as to be able to capture an image of the imaging range R including the left eyeball 150L and the right eyeball 150R of the driver 150 seated in the driver's seat. The reason why the driver observation camera 35 is installed in the vicinity of the video display unit 50 is to detect as accurately as possible which position in the video display unit 50 the driver 150 is watching.

  The eyeball / pupil position detection unit 33 detects the position of the eyeball and the position of the pupil from the image of the face of the driver 150 captured by the driver observation camera 35. The detailed contents will be described later in the description of the gaze position detection method described later.

  The gaze position calculation unit 34 identifies the behavior of the driver 150 gazing at the video display unit 50 by detecting the gaze position of the driver 150 as needed based on the detected eyeball position and pupil position. To do. The detailed contents will be described later in the description of the gaze position detection method described later.

  As illustrated in FIG. 3, the display form control unit 40 includes a display form determination unit 401 and a display form change unit 405.

  Based on the gaze position detected by the gaze position detection unit 30, the display form determination unit 401 identifies the behavior in which the driver 150 is gazing at the video display unit 50, and displays the video displayed on the video display unit 50. The display form is determined.

  The display form changing unit 405 changes the display form by transmitting the display form determined by the display form determining unit 401 to the video input / output control unit 20 and receiving the video information corrected to the desired form. To do. Note that specific processing contents will be described later in the description of the processing flow of the first embodiment.

(Description of gaze position detection method)
Next, the content of the process performed by the gaze position detection unit 30 will be described with reference to FIGS.

FIGS. 5A, 5 </ b> B, and 5 </ b> C are examples of images of the face of the driver 150 captured by the driver observation camera 35. In the photographed image, for example, as shown in FIG. 5A, the left eyeball 150L (white eye and black eye) and the right eyeball 150R (white eye and black eye) of the driver 150 are shown. Then, in the left eye 150L and reflected the left of the pupil _{(iris) E PL,} it is reflected right of the pupil _{(iris) E PR} is in the right eye 150R.

The position of the pupil (black eye) in the eyeball moves according to the gaze position of the driver 150. Specifically, when gazing in the left direction, as shown in FIG. 5A, the left and right pupils E _PL and E _PR are both on the right side of the eyeballs 150L and 150R in the captured image. Moving. When the user is gazing at the front, both the left and right pupils move to the center of the eyeball in the captured image as shown in FIG. And when gazing at the right direction, as shown in FIG.5 (c), in the image | photographed image, both the left and right pupils move to the left side of the eyeball.

When gazing Thus the left and right, as shown in FIG. 6, between the gravity center position _{X G2L} center of gravity _{X G1L} and left pupil _{E PL} of the left eye 150L (white eye and iris) (iris), resulting horizontal deviation [Delta] X _L. Between the center-of-gravity position _{X G2R} of the center-of-gravity position _{X G1R} and right pupil _{E PR} in the right eye 150R (white eye and iris) (iris), resulting horizontal deviation [Delta] X _R. FIG. 6 is a diagram illustrating a state in which the driver 150 is gazing in the left direction, and corresponds to FIG. The horizontal deviations ΔX _L and ΔX _R occurring at this time are positive. Although not shown, when the right direction is watched, the horizontal deviations ΔX _L and ΔX _R are both negative values.

Further, when the front is watched, since the center of gravity of the eyeball and the center of gravity of the pupil are close to each other, the absolute values of the horizontal deviations ΔX _L and ΔX _R are both small. In addition, when the distance to the gaze target is close when gazes at the front, both the left and right eyeballs face inward, so-called convergence occurs. When congestion occurs, the general horizontal direction of the deviation [Delta] X _L calculated from the left eye becomes a negative value, the horizontal direction of the deviation [Delta] X _R calculated from the right eye for a positive value, when watching the front The signs of the horizontal deviations ΔX _L , ΔX _R of each differ depending on the situation.

Since the size of the eyeball and the distance between the left and right eyeballs vary depending on the individual, even when the same position is watched, the horizontal deviations ΔX _L and ΔX _R have individual differences. Therefore, first, the driver 150 gazes at a predetermined position in the video display unit 50, detects the position of the pupil (black eye) in the eyeball (white eye and black eye) at that time, and performs calibration. .

  Calibration is performed according to the following procedure. First, from the eyeball / pupil position detection unit 33 of the vehicle surrounding monitor device 1, a predetermined area (left half area of the screen, right half area of the screen, entire screen) or a predetermined position (screen) Specific points in the left half area, specific points in the right half area of the screen, and specific points near the center of the screen). The driver 150 watches the position according to the instruction. The instruction may be output by voice or displayed in the video display unit 50.

  When the driver 150 gazes at the position in accordance with the instruction, the driver 150 depresses the gaze position instruction unit 32 that is arranged at hand, for example, a push switch, to indicate that the gaze is instructed at the eyeball / pupil. This is transmitted to the position detection unit 33.

  When an instruction indicating that a predetermined position is watched is transmitted from the gaze position instruction unit 32 to the eyeball / pupil position detection unit 33, the eyeball / pupil position detection unit 33 is photographed by the driver observation camera 35. From the image including both eyes of the driver 150, the position of the eyeball and the position of the pupil are detected by image processing.

  Various image processing methods for detecting the eyeball (white eye and black eye) and pupil (black eye) from the captured images have been proposed, and any of them may be used. For example, an eyeball (white eye) region may be detected by binarization processing, and a black eye (pupil) may be detected as a black circle region adjacent to the eyeball, or an eyeball (white eye and black eye) model may be prepared, The area may be detected by matching.

  The eyeball / pupil position detection unit 33 further calculates the center-of-gravity position from the detected eyeball (white eye and black-eye) area and pupil (black-eye) area, and uses the calculated center-of-gravity position as calibration data. The gaze position calculation unit 34 stores the gaze position.

  As described above, qualitatively, when gazing in the left direction, the centroid position of the pupil (black eye) is the right direction on the image with respect to the centroid position of the eyeball (white eye and black eye) for both eyes. Move to. Further, when gazing in the right direction, for both eyes, the center of gravity of the pupil (black eye) moves to the left on the image with respect to the center of gravity of the eyeball (white eye and black eye).

  Furthermore, when gazing at the front, the center of gravity of the eyeball (white eye and black eye) and the center of gravity of the pupil (black eye) are substantially the same on the image for both eyes.

Since the left and right eyeballs move in conjunction with each other in this way, in order to reduce the amount of data, the horizontal direction between the center of gravity of the eyeball (white eye and black eye) and the center of gravity of the pupil (black eye) detected from the left eyeball 150L a deviation [Delta] X _L in the horizontal direction of the deviation [Delta] X _R and the average calibration data [Delta] X between the position of the center of gravity of the eye detected from the right eye 150R centroid position and the pupil of the (white eye and iris) (iris) (= (ΔX _L + ΔX _R ) / 2). The calculated calibration data ΔX is stored in the gaze position calculation unit 34.

  Furthermore, in order to obtain more accurate calibration data, a plurality of images are taken while gazing at one place, and eyeballs (white eyes and black eyes) and pupils (black eyes) are detected multiple times. In each case, the horizontal deviation of the center of gravity position may be calculated, and the plurality of calculated horizontal deviations may be averaged as calibration data.

  After the calibration is completed, the eyeball / pupil position detection unit 33 detects the eyeball (white eye and black eye) and pupil (black eye) of the driver 150. Then, the center of gravity is calculated from the detected eyeball region, and the center of gravity is calculated from the detected pupil region.

The calculated center of gravity position (X _G1L , X _{G1R in} FIG. 6) of the eyeball (white eye and black eye) and the center of gravity of the pupil (black eye) (X _G2L , X _{G2R in} FIG. 6) are sent to the gaze position calculation unit 34. The average value of the horizontal deviation (ΔX _L , ΔX _R ) between the center of gravity of the eyeball (white eye and black eye) and the center of gravity of the pupil (black eye) is collated with the stored calibration data ΔX. The gaze position of the driver 150 is specified.

(Explanation of how to change display mode)
Next, a specific method for changing the display form of the video displayed on the video display unit 50 will be described with reference to FIG.

  FIG. 7 is a state transition diagram showing a specific display mode changing method according to a change in the gaze position of the driver 150.

  There are three types of video states to be displayed. That is, the first display form 60C in which the left rear and the right rear of the vehicle 5 are displayed in the same size, the second display form 60L in which the left rear of the vehicle 5 is displayed wider than the right rear, the vehicle This is a third display form 60R in which the right rear of 5 is displayed wider than the left rear.

  Assume that the display of the first display form 60C has been made. At this time, when the gaze position calculated by the gaze position calculation unit 34 is in the center of the screen, the display of the first display form 60C is continued (state transition 601). This is because it is considered that the driver 150 intends to check both the left and right images.

  Further, when the first display form 60C is being displayed, when the gaze position calculated by the gaze position calculation unit 34 is on the left side of the screen, the display form is changed to the second display form 60L. (State transition 602). This is because the driver 150 is considered to have an intention to confirm the left image. At this time, the visibility of the left image is further enhanced by enlarging the display size of the left image. At this time, the video on the right is reduced and displayed in the left-right direction. In the example shown in FIG. 7, the display width of the left video is enlarged by 1.5 times with respect to the video displayed on the left screen of the first display form 60C. This enlargement ratio is appropriately determined in consideration of visibility when enlarged.

  Further, when the first display form 60C is being displayed, if the gaze position calculated by the gaze position calculation unit 34 is on the right side of the screen, the display form is changed to the third display form 60R. (State transition 603). This is because it is considered that the driver 150 intends to confirm the right image. At this time, the visibility of the right image is further enhanced by enlarging the display size of the right image. At this time, the video on the left is reduced and displayed in the left-right direction. In the example shown in FIG. 7, the display width of the right video is enlarged 1.5 times with respect to the video displayed on the right screen of the first display form 60C. This enlargement ratio is appropriately determined in consideration of visibility when enlarged.

  Next, it is assumed that the second display form 60L has been displayed. At this time, when the gaze position calculated by the gaze position calculation unit 34 is at the center or the left side of the screen, the display of the second display form 60L is continued (state transition 604). This is because the driver 150 is considered to have an intention to confirm the left image. The reason why the second display form 60L is continued even when the gaze position is at the center of the screen is to prevent flickering of the image due to frequent changes in the display form due to slight changes in the gaze position. It is.

  In addition, when the second display form 60L is displayed and the gaze position calculated by the gaze position calculation unit 34 is on the right side of the screen, the display form is changed to the first display form 60C. (State transition 605). This is because it is considered that the driver 150 intends to confirm both the left and right images or the right image.

  Furthermore, it is assumed that the third display form 60R is displayed. At this time, when the gaze position calculated by the gaze position calculation unit 34 is at the center or the right side of the screen, the display of the third display form 60R is continued (state transition 606). This is because it is considered that the driver 150 intends to confirm the right image. The reason why the third display form 60R is continued even when the gaze position is at the center of the screen is to prevent flickering of the image due to frequent changes in the display form due to slight changes in the gaze position. It is.

  In addition, when the third display form 60R is displayed and the gaze position calculated by the gaze position calculation unit 34 is on the left side of the screen, the display form is changed to the first display form 60C. (State transition 607). This is because it is considered that the driver 150 intends to confirm both the left and right images or the left image.

(Explanation of processing flow)
Next, the processing flow of the first embodiment will be described with reference to FIGS. 8, 9A, 9B, and 10. FIG. First, the overall processing flow will be described with reference to FIG.

  (Step S701) The gaze position detection unit 30 calibrates the position of the eyeball and the position of the pupil. Since the contents of the calibration are as described above, a detailed description of the flow of processing is omitted.

  (Step S <b> 702) In the display form changing unit 405, initial setting of the display form of the video displayed on the video display unit 50 is performed. Specifically, the left and right screens of the video display unit 50 are set to be displayed evenly. Here, the same processing as step S714 described later is performed.

  (Step S703) In order to display the video in the display mode set in the display mode control unit 40, the video captured by the imaging unit 10 is read (input) and written to the display mode control unit 40 (output). . Details of the processing in step S703 will be described later.

  (Step S704) It is determined whether or not the output of one field of video has been completed. If not completed, the process returns to step S703. If completed, the process proceeds to step S705.

  (Step S705) The eyeball / pupil position detection unit 33 detects the left and right eyeball regions and the left and right pupil regions from the face image of the driver 150. The specific processing content is as described above.

  (Step S706) The gaze position calculation unit 34 determines whether or not the driver 150 is gazing at the center of the screen. When it is determined that the center of the screen is being watched, the process returns to step S703, and when it is determined that the center of the screen is not being watched, the process proceeds to step S707.

  (Step S707) The gaze position calculation unit 34 determines whether or not the driver 150 is gazing at the right screen. When it is determined that the right screen is being watched, the process proceeds to step S710, and when it is determined that the right screen is not being watched, the process proceeds to step S708.

  (Step S708) The display form determination unit 401 determines whether or not the display form of the video display unit 50 at that time is set to a state in which the left screen is displayed large. If it is set to display the left screen in a large size, the process proceeds to step S715. If it is not set to display the left screen in a large size, the process proceeds to step S709.

  (Step S709) The display form determination unit 401 determines whether or not the display form of the video display unit 50 at that time is set to a state in which the right screen is displayed large. If it is set to display the right screen in a large size, the process proceeds to step S714. If it is not set to display the right screen in a large size, the process proceeds to step S712.

  (Step S710) The display form determination unit 401 determines whether or not the display form of the video display unit 50 at that time is set to a state in which the right screen is displayed large. If it is set to display the right screen in a large size, the process proceeds to step S715. If it is not set to display the right screen in a large size, the process proceeds to step S711.

  (Step S711) The display form determination unit 401 determines whether or not the display form of the video display unit 50 at that time is set to a state in which the left screen is displayed large. If the left screen is set to display a large screen, the process proceeds to step S714. If the left screen is not set to display a large screen, the process proceeds to step S713.

  (Step S712) The display form changing unit 405 changes the display form of the video displayed on the video display unit 50 so that the left screen is displayed larger. A detailed flowchart of step S712 will be described later.

  (Step S713) The display form changing unit 405 changes the display form of the video displayed on the video display unit 50 so that the right screen is displayed larger. A detailed flowchart of step S713 will be described later.

  (Step S714) The display form changing unit 405 changes the display form of the video displayed on the video display unit 50 so that the left and right screens are displayed evenly. A detailed flowchart of step S714 will be described later.

  (Step S715) It is determined whether the ignition switch of the vehicle 5 is OFF. When the ignition switch is OFF, the process is terminated. On the other hand, when the ignition switch is not OFF, the process returns to step S703.

  Next, with reference to FIGS. 9A and 9B, the flow of the video reading and writing process executed in step S703 will be described.

  (Step S801) The first switch 206 is tilted to the first line memory 202 side (terminal a11 side in FIG. 3), the second switch 207 is tilted to the second line memory 203 side (terminal b12 side in FIG. 3), and the third The switch 208 is tilted to the third line memory 204 side (terminal a21 side in FIG. 3), and the fourth switch 209 is tilted to the fourth line memory 205 side (terminal b22 side in FIG. 3).

  (Step S802) The clock signal CK11 is supplied from the timing generator 201 to the first line memory 202, and the video signal C1 is read into the first line memory 202 by one line by the clock signal CK11.

  (Step S803) The clock signal CK21 is given from the timing generator 201 to the third line memory 204, and the video signal C2 is read into the third line memory 204 by one line by the clock signal CK21.

  (Step S804) The clock signal CK12 is given from the timing generator 201 to the second line memory 203, and the video signal C1 is read from the second line memory 203 to the display form control unit 40 by one line by this clock signal CK12.

  (Step S805) The clock signal CK22 is given from the timing generator 201 to the fourth line memory 205, and the video signal C2 is read from the fourth line memory 205 to the display form control unit 40 by one line by this clock signal CK22.

  (Step S806) The video signal C1 read from the second line memory 203 and the video signal C2 read from the fourth line memory 205 are combined into a video signal of one line by the display form changing unit 405. The synthesized video signal of one line is displayed on the video display unit 50.

  (Step S807) The frequency of the clock signal is set by the action of the timing generator 201. That is, the frequency of the clock signal CK11 and the frequency of the clock signal CK21 are switched. Further, the frequency of the clock signal CK12 and the frequency of the clock signal CK22 are switched.

  (Step S808) Next, the first switch 206 is tilted to the second line memory 203 side (terminal b11 side in FIG. 3), and the second switch 207 is tilted to the first line memory 202 side (terminal a12 side in FIG. 3). Then, the third switch 208 is tilted to the fourth line memory 205 side (terminal b21 side in FIG. 3), and the fourth switch 209 is tilted to the third line memory 204 side (terminal a22 side in FIG. 3).

  (Step S809) The clock signal CK12 is supplied from the timing generator 201 to the second line memory 203, and the video signal C1 is read into the second line memory 203 by one line by the clock signal CK12.

  (Step S810) The clock signal CK22 is supplied from the timing generator 201 to the fourth line memory 205, and the video signal C2 is read into the fourth line memory 205 by one line by the clock signal CK22.

  (Step S811) The clock signal CK11 is given from the timing generator 201 to the first line memory 202, and the video signal C1 is read from the first line memory 202 to the display form control unit 40 by one line by this clock signal CK11.

  (Step S812) The clock signal CK21 is supplied from the timing generator 201 to the third line memory 204, and by this clock signal CK21, the video signal C2 is read from the third line memory 204 to the display form control unit 40 by one line.

  (Step S813) The video signal C1 read from the first line memory 202 and the video signal C2 read from the third line memory 204 are combined into a video signal of one line by the display form changing unit 405. The synthesized video signal of one line is displayed on the video display unit 50.

  (Step S814) The frequency of the clock signal is set by the action of the timing generator 201. That is, the frequency of the clock signal CK11 and the frequency of the clock signal CK21 are switched. Further, the frequency of the clock signal CK12 and the frequency of the clock signal CK22 are switched.

  Next, with reference to FIG. 10A, a flow of processing for changing the setting so as to display the left screen of the video display unit 50 in a large size performed in step S712 will be described.

By the action of (step S901) the timing generator 201, the clock signal CK11 and the clock signal CK21, respectively set to the frequency _{f 0.} Also, setting the frequency of the clock signal CK12 to _4f 0/3. Then, to set the frequency of the clock signal CK22 to 4f _0. As a result, the setting is changed so that the left screen of the video display unit 50 is displayed larger. Specifically, with this setting, the width of the left screen is displayed with a size three times that of the right screen.

  Next, with reference to FIG. 10C, a flow of processing for changing the setting so as to display the right screen of the video display unit 50 in a large size performed in step S713 will be described.

By the action of (step S903) the timing generator 201, the clock signal CK11 and the clock signal CK21, respectively set to the frequency _{f 0.} In addition, to set the frequency of the clock signal CK12 to 4f _0. Then, set the frequency of the clock signal CK22 to _4f 0/3. As a result, the setting is changed so that the right screen of the video display unit 50 is displayed larger. Specifically, with this setting, the width of the right screen is displayed three times as large as the width of the left screen.

  Next, with reference to FIG. 10B, a flow of processing for changing the setting so as to display the left and right screens of the video display unit 50 evenly in step S714 will be described.

By the action of (step S902) the timing generator 201, the clock signal CK11 and the clock signal CK21, respectively set to the frequency _{f 0.} Further, the clock signal CK12 and the clock signal CK 22, respectively set to a frequency 2f _0. Accordingly, the setting is changed so that the left and right screens of the video display unit 50 are displayed with the same width.

In the first embodiment described above, the screen on the non-focused side is photographed on the screen on the non-focused side by setting the writing frequency to 4f ₀ which is four times the read frequency. All video information is displayed. However, writing frequency to the side of the screen that are not paying attention may be set to 2f _0.

Figure 11 shows a state transition diagram when the write frequency to the side of the screen that is not focused is set to 2f _0. At this time, as in the second display form 60L2 and the third display form 60R2 shown in FIG. 11, the display range of the screen on which attention is not paid is limited, but compared with the display example shown in FIG. Since the obstacle is further enlarged and displayed on the screen on the non-focused side, when there is an object requiring attention such as an obstacle on the screen on the non-focused side, the driver 150 Thus, it becomes possible to draw more attention.

In order to realize the second display form 60L2 and the third display form 60R2 shown in FIG. 11, the writing of the video signal to the screen on which attention is not paid is performed on the read video signals C1 and C2. it is necessary to abort the way, the video output control section 20 shown in FIG. 3, further function of determining whether writing predetermined number of pixels of the image signals C1, C2 is read at the frequency 2f ₀ is added The Since this function can be realized by a simple logic circuit, detailed description thereof is omitted.

  Next, another embodiment 2 in which the vehicle surrounding monitor device of the present invention is used as a substitute for a door mirror that is one of the rear-view mirrors of the vehicle will be described.

(Explanation of system configuration and operation)
Hereinafter, the schematic configuration and operation of the present embodiment will be described with reference to FIGS. The vehicle surrounding monitoring device 2 according to the present embodiment is installed in a vehicle 5 (see FIG. 2A) as shown in FIG. 12, and includes an imaging unit 10, a video input / output control unit 20, and a switch operation. It comprises a detection unit 36 (gaze image specifying unit), a display form control unit 40, and a video display unit 50.

  The configuration of the vehicle surrounding monitor device 2 is substantially the same as that of FIG. 1 described in the first embodiment, and the mounting state of the first imaging unit 10a and the second imaging unit 10b constituting the imaging unit 10 on the vehicle 5 is also implemented. This is the same as FIG. 2A described in Example 1. The only difference is that instead of the gaze position detection unit 30 (see FIG. 1) that the first embodiment has, a switch operation detection unit 36 shown in FIG. 12 is provided. Hereinafter, differences from the first embodiment will be described with reference to FIGS. 2 to 4, 12, and 13.

  As shown in FIG. 13A, the switch operation detection unit 36 includes a display mode changeover switch 364 installed on the steering wheel 362 of the vehicle 5 (see FIG. 2A). The display mode changeover switch 364 (see FIG. 13B) is composed of a three-pole single throw rocker switch. The left side of the display mode changeover switch 364 is pressed and the right side of the display mode changeover switch 364 is displayed. Three states can be designated: a state where is pressed and a state where both the left and right sides of the display form changeover switch 364 are not pressed.

  When the left side of the display mode changeover switch 364 is pressed, the information is transmitted to the display mode determination unit 401 shown in FIG. Then, the display form changing unit 405 changes the display form of the video display unit 50 so that the left screen is displayed larger.

  Further, when the right side of the display mode changeover switch 364 is pressed, the information is transmitted to the display mode determination unit 401 shown in FIG. Then, the display form changing unit 405 changes the display form of the video display unit 50 so that the right screen is displayed larger.

  Further, when both the left and right of the display form changeover switch 364 are not pressed, the information is transmitted to the display form determining unit 401 shown in FIG. Then, the display form changing unit 405 changes the display form of the video display unit 50 so that the left and right screens are displayed evenly.

  As described above, the screen form to be displayed on the video display unit 50 can be easily selected by detecting the operation (predetermined switch operation) of the display form changeover switch 364 by the driver 150 (see FIG. 4). Can do.

  A similar function can also be realized based on an operation (blinker operation) of a winker lever 366 installed on the back side of the steering wheel 362.

  That is, when the driver 150 is driving the vehicle 5 and operates the turn signal lever 366 and issues the direction indicator on the right side before changing the lane to the right lane, the right direction indicator is released. This is transmitted to the display form determination unit 401 shown in FIG. Then, the display form changing unit 405 changes the display form of the video display unit 50 so that the right screen is displayed larger. And since the driver | operator 150 can visually confirm the video display part 50 and can confirm the safety of the right rear of a vehicle, he can change a lane in comfort.

  Further, when the turn signal lever 366 is operated and the direction indicator is displayed on the left side before changing the lane to the left lane, the fact that the left direction indicator is output is notified to the display form determination unit 401 shown in FIG. It is done. Then, the display form changing unit 405 changes the display form of the video display unit 50 so that the left screen is displayed larger. And since the driver | operator 150 (refer FIG. 4) can visually confirm the video display part 50 and can confirm the safety of the left back of a vehicle, he can change a lane in comfort.

  Thus, based on the operation of the display mode changeover switch 364 and the winker lever 366 (winker operation) of the driver 150 (see FIG. 4), the video image is displayed so that the visibility of the video image to be watched by the driver 150 is increased. The display form of the display unit 50 can be changed as appropriate.

  Next, another embodiment 3 in which the vehicle surrounding monitor device of the present invention is used as a blind spot monitor around the vehicle will be described.

(Explanation of system configuration)
Hereinafter, the schematic configuration and operation of the present embodiment will be described with reference to FIGS. As shown in FIG. 14, the vehicle surrounding monitoring device 3 according to the present embodiment is installed in a vehicle 5 (see FIG. 15), and includes an imaging unit 12, a video conversion and video input / output control unit 22, and a gaze position. It comprises a detection unit 30 (gaze image specifying unit), a display form control unit 40, and a video display unit 50.

  The basic configuration of the vehicle surrounding monitor device 3 is the same as that of the first embodiment, except that an imaging unit 12 is provided instead of the imaging unit 10 (see FIG. 1), and the video input / output control unit 20 (see FIG. 1). Instead, it has a video conversion and video input / output control unit 22.

  The imaging unit 12 includes four cameras. As shown in FIG. 15, the imaging unit 12 is installed in the vicinity of the left door mirror of the vehicle, and captures the lower side of the left side of the vehicle. A fourth imaging unit 10d that is installed in the vicinity of the right door mirror and captures the lower side of the right side of the vehicle; a fifth imaging unit 10e that is installed at the front end of the vehicle and captures the vehicle immediately below the front end; and a rear end of the vehicle And a sixth imaging unit 10f that captures images directly under the rear end of the vehicle.

  The video conversion and video input / output control unit 22 performs coordinate conversion on a plurality of videos captured by the imaging unit 12 (to be described later) and a function of the video input / output control unit 20 (see FIG. 1), respectively, into a single video. And a function of synthesizing.

(Description of action)
Hereinafter, the operation of the third embodiment will be described. As shown in FIG. 15, the vehicle surrounding monitor device 3 is mounted on the vehicle 5, and the four cameras constituting the imaging unit 12 are each in a blind spot from the driver 150 (see FIG. 4). Take a picture.

  Then, when the driver 150 operates a start switch (not shown) installed in the vehicle 5, four images captured at the same time by the imaging unit 12 are converted to 1 in the video conversion and video input / output control unit 22. The images are combined into one image and displayed on the image display unit 50 as an all-around display form 62C shown in FIG.

  The image represented by the all-around display form 62C is an overhead image 100c1 obtained by coordinate conversion of the image captured by the third imaging unit 10c as if looking down from above the vehicle 5, and the image captured by the fourth imaging unit 10d. A bird's-eye view image 100d1 coordinate-converted as seen from above, a bird's-eye view image 100e1 obtained by coordinate-transforming the image taken by the fifth imaging unit 10e as seen from above the vehicle 5, and an image taken by the sixth imaging unit 10f And a bird's-eye view image 100f1 coordinate-transformed as if looking down from above the vehicle 5 are arranged around the vehicle shadow 5a, which is a virtual figure looking down from the sky, so as to maintain the positional relationship with each other. It is expressed as if the vehicle 5 was looked down from above.

  The obstacle 100c on the left side of the vehicle 5 is displayed in the bird's-eye view image 100c1, and the obstacle 100d on the right side of the vehicle 5 is displayed in the bird's-eye view image 100d1. The obstacle 100e in front of the vehicle 5 is displayed in 100e1, and the obstacle 100f in the rear of the vehicle 5 is displayed in the overhead view image 100f1.

  In addition, a boundary line 64 is displayed at the boundary portion of each bird's-eye view video 100c1, 100d1, 100e1, 100f1 in order to improve the distinguishability between the bird's-eye view videos.

  Such a bird's-eye view display has recently been put into practical use as a device for monitoring the surrounding situation of a vehicle, and therefore the description of the content of processing for generating an image representing the all-around display form 62C is omitted.

  The gaze position detection unit 30 (gaze image specifying unit) detects a position in the screen of the video display unit 50 where the driver 150 (see FIG. 4) of the vehicle 5 is gazing. The configuration and operation are as described in the first embodiment.

  In accordance with the detected gaze position, the display form control unit 40 changes the display form of the video displayed on the video display unit 50 based on the state transition diagram shown in FIG.

  Hereinafter, the state transition diagram of FIG. 16 will be described in order. There are five types of video states displayed on the video display unit 50. That is, as shown in FIG. 16, there are the above-described all-around display form 62C, rear display form 62B, front display form 62F, left side display form 62L, and right side display form 62R.

  Now, it is assumed that the display of the all-around display form 62C is performed. At this time, when the gaze position calculated by the gaze position detection unit 30 (gaze image specifying unit) is at the center of the screen, the display of the all-around display form 62C is continued (state transition 701). This is because it is considered that the driver 150 (see FIG. 4) has an intention to confirm the entire surrounding image.

  Further, when the omnidirectional display form 62C is displayed and the gaze position calculated by the gaze position detection unit 30 is below the screen, the display form is changed to the rear display form 62B (state transition 702). ). This is because it is considered that the driver 150 has an intention to confirm a lower image (that is, the rear of the vehicle 5). At this time, the display size of the bird's-eye view image 100f1 behind the vehicle 5 is enlarged to reflect the intention of the driver 150 so that the bird's-eye view image 100f2 is displayed. Increase sex. Note that the enlargement ratio of the display size of the bird's-eye view video 100f1 is appropriately determined in consideration of the visibility when enlarged.

  When the rear display form 62B is displayed, when the gaze position calculated by the gaze position detection unit 30 is at the center of the screen, the left side of the screen, or the right side of the screen, the rear display form 62B is displayed. The display continues (state transition 703).

  Further, when the rear display form 62B is being displayed, if the gaze position calculated by the gaze position detection unit 30 is above the screen, the display form is changed to the all-around display form 62C (state transition 704). ). This is because it is considered that the driver 150 intends to check the entire surrounding image.

  Further, when the omnidirectional display form 62C is displayed and the gaze position calculated by the gaze position detection unit 30 is above the screen, the display form is changed to the front display form 62F (state transition 705). ). This is because it is considered that the driver 150 has an intention to confirm the upper image (that is, the front of the vehicle 5). At this time, the display size of the bird's-eye view image 100e1 in front of the vehicle 5 is enlarged to reflect the intention of the driver 150, thereby providing a bird's-eye view image 100e2. Increase sex. Note that the enlargement ratio of the display size of the bird's-eye view video 100e1 is appropriately determined in consideration of the visibility when enlarged.

  When the front display form 62F is displayed, when the gaze position calculated by the gaze position detection unit 30 is at the center of the screen, the left side of the screen, or the right side of the screen, the front display form 62F is displayed. The display continues (state transition 706).

  Furthermore, when the front display form 62F is being displayed and the gaze position calculated by the gaze position detection unit 30 is below the screen, the display form is changed to the all-around display form 62C (state transition 707). ). This is because it is considered that the driver 150 intends to check the entire surrounding image.

  Further, when the omnidirectional display form 62C is displayed, if the gaze position calculated by the gaze position detection unit 30 is on the left side of the screen, the display form is changed to the left side display form 62L (state) Transition 708). This is because it is considered that the driver 150 has an intention to confirm the left image (that is, the left side of the vehicle 5). At this time, the display size of the bird's-eye view image 100c1 on the left side of the vehicle 5 is enlarged so as to reflect the intention of the driver 150, thereby forming a bird's-eye view image 100c2. To improve the visibility. Note that the enlargement ratio of the display size of the bird's-eye view image 100c1 is appropriately determined in consideration of the visibility when enlarged.

  When the left side display form 62L is displayed, the left side is displayed when the gaze position calculated by the gaze position detection unit 30 is at the center of the screen, the top of the screen, the bottom of the screen, or the left side of the screen. The display of the way display form 62L is continued (state transition 709).

  Furthermore, when the left side display form 62L is displayed and the gaze position calculated by the gaze position detection unit 30 is on the right side of the screen, the display form is changed to the all-around display form 62C (state) Transition 710). This is because it is considered that the driver 150 intends to check the entire surrounding image.

  Further, when the omnidirectional display form 62C is displayed and the gaze position calculated by the gaze position detection unit 30 is on the right side of the screen, the display form is changed to the right side display form 62R (state) Transition 711). This is because it is considered that the driver 150 has an intention to confirm the right image (that is, the right side of the vehicle 5). Then, at this time, to reflect the intention of the driver 150, the display size of the bird's-eye view image 100d1 on the right side of the vehicle 5 is enlarged to obtain the bird's-eye view image 100d2, thereby displaying the image on the right side of the vehicle. To improve the visibility. Note that the enlargement ratio of the display size of the bird's-eye view video 100d1 is appropriately determined in consideration of the visibility when enlarged.

  When the right side display form 62R is displayed, when the gaze position calculated by the gaze position detection unit 30 is at the center of the screen, above the screen, below the screen, or right of the screen, the right side The display of the way display form 62R is continued (state transition 712).

  Furthermore, when the right-side display form 62R is displayed and the gaze position calculated by the gaze position detection unit 30 is on the left side of the screen, the display form is changed to the all-around display form 62C (state) Transition 713). This is because it is considered that the driver 150 intends to check the entire surrounding image.

  As described above, according to the vehicle surrounding monitor device 1 according to the first embodiment, the video display unit 50 displays videos in different directions around the vehicle 5 captured by the plurality of imaging units 10 (10a, 10b). Behavior in which the driver 150 of the vehicle 5 gazes at the video display unit 50 from among a plurality of videos displayed on the video display unit 50 in the gaze position detection unit 30 (gaze video identification unit) when the images are displayed side by side at the same time. Based on the above, the video that the driver 150 wants to watch is specified, and the display form control unit 40 changes the display form of the specified video and displays it on the video display unit 50. Therefore, the video that the driver 150 wants to watch Visibility can be improved. As a result, it is possible to reduce the visual load for the driver 150 who is traveling the vehicle to confirm the road conditions and traffic conditions around the vehicle.

  Further, according to the vehicle surrounding monitor device 1 according to the first embodiment, since the plurality of imaging units 10 (10a, 10b) are provided as an alternative to the door mirror (rear mirror) of the vehicle 5, the conventional door mirror is further downsized. can do. As a result, the design of the vehicle 5 can be improved.

  Further, according to the vehicle surrounding monitor device 1 according to the first embodiment, the display form control unit 40 enlarges the display size of the video specified as the driver 150 of the vehicle 5 wants to watch. The visibility of the video that the person 150 wants to see can be further improved.

  Further, according to the vehicle surrounding monitor device 1 according to the first embodiment, the display form control unit 40 does not display an image that is specified as the driver 150 of the vehicle 5 wants to gaze at that time. In some cases, since the two images are displayed on the image display unit 50 in equal left and right sizes, flickering of images due to frequent changes in the display form due to slight changes in the gaze position can be prevented.

  Further, according to the vehicle surrounding monitor device 1 according to the first embodiment, the gaze position detection unit 30 (gaze image specifying unit) detects the eyeball composed of the white eye and the black eye of the driver 150, and detects the detected eyeball. Since the image that the driver 150 wants to watch is specified based on the position of the inside pupil (black eye), it is possible to easily detect the driver 150's watch position using an existing image processing method.

  In addition, according to the vehicle surrounding monitor device 1 according to the first embodiment, the video display unit 50 is installed in the meter cluster 7 of the vehicle 5, and therefore can display a video on the front of the driver 150. As a result, the driver 150 can check the situation on the rear side of the vehicle 5 with a small amount of line-of-sight movement.

  Further, according to the vehicle surrounding monitoring device 2 according to the second embodiment, the switch operation detecting unit 36 (gaze image specifying unit) is a driving that specifies one image from a plurality of images displayed on the image display unit. In order to detect the operation (predetermined switch operation) of the display form changeover switch 364 of the person and identify the video that the driver wants to watch based on the detected operation of the display form changeover switch 364, the operation load is small. You can display the video in the direction you want to see.

  Further, according to the vehicle surrounding monitoring device 2 according to the second embodiment, the switch operation detection unit 36 (gaze image specifying unit) detects the operation of the winker lever 366 of the driver 150 and detects the winker lever 366 detected. In order to identify the video that the driver 150 wants to watch based on the operation (blinker operation), if the intention display to change the lane is performed, the video display unit 50 can be operated without performing a special display switching operation. When changing lanes, it is possible to display an image of an area requiring visual confirmation.

  Further, according to the vehicle surrounding monitoring device 3 according to the third embodiment, the plurality of imaging units 12 (10c, 10d, 10e, 10f) captures a blind spot from the driver 150. Among the blind spots generated around 5, the situation of the blind spot in the direction focused by the driver 150 can be visually confirmed with high visibility.

  In the first and third embodiments described above, the gaze position of the driver 150 is detected based on the change in the position of the pupil in the eyeball of the driver 150. The gaze position may be detected by detecting the orientation of the face. Many methods for detecting the orientation of a face from a photographed image have been proposed, and any of these methods may be used. For example, the orientation of the face can be detected by collating the positional relationship between the eyeball, nose and mouth with a preset facial model.

  Further, in the first and third embodiments, the display form of the video is changed based only on the change in the position of the pupil in the eyeball of the driver 150. At this time, however, the head of the driver 150 is further changed. The position may be taken into account.

  That is, when viewing a normal door mirror, the range of the image shown on the door mirror changes by moving the position of the head. Also in the present embodiment, it is possible to change the range of the video displayed on the video display unit 50 by estimating the position of the head of the driver 150.

  The position of the driver's head can be estimated based on the positions of the left and right eyeballs in the image observed by the driver observation camera 35, for example. Then, an image in a predetermined range is cut out and displayed on the video display unit 50 for each camera constituting the imaging unit 10 (12) according to the estimated head position. The predetermined range is, for example, moving the position of the head while scrolling the image picked up by the image pickup unit up, down, left and right for the image to be displayed on the image display unit 50 when the head is at that position. This can be realized by performing calibration to be determined, and storing the cutout position of the video at that time for each camera.

  In addition, the determination of the gaze position of the driver 150 may be performed in consideration of a predetermined time period, instead of being determined only by one gaze position detection process. That is, when a predetermined number of times (for example, three times) are measured and the same area is continuously watched during that time (when the watch point is stopped), it is determined that the area is being watched for the first time. May be. As a result, unnecessary noise is removed, and flickering of the display screen can be reduced.

  As mentioned above, although the Example of this invention was explained in full detail with drawing, since an Example is only an illustration of this invention, this invention is not limited only to the structure of an Example. Of course, changes in design and the like within a range not departing from the gist are included in the present invention.

DESCRIPTION OF SYMBOLS 1 Vehicle surroundings monitoring apparatus 10 Image pick-up part 10a 1st image pick-up part 10b 2nd image pick-up part 20 Image | video input-output control part 201 Timing generator 202 1st line memory 203 2nd line memory 204 3rd line memory 205 4th line memory 206 1st 1 switch 207 2nd switch 208 3rd switch 209 4th switch 30 Gaze position detection unit (gaze image specifying unit)
40 Display mode control unit 401 Display mode determination unit 405 Display mode change unit 50 Video display unit C1, C2 Video signal T Timing signal

Claims (4)

An imaging unit that is installed in a vehicle and photographs the left and right rear sides of the vehicle;
An image display unit for displaying two images on the left and right rear sides of the vehicle imaged by the imaging unit;
On the basis of the predetermined behavior of the driver of the vehicle, the two images displayed on the image display unit, and gazing image identification unit the driver to identify the image to be gazing,
A display form control unit that enlarges the display size of the identified video ,
The display mode control section, said when the image identified by followed by gazing image specifying unit is different from the identified video, the video display unit, that you display the two images in uniform size A vehicle ambient monitoring device. The gaze image specifying unit, and characterized by detecting the eyeball comprising the whites and iris of the driver, based on the position of the iris of the detected in the eye, the driver identifies the image to be gazing The vehicle surrounding monitoring device according to claim 1 . The gaze image specifying unit, in accordance with the turn signal operation by the driver, the periphery monitoring apparatus for a vehicle according to claim 1, wherein the driver and identifies images to be gazing. The image display section, surrounding monitoring apparatus for a vehicle according to any one of claims 1 to 3, characterized in that it is installed in the meter cluster of the vehicle.