JP6740916B2 - Driving support system, driving support method - Google Patents

Description

The present disclosure relates to a driving support system and a driving support method.

Patent Literature 1 describes a driving support system such as an electronic mirror that assists a driver in driving operation by displaying an image of the surroundings of the vehicle on a display device provided in the vehicle compartment.

JP, 2005-198302, A

Regarding the electronic mirror, which is an example of a driving support system, it is possible to distinguish between a motorcycle equipped with headlights at two locations on the front left and right and a motorcycle equipped with a headlight at one location in the center of the front, as shown in the image. Therefore, it is stipulated by law that a mode is provided in which the headlamps at the left and right front parts are displayed on the display section in a distinguishable manner by darkening the image. This is because, when the light emitted from each of the two headlights on the left and right of the front part appears to be connected, it may be mistaken for the light emitted from one headlight. Further, when not operating in this mode, it is also stipulated by law to notify the driver to that effect.

Note that the above-mentioned two-lamp separable mode is only guaranteed to be able to identify the two lamps in the test environment specified by law, and the two headlights shown in the image in the actual use environment are only guaranteed. It does not guarantee that they can be identified. For this reason, in the actual use environment, there may be a state in which the headlight cannot be identified as two lights but is operating in the two-light separable mode. In this case, the driver may misidentify the motorcycle as the motorcycle.

To this end, in the electronic mirror, it is required to judge whether or not each of the two headlights on the left and right of the front part can be displayed on the display section in a distinguishable manner. This is not limited to the case of two headlamps on the left and right of the front part, and is the same for each of a plurality of lighting devices shown in an image of the surroundings of the vehicle. The same applies to not only electronic mirrors but also driving assistance systems in general.

The present disclosure provides a technique for determining whether or not each of a plurality of lighting devices shown in an image of the surroundings of a vehicle is identifiable and displayed on a display unit.

The driving support system of the present disclosure has an acquisition control unit (S105, S205, S315), a display control unit (S155, S255, S365), a detection unit (S110, S210, S320), and a determination unit (S125, S140, S225, S240, S335, S350) and a notification unit (S135, S150, S235, S250, S345, S360).

The acquisition control unit acquires an image of the surroundings of the vehicle from the acquisition unit (11, 13, 15) .
The display control unit causes display of images acquired by the acquisition control unit on the display unit (21, 23, 25).
The detection unit detects a lightness affecting factor which is a factor affecting the lightness of the entire image.

When the brightness influencing factor does not satisfy the predetermined identification determination condition, the determination unit determines that the identification cannot be performed. The indistinguishable state is a state in which each of the headlights of the following vehicle shown in the image cannot be identified on the display unit.

According to the driving support system of the present disclosure, by using a factor that affects the brightness of the entire image, each of the headlights of the following vehicle that is captured in an image of the surroundings of the vehicle is displayed on the display unit in a distinguishable manner. It is possible to judge whether or not to do.

Then, the following vehicle notification unit, when it is determined that the unidentified state by the determination unit, the driver of the vehicle, so make notification if the audio output device (37), the driver appear on the image It is possible to recognize that the headlight of No. 1 cannot be displayed in a distinguishable manner on the display unit, and therefore, it is possible to contribute to the determination of the driving situation by the driver.

In addition, the reference numerals in parentheses described in this column and the claims indicate the correspondence with the specific means described in the embodiments described below as one aspect, and the technical scope of the present disclosure. It is not limited.

3 is a block diagram showing the configurations of the image processing device 1 and the driving support system 2. FIG. It is a flow chart of driving support processing_1. It is explanatory drawing of driving support process_1. It is explanatory drawing of driving support process_1. It is explanatory drawing of driving support process_1. It is a flow chart of driving support processing_2. It is a flow chart of driving support processing_3. It is explanatory drawing of driving support process_3.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
As shown in FIG. 1, the image processing device 1 is an ECU mounted on a vehicle. ECU is an abbreviation for Electronic Control Unit. The image processing apparatus 1 is mainly composed of a well-known microcomputer having a CPU and a semiconductor memory such as a RAM, a ROM and a flash memory. Various functions of the image processing apparatus 1 are realized by the CPU executing the programs stored in the non-transitional substantive recording medium. In this example, the semiconductor memory corresponds to a non-transitional substantive recording medium storing a program. Further, by executing this program, the method corresponding to the program is executed. Note that the number of microcomputers forming the image processing apparatus 1 may be one or more. Further, the image processing apparatus 1 may be configured by a digital circuit including a large number of logic circuits, or may be realized by a combination of digital circuits and analog circuits.

In addition to the image processing device 1, the host vehicle includes a right rear side camera 11, a left rear side camera 13, a rear camera 15, a right rear side monitor 21, a left rear side monitor 23, and a rear monitor 25.
The right rear side camera 11, the left rear side camera 13, and the rear camera 15 correspond to a camera and an acquisition unit. The right rear side monitor 21, the left rear side monitor 23, and the rear monitor 25 correspond to the display unit.

The right rear side camera 11 is provided in the right door mirror of the vehicle and captures the right rear and right side scenery of the vehicle. The right rear side camera 11 outputs the image obtained by shooting to the image processing apparatus 1. The left rear side camera 13 is provided in the left door mirror of the vehicle and captures the left rear and left side scenery of the vehicle. The left rear side camera 13 outputs the image obtained by shooting to the image processing apparatus 1. The rear camera 15 is provided at the rear end of the host vehicle and captures a landscape behind the host vehicle. The rear camera 15 outputs the captured image to the image processing device 1. When the door mirror is not attached to the host vehicle, the right rear side camera 11 and the left rear side camera 13 can be attached to the host vehicle by stays or embedded in the vehicle body of the host vehicle.

The right rear side monitor 21 is composed of a liquid crystal display or the like provided in the vicinity of the right front pillar inside the vehicle. The right rear side monitor 21 displays an image captured by the right rear side camera 11. Therefore, the right rear side camera 11 and the right rear side monitor 21 function as an electronic mirror. The right rear side monitor 21 may be arranged in the instrument panel.

The left rear side monitor 23 is composed of a liquid crystal display or the like provided near the left front pillar inside the vehicle. The left rear side monitor 23 displays an image obtained by shooting with the left rear side camera 13. Therefore, the left rear side camera 13 and the left rear side monitor 23 function as an electronic mirror. In addition, the left rear side monitor 23 may be arranged in the instrument panel.

The rear monitor 25 is composed of a liquid crystal display or the like provided at the position of the room mirror. The rear monitor 25 displays an image captured by the rear camera 15. Therefore, the rear camera 15 and the rear monitor 25 function as an electronic mirror. The rear monitor 25 may be arranged in the instrument panel.

Further, the image processing apparatus 1 is connected to the illuminance sensor 33, the other display device 35, and the audio output device 37 via the communication bus 31.
The illuminance sensor 33 detects the illuminance around the vehicle. The illuminance sensor 33 transmits/receives various information to/from other components via the communication bus 31. The illuminance sensor 33 outputs information indicating the illuminance around the vehicle to the image processing apparatus 1 via the communication bus 31. The image processing apparatus 1 uses the information input from the illuminance sensor 33 to execute various processes.

The other display device 35 includes a meter or the like that displays various information. The other display device 35 transmits/receives various information to/from other components via the communication bus 31. The image processing apparatus 1 outputs information such as a display screen to the other display device 35 via the communication bus 31. The other display device 35 displays the information input from the image processing apparatus 1.

The audio output device 37 includes a speaker or the like that outputs various sounds. The audio output device 37 transmits/receives various information to/from other components via the communication bus 31. The image processing apparatus 1 outputs information such as voice to the voice output device 37 via the communication bus 31. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice.

FIG. 3 shows an example in which the right rear side monitor 21 displays an image obtained by shooting with the right rear side camera 11. In this example, a lighting device such as a headlight of a following vehicle is shown in a predetermined area in the image. If this succeeding vehicle is a four-wheeled vehicle having headlights at two positions on the left and right sides of the front part, as illustrated in FIG. 4, two lighting devices are shown in the predetermined area. On the other hand, when this succeeding vehicle is a motorcycle including a headlight at one location in the center of the front part, as illustrated in FIG. 5, one lighting device appears in the predetermined area.

The image processing apparatus 1 is provided with two operation modes, a two-light separable mode and a two-light separable mode.
In the two-lamp separable mode, a process of darkening the image is performed. As a result, each of the plurality of lighting devices appearing in the predetermined area in the image can be viewed separately and easily identified. Further, in the two-lamp separation impossible mode, the process of brightening the image is performed. As a result, it becomes difficult to identify each of the plurality of lighting devices appearing in the predetermined area in the image, while it becomes easy to identify the surrounding situation.

[1-2. processing]
(1) Next, the driving support process_1 executed by the CPU of the image processing apparatus 1 will be described with reference to the flowchart of FIG.

This process is repeatedly executed when the power of the image processing apparatus 1 is on.
Here, only the processing as the electronic mirror composed of the right rear side camera 11 and the right rear side monitor 21 will be described, and the processing as the electronic mirror composed of the left rear side camera 13 and the left rear side monitor 23, The process performed by the rear camera 15 and the rear monitor 25 as an electronic mirror is the same process, and therefore its description is omitted.

In the first step S105, the CPU acquires images of the scenery on the right rear side and the right side of the vehicle, which are captured by the right rear side camera 11. Then, it transfers to S110.
In S110, the CPU acquires the exposure time when the right rear camera 11 acquires an image. The exposure time is an example of a parameter relating to the brightness of the right rear side camera 11. Instead of the exposure time, a lens diaphragm or a gamma correction value may be acquired and used. Then, it transfers to S115.

In S115, the CPU obtains the two-lamp separable state. The two-lamp separable state indicates whether each of the plurality of lighting devices shown in the image can be discriminated or indistinguishable from each other on the display unit, and has a discriminable state and a non-discernable state. The identifiable state is a state in which each of the plurality of lighting devices shown in the image can be identified on the display unit. The unidentifiable state is an unidentifiable state on the display unit for each of the plurality of lighting devices shown in the image. Here, either the identifiable state or the unidentifiable state is used as the initial setting. If this process is executed for the second time or later, the two-lamp separable/non-separable state at the time of previously executing this process may be used. Then, it transfers to S120.

In S120, the CPU determines whether or not two lights can be separated based on the two-light separation availability state. If it is in the identifiable state and it is determined that the two lights can be separated, the process proceeds to S125. When it is determined that the two lights cannot be separated from each other, the process proceeds to S140.

In S125, the CPU determines whether the exposure time is the reference value +α or more. The reference value is a preset value. The exposure time corresponds to a brightness affecting factor. The reference value corresponds to the time judgment value and the discrimination judgment condition. α is a positive correction value. The correction value α is set in this way, and the correction value β is also set in S140, which will be described later, in order to prevent a situation in which the mode is frequently switched because the exposure time fluctuates around the reference value. When it is determined that the exposure time is equal to or greater than the reference value+α, it is determined that the identification is impossible. The unidentifiable state is an unidentifiable state on the display unit for each of the plurality of lighting devices shown in the image. Then, the two-lamp separable mode is changed to the two-lamp separable mode, and the process proceeds to S130. When it is determined that the exposure time is less than the reference value +α, it is determined that the state is identifiable. The identifiable state is a state in which each of the plurality of lighting devices shown in the image can be identified on the display unit. Then, the two-lamp separable mode is continued, and the process proceeds to S155.

In S130, the CPU switches to the two-lamp separation impossible state. At this time, when the two-light separable mode is set, the two-light separable mode may be switched to. Then, it transfers to S135.

In S135, the CPU notifies the driver of the unidentifiable state. Specifically, the CPU outputs the information indicating the unidentifiable state to the audio output device 37 via the communication bus 31. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice. Then, it transfers to S155.

In S140, the CPU determines whether the exposure time is less than or equal to the reference value −β. β is a positive correction value. If it is determined that the exposure time is equal to or less than the reference value −β, it is determined that the state is in the distinguishable state, the two-lamp separable mode is changed to the two-lamp separable mode, and the process proceeds to S145. If it is determined that the exposure time is longer than the reference value −β, it is determined that the state is unidentifiable, the two-lamp separation impossible mode is continued, and the process proceeds to S150.

In S145, the CPU switches to the two-lamp separable state. At this time, in the case of the two-lamp separable mode, the two-lamp separable mode may be switched to. Then, it transfers to S155.

In S150, when the two-lamp separation impossible state is continuing, the CPU again notifies the driver to that effect. Specifically, the CPU outputs the information indicating the unidentifiable state to the audio output device 37 via the communication bus 31. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice. Then, it transfers to S155.

In S155, the CPU outputs the image captured by the right rear side camera 11 to the right rear side monitor 21. At this time, in the case of the two-lamp separable mode, the CPU performs a process of darkening the image by shortening the exposure time of the camera as compared with the normal setting. Further, in the case of the two-lamp separation impossible mode, the CPU performs a process of making the image brighter by making the exposure time of the camera longer than in the normal setting. The right rear side monitor 21 displays the image input from the image processing apparatus 1. Then return.

[1-3. effect]
According to the first embodiment described in detail above, by using the exposure time when the camera acquires an image as the brightness affecting factor, each of the plurality of lighting devices shown in the image of the surroundings of the vehicle is displayed on the display unit. It is possible to judge whether or not the information can be displayed in a distinguishable manner.

Then, since it is notified when it is determined that it is in an unidentifiable state, it is possible for the driver to recognize that it is not possible to distinguishably display a plurality of lighting devices shown in the image on the display unit, Therefore, it can contribute to the judgment of the driving situation by the driver.
[2. Second Embodiment]
[2-1. Differences from the first embodiment]
The second embodiment has the same basic configuration as that of the first embodiment, and therefore the differences will be described below.

In the above-described first embodiment, the exposure time when the camera acquires the image is used as a brightness affecting factor to determine whether or not each of the plurality of lighting devices shown in the image can be displayed in a distinguishable manner. .. On the other hand, in the second embodiment, the illuminance around the vehicle is used as the brightness influencing factor to determine whether or not each of the plurality of lighting devices shown in the image can be displayed on the display unit in a distinguishable manner. This is different from the first embodiment.

[2-2. processing]
Next, the driving support process_2 executed by the CPU of the image processing apparatus 1 of the second embodiment in place of the driving support process_1 of the first embodiment shown in FIG. 2 will be described with reference to the flowchart of FIG.

This process is repeatedly executed when the power of the image processing apparatus 1 is on.
In the following description, similar to the case of the driving support process_1, only the process as the electronic mirror including the right rear side camera 11 and the right rear side monitor 21 will be described, and the description of the other processes will be omitted.

In the first step S205, the CPU acquires images of the scenery on the right rear side and the right side of the vehicle, which are captured by the right rear side camera 11. Then, it transfers to S210.
In S210, the CPU acquires the illuminance around the vehicle detected by the illuminance sensor 33. Then, it transfers to S215.

In S215, the CPU acquires the two-lamp separable state. Here, either the identifiable state or the unidentifiable state is used as the initial setting. If this process is executed for the second time or later, the two-lamp separable/non-separable state at the time of executing this process last time may be used. Then, it transfers to S220.

In S220, the CPU determines whether or not the two lights can be separated based on the two-light separation availability state. If it is in the identifiable state and it is determined that the two lights can be separated, the process proceeds to S225. When it is determined that the two lights cannot be separated because they are in the indistinguishable state, the process proceeds to S240.

In S225, the CPU determines whether the ambient illuminance is greater than or equal to the reference value −α. The reference value is a preset value. The ambient illuminance corresponds to the brightness affecting factor. The reference value corresponds to the illuminance determination value and the identification determination condition. α is a positive correction value. The correction value α is set in this way, and the correction value β is also set in S240, which will be described later, in order to prevent a situation in which the mode is frequently switched because the ambient illuminance rises and falls near the reference value. When it is determined that the ambient illuminance is equal to or greater than the reference value −α, it is determined that the state is indistinguishable, the two-lamp separable mode is changed to the two-lamp separable mode, and the process proceeds to S230. If it is determined that the ambient illuminance is less than the reference value −α, it is determined that the illuminance is in the distinguishable state, the two-lamp separable mode is continued, and the process proceeds to S255.

In S230, the CPU switches to the two-lamp separation impossible state. At this time, when the two-light separable mode is set, the two-light separable mode may be switched to. Then, it transfers to S235.

In S235, the CPU notifies the driver of the unidentifiable state. Specifically, the CPU outputs the information indicating the unidentifiable state to the audio output device 37 via the communication bus 31. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice. Then, it transfers to S255.

In S240, the CPU determines whether the ambient illuminance is equal to or greater than the reference value +β. β is a positive correction value. When it is determined that the ambient illuminance is equal to or greater than the reference value +β, it is determined that the illuminance is in the distinguishable state, the two-lamp separable mode is changed to the two-lamp separable mode, and the process proceeds to S245. When it is determined that the surrounding illuminance is less than the reference value +β, it is determined that the illuminance is indistinguishable, the two-lamp separation impossible mode is continued, and the process proceeds to S250.

In S245, the CPU switches to the two-lamp separable state. At this time, if the two-lamp separable mode is set, the two-lamp separable mode may be switched to. Then, it transfers to S255.

In S250, when the two-lamp separation impossible state is continuing, the CPU notifies the driver again of that fact. Specifically, the CPU outputs the information indicating the unidentifiable state to the audio output device 37 via the communication bus 31. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice. Then, it transfers to S255.

In S255, the CPU outputs the image to the right rear side monitor 21. Specifically, the CPU outputs the image captured by the right rear side camera 11 to the right rear side monitor 21. At this time, in the case of the two-lamp separable mode, the CPU performs a process of darkening the image by shortening the exposure time of the camera as compared with the normal setting. Further, in the case of the two-lamp separation impossible mode, the CPU performs a process of making the image brighter by making the exposure time of the camera longer than in the normal setting. The right rear side monitor 21 displays the image input from the image processing apparatus 1. Then return.

[2-3. effect]
According to the second embodiment described in detail above, by using the illuminance around the vehicle as the brightness influencing factor, it is possible to distinguishably display on the display unit a plurality of lighting devices shown in an image of the surroundings of the vehicle. Whether or not can be determined.

Then, since it is notified when it is determined that it is in an unidentifiable state, it is possible for the driver to recognize that it is not possible to distinguishably display a plurality of lighting devices shown in the image on the display unit, Therefore, it can contribute to the judgment of the driving situation by the driver.
[3. Third Embodiment]
[3-1. Differences from the first embodiment]
The basic configuration of the third embodiment is similar to that of the first embodiment, and therefore the differences will be described below.

In the above-described first embodiment, the exposure time when the camera acquires the image is used as a brightness affecting factor to determine whether or not each of the plurality of lighting devices shown in the image can be displayed in a distinguishable manner. .. On the other hand, in the third embodiment, the brightness distribution in the image is used as a brightness influencing factor to determine whether or not each of the plurality of lighting devices shown in the image can be displayed on the display unit in a distinguishable manner. This is different from the first embodiment.

[3-2. processing]
Next, the driving support process_3 executed by the CPU of the image processing apparatus 1 of the third embodiment in place of the driving support process_1 of the first embodiment shown in FIG. 2 will be described with reference to the flowchart of FIG.

This process is repeatedly executed when the power of the image processing apparatus 1 is on.
In the following description, similar to the case of the driving support process_1, only the process as the electronic mirror including the right rear side camera 11 and the right rear side monitor 21 will be described, and the description of the other processes will be omitted.

In the first step S305, the CPU acquires images of the scenery on the right rear side and the right side of the vehicle, which are captured by the right rear side camera 11. Here, the exposure time is set to be the shortest in the settable range. Then, it transfers to S310.

In S310, the CPU identifies the position of the light source shown in the image. For example, as illustrated in FIG. 8, the CPU sets the horizontal X axis and the vertical Y axis in the image, and detects the position of the light source on the XY coordinates. The position of the light source shown in the image corresponds to the brightness affecting factor. Then, it transfers to S315.

In step S315, the CPU acquires images of the right rear and right sides of the vehicle captured by the right rear side camera 11. Here, the exposure time is not particularly limited. Then, it transfers to S320.

In S320, the CPU acquires the brightness value at the position on the image acquired in S315, which corresponds to the position of the light source specified in S310. Then, it transfers to S325.
In S325, the CPU acquires the two-lamp separable state. Here, either the identifiable state or the unidentifiable state is used as the initial setting. If this process is executed for the second time or later, the two-lamp separable/non-separable state at the time of executing this process last time may be used. Then, it transfers to S330.

In S330, the CPU determines whether or not the two lights can be separated based on the two-light separation availability state. If it is determined that the two lights can be separated, the process proceeds to S335. When it is determined that the two lights cannot be separated from each other, the process proceeds to S350.

In S335, the CPU determines whether or not the luminance distribution of the light source satisfies one of PLSDF-α>first reference value or PLSCF-β>second reference value. PLSDF is an abbreviation for Point Light Source Detection Factor. PLSCF is an abbreviation for Point Light Source Contrast Factor. The first reference value and the second reference value are preset values. In this embodiment, the first reference value is set to 2.7 and the second reference value is set to 1.2. The first reference value and the second reference value correspond to the distribution determination condition and the identification determination condition. α is a positive correction value. β is a positive correction value. The correction value α is set in this manner, and the correction value γ is also set in S350, which will be described later, in order to prevent the mode from being frequently switched because the PLSDF moves up and down in the vicinity of the reference value. Similarly, the reason why the correction value β is set and the correction value δ is also set in S350, which will be described later, is to prevent the mode from being frequently switched because the PLSCF moves up and down in the vicinity of the reference value.

PLSDF is calculated by the following equation (1).

PLSCF is calculated by the following equation (2).

S _H represents the width of the X-axis direction of the light source on the image, the brightness value of the light source is a region at a first predetermined value or more set in advance.
S _V indicates the width dimension of the light source on the image in the Y-axis direction, and is an area in which the brightness value of the light source is equal to or greater than a second predetermined value set in advance. The second predetermined value is set to a value smaller than the first predetermined value.

L _H,max is the maximum value of the luminance value of the light source on the image in the X-axis direction.
L _V,max is the maximum value of the luminance value of the light source on the image in the Y-axis direction.
L _H,min is the minimum luminance value in the X-axis direction of the light source on the image.

When it is determined that the brightness distribution at the light source position satisfies either PLSDF-α>first reference value or PLSCF-β>second reference value, it is determined that the state is unidentifiable. Then, the two-lamp separable mode is changed to the two-lamp separable mode, and the process proceeds to S340. When it is determined that the brightness distribution of the light source position does not satisfy PLSDF-α>first reference value or PLSCF-β>second reference value, it is determined that the state is identifiable, The two-lamp separable mode is continued, and the process proceeds to S365.

In S340, the CPU switches to the two-lamp separation impossible state. At this time, when the two-light separable mode is set, the two-light separable mode may be switched to. Then, it transfers to S345.

In S345, the CPU notifies the driver of the unidentifiable state. Specifically, the CPU outputs information indicating that the state is unidentifiable to the audio output device 37 via the communication bus 31. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice. Then, it transfers to S365.

In S350, the CPU determines whether or not the luminance distribution at the light source position satisfies one of PLSDF+γ>first reference value or PLSCF+δ>second reference value. γ is a positive correction value. δ is a positive correction value.

When it is determined that the brightness distribution at the light source position satisfies either PLSDF+γ>first reference value or PLSCF+δ>second reference value, it is determined that the light is in an identifiable state, and two lights are detected. The non-separable mode is changed to the two-lamp separable mode, and the process proceeds to S355. When it is determined that the brightness distribution at the light source position does not satisfy PLSDF+γ>first reference value or PLSCF+δ>second reference value, it is determined that the state is indistinguishable and two lights cannot be separated. The mode is continued, and the process proceeds to S360.

In S355, the CPU switches to the two-lamp separable state. At this time, if the two-lamp separable mode is set, the two-lamp separable mode may be switched. Then, it transfers to S365.

In S360, if the two-lamp separation impossible state continues, the CPU notifies the driver again of that fact. The CPU outputs to the audio output device 37, via the communication bus 31, information indicating that the two-lamp separation mode is in effect. The voice output device 37 outputs the information input from the image processing apparatus 1 by voice. Then, it transfers to S365.

In S365, the CPU outputs the image to the right rear side monitor 21. Specifically, the CPU outputs the image captured by the right rear side camera 11 to the right rear side monitor 21. At this time, in the case of the two-lamp separable mode, the CPU performs a process of darkening the image by shortening the exposure time of the camera as compared with the normal setting. Further, in the case of the two-lamp separation impossible mode, the CPU performs a process of making the image brighter by making the exposure time of the camera longer than in the normal setting. The right rear side monitor 21 displays the image input from the image processing apparatus 1. Then return.

[3-3. effect]
According to the third embodiment described in detail above, by using the brightness distribution in the image as the brightness affecting factor, each of the plurality of lighting devices shown in the image of the surroundings of the own vehicle is displayed in a distinguishable manner. It is possible to judge whether or not to do.

Then, since it is notified when it is determined that it is in an unidentifiable state, it is possible for the driver to recognize that it is not possible to distinguishably display a plurality of lighting devices shown in the image on the display unit, Therefore, it can contribute to the judgment of the driving situation by the driver.
[4. Other Embodiments]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be implemented.

(1) In the above embodiment, the CPU switches between the two-lamp separable mode and the two-lamp separable mode depending on the situation, but the present invention is not limited to this. The two operation modes may be switched by the switch operation of the driver.

(2) In the above embodiment, in the two-lamp separable mode, the exposure time of the camera is set shorter than the normal setting in order to darken the image, but the present invention is not limited to this. The image may be darkened by narrowing the lens aperture of the camera as compared with the normal setting. Further, the image may be darkened by applying gamma correction to γ<1. Further, the image may be darkened by negatively correcting the brightness.

(3) In the above embodiment, the exposure time of the camera 11 is set to be longer than that in the normal setting in order to make the image brighter in the two-lamp separation impossible mode, but the present invention is not limited to this. The image may be brightened by opening the lens aperture of the camera as compared with the normal setting. Further, the image may be brightened by applying gamma correction to γ>1. The image may be brightened by positively correcting the brightness.

(4) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or one function of one constituent element may be realized by a plurality of constituent elements. .. Further, a plurality of functions of a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above-described embodiment may be added or replaced with respect to the configuration of the other above-described embodiment. Note that all aspects included in the technical idea specified by the wording recited in the claims are embodiments of the present disclosure.

(5) In addition to the above-described driving support system, an image processing apparatus that constitutes the driving support system, a program that causes a computer to function as the driving support system, and a program that causes a computer to function as the image processing apparatus. The present disclosure can also be realized in various forms such as a non-transitional physical recording medium such as a semiconductor memory in which a program is recorded, a driving support method, and an image processing method.

DESCRIPTION OF SYMBOLS 1... Image processing device, 11... Right rear side camera, 13... Left rear side camera, 15... Rear camera, 21... Right rear side monitor, 23... Left rear side monitor, 25... Rear monitor, 31... Communication bus, 33... Illuminance sensor, 35... Other display device, 37... Audio output device.

Claims (7)

An acquisition control unit (S105, S205, S315) that acquires an image of the surroundings of the vehicle from the acquisition unit (11, 13, 15);
A display control unit (S155, S255, S365) for displaying the image acquired by the acquisition control unit on a display unit (21, 23, 25) ;
A detection unit (S110, S210, S320) for detecting a lightness affecting factor which is a factor affecting the lightness of the entire image;
When the brightness influencing factor detected by the detection unit does not satisfy the preset identification determination condition, each of the headlights of the following vehicles shown in the image cannot be identified on the display unit. A determination unit (S125, S140, S225, S240, S335, S350) for determining an unidentifiable state;
If it is determined that the unidentifiable state by said determining unit, wherein the driver of the vehicle, the notification unit to make the notification to that effect to the audio output device (37) (S135, S150, S235, S250, S345, S360), and a driving support system. The driving support system according to claim 1, wherein
The acquisition unit is a camera that captures the image,
The detection unit detects a parameter relating to the brightness of the camera when the camera captures the image as the brightness influencing factor (S110),
When the parameter is equal to or greater than a preset parameter determination value, the determination unit determines that the lightness influencing factor does not satisfy the identification determination condition and is in the unidentifiable state (S125, S140).
Driving support system. The driving support system according to claim 1, wherein
The detection unit detects the illuminance around the vehicle as the brightness affecting factor (S210),
When the illuminance is equal to or less than a preset illuminance determination value, the determination unit determines that the brightness influencing factor does not satisfy the identification determination condition and is in the unidentifiable state (S225, S240).
Driving support system. The driving support system according to claim 1, wherein
The detection unit detects the brightness distribution in the image as the brightness affecting factor (S320),
When the luminance distribution does not satisfy the preset distribution determination condition, the determination unit determines that the brightness influence factor does not satisfy the identification determination condition and is in the unidentifiable state (S335). , S350)
Driving support system. The driving support system according to any one of claims 1 to 4,
As operation modes, the image is brightened by a dual-lamp separable mode in which each of the headlights of the following vehicle that appears in a predetermined area in the image is darkened and is easily seen and distinguished as an operation mode. Then, there are two modes of the two-lamp separation impossible mode for making it difficult to identify each of the headlights of the following vehicle that appears in a predetermined area in the image,
In the case where the two-light separable mode is selected, the change unit (S130) that changes from the two-light separable mode to the two-light separable mode when the determination unit determines that the indistinguishable state is present. , S230, S330). The driving support system according to claim 5, wherein
When the lightness influencing factor detected by the detection unit satisfies the identification determination condition, the determination unit can identify, on the display unit, each of the headlights of the following vehicle captured in the image. It is determined that the identifiable state is
The changing unit changes from the two-lamp separable mode to the two-lamp separable mode when the determining unit determines that the discriminable state is the two-lamp separable mode. Yes (S145, S245, S340)
Driving support system. An image of the surroundings of the vehicle is acquired from the acquisition unit (11, 13, 15) (S105, S205, S315),
To display the acquired image on the display unit (21,23,25) (S155, S255, S365),
Detecting a lightness affecting factor which is a factor affecting the lightness of the entire image (S110, S210, S320),
When the lightness influencing factor does not satisfy the preset identification determination condition, each of the headlights of the following vehicles shown in the image is in an unidentifiable state in which it is unidentifiable on the display unit. Judgment (S125, S140, S225, S240, S335, S350),
If it is determined that the an unidentifiable state, said the driver of the vehicle, makes notification to that effect to the audio output device (37) (S135, S150, S235, S250, S345, S360)
Driving support method.