JP6866212B2 - Display control device, display control method and camera monitoring system - Google Patents

Description

The present invention relates to a display control device, a display control method, and a camera monitoring system.

Conventionally, there has been known a display control technique in which a camera monitoring system is mounted on a vehicle and a photographed image behind the vehicle is displayed on a display device or the like so that the display device or the like functions as an electronic mirror. Compared with conventional rearview mirrors (external rearview mirrors, indoor rearview mirrors), electronic mirrors have the advantage of being able to clearly project a wide range behind the vehicle.

Japanese Unexamined Patent Publication No. 2014-15198

On the other hand, if a wide area behind the vehicle is clearly projected, the driver will pay attention to information unnecessary for the driving operation, which may have some influence on the driving operation. For example, if a traffic light (such as a traffic light for a vehicle traveling in the direction opposite to the traveling direction of the own vehicle) is included in the image, it may be mistakenly recognized as a traffic light in front of the own vehicle or may be moved forward. It will have the effect of reducing attention.

The present invention has been made in view of the above problems, and an object of the present invention is to reduce the influence of a traffic light visually recognized through an electronic mirror on a driver.

According to one aspect, it is a display control device connected to an imaging device.
An acquisition unit that acquires image data obtained by photographing the rear of the vehicle by the image pickup device from the image pickup device, and an acquisition unit.
A detection unit that detects the light emitting region of the traffic light from the image data,
A display image generator that generates display image data by changing the color of the detected light emitting area of the traffic light so that it is less noticeable than the surrounding colors.
It has a control unit that controls the generated display image data so that it can be visually recognized through the electronic mirror.

The influence of the traffic light visually recognized through the electronic mirror on the driver can be reduced.

It is a figure which shows an example of the system configuration of the camera monitoring system in 1st Embodiment. It is a figure which shows the arrangement example of the display device. It is a figure which shows an example of the hardware composition of a display control device. It is a figure which shows an example of the functional structure of the display control device in 1st Embodiment. It is a figure which shows an example of a traffic light pattern image and a change pattern image stored in an image DB. It is a figure which shows the display example of a display device. It is a flowchart which shows the flow of the display control processing and the traffic light detection processing by the display control device in 1st Embodiment. It is a figure which shows the display example of a display device. It is a figure which shows an example of the functional structure of the display control device in 2nd Embodiment. It is a figure which shows an example of the functional structure of the display control device in 3rd Embodiment. It is a figure which shows an example of the system configuration of the camera monitoring system in 4th Embodiment.

Hereinafter, each embodiment will be described with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals to omit duplicate explanations.

[First Embodiment]
<System configuration of camera monitoring system>
First, the system configuration of the camera monitoring system mounted on the vehicle will be described. FIG. 1 is a diagram showing an example of a system configuration of a camera monitoring system according to the first embodiment. As shown in FIG. 1, the camera monitoring system 100 includes an image pickup device 110, a display control device 120, and a display device 130. In the present embodiment, the camera monitoring system 100 is activated when the ignition switch of the vehicle is turned on, and is stopped when the ignition switch of the vehicle is turned off. However, the timing of starting and stopping the camera monitoring system 100 is not limited to this, and for example, it is configured to start and stop based on the instruction of the driver of the vehicle after the ignition switch of the vehicle is turned on. You may.

The image pickup apparatus 110 photographs the rear of the vehicle, and transmits the image data obtained by inverting the photographed image obtained by the image pickup to the display control device 120. The display control device 120 changes the color of the light emitting region of the traffic light included in the image data by processing the image data transmitted from the image pickup device 110, and transmits the display image data to the display device 130. The display device 130 is an example of an output device, and in the present embodiment, it is composed of a liquid crystal display device. The display device 130 displays the display image data transmitted from the display control device 120.

<Display device layout example>
Next, an arrangement example of the display device 130 will be described. FIG. 2 is a diagram showing an arrangement example of the display device. As shown in FIG. 2, the display device 130 is arranged at the position of the interior rearview mirror of the vehicle (center position on the front side of the front window), and functions as an electronic mirror that replaces the interior rearview mirror.

<Hardware configuration of display control device>
Next, the hardware configuration of the display control device 120 will be described. FIG. 3 is a diagram showing an example of the hardware configuration of the display control device. As shown in FIG. 3, the display control device 120 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, and a RAM (Random Access Memory) 303. Further, the display control device 120 includes a GPU (Graphic Processing Unit) 304 and an I / F (Interface) device 305. Each part of the display control device 120 is connected to each other via a bus 306.

The CPU 301 is a device that executes various programs (for example, a display control program, etc.) installed in the ROM 302. The ROM 302 is a non-volatile memory and functions as a main storage device for storing various programs executed by the CPU 301. The RAM 303 is a volatile memory such as a DRAM (Dynamic Random Access Memory) or a SRAM (Static Random Access Memory). The RAM 303 functions as a main storage device that provides a work area that is expanded when various programs installed in the ROM 302 are executed by the CPU 301.

The GPU 304 is a dedicated integrated circuit that performs image processing, and in the present embodiment, it generates display image data to be displayed on the display device 130 based on an instruction from the CPU 301 that executes the display control program. The I / F device 305 is a connection device for connecting the image pickup device 110 and the display device 130, and the display control device 120.

<Functional configuration of display control device>
Next, the functional configuration of the display control device 120 will be described. FIG. 4 is a diagram showing an example of the functional configuration of the display control device according to the first embodiment. As described above, the display control program is installed in the display control device 120, and when the camera monitoring system 100 is activated, the display control device 120 executes the display control program. As a result, the display control device 120 functions as an image data acquisition unit 410, a traffic light detection unit 420, a display image generation unit 430, and a control unit 440.

The image data acquisition unit 410 acquires the image data transmitted from the image pickup apparatus 110. The image data acquisition unit 410 transmits the acquired image data to the traffic light detection unit 420 in frame units.

The traffic light detection unit 420 extracts a region having red, blue, and yellow, which are the emission colors of the traffic light, with the upper region of the image data transmitted from the image data acquisition unit 410 as the extraction target. For example, when the color component of each pixel of the image data is composed of an R value, a G value, and a B value, the traffic light detection unit 420 extracts pixels having a predetermined R value, the G value, and the B value. This extracts regions having red, blue, and yellow, which are the emission colors of the traffic light. Alternatively, when the traffic light is of the LED (Light Emitting Diode) type, the traffic light detection unit 420 has the emission color of the traffic light by extracting a region having flicker (periodic brightness fluctuation between frames). Regions may be extracted. The upper region of the image data is targeted for extraction in order to prevent accidental extraction of the winkers and headlights of the vehicle behind.

Further, the traffic light detection unit 420 performs matching processing with the pattern image of the traffic light read from the image DB 450, targeting a predetermined range including the region (light emitting region) from which the light emission color of the traffic light is extracted. Further, when the matching degree is equal to or higher than a predetermined threshold value, the traffic light detection unit 420 determines that the object included in the predetermined range including the extracted light emitting region is the traffic light. In this case, since the traffic light detection unit 420 has detected the light emitting area of the traffic light, the traffic light detection unit 420 notifies the display image generation unit 430 of the information indicating the light emitting area of the traffic light together with the image data. The traffic light detection unit 420 displays only image data when the light emitting region is not extracted from the extraction target or when the object included in the predetermined range including the light emitting region is not determined to be a traffic light. Notify the image generation unit 430.

When the signal detection unit 420 notifies the display image generation unit 430 of information indicating the light emitting region of the traffic light, the display image generation unit 430 uses a change method selected from the change methods stored in the image DB 450 for the image data. The color of the light emitting area of the traffic light is changed to generate display image data. Further, the display image generation unit 430 notifies the control unit 440 of the generated display image data. On the other hand, when the information indicating the light emitting region of the traffic light is not notified, the display image generation unit 430 notifies the control unit 440 of the notified image data as display image data.

The image DB 450 stores the following change methods as change method information, and the display image generation unit 430 selects one of these change methods or a plurality of change methods. To generate display image data.
-Change the color of the light emitting region to a predetermined color (for example, black, gray, etc.).
-Change the color saturation of the light emitting area to reduce the difference in saturation from the surrounding area.
-Change the color brightness of the light emitting area to reduce the difference in brightness from the surrounding area.
-A predetermined image is superimposed on a predetermined area including a light emitting area.

The control unit 440 controls the display image data notified by the display image generation unit 430 to be displayed on the display device 130. As a result, the driver of the vehicle can visually recognize the display image data in which the color of the light emitting region of the traffic light is changed via the display device 130.

<Specific example of image DB>
Next, the traffic light pattern image information and the change method information stored in the image DB 450 will be described. FIG. 5 is a diagram showing an example of traffic light pattern image information and change method information stored in the image DB.

Of these, FIG. 5A is a diagram showing an example of traffic light pattern image information used when determining a traffic light. As shown in FIG. 5A, the traffic light pattern image information 510 includes a traffic light pattern image for a vehicle and a traffic light pattern image for a pedestrian. The traffic light pattern image stored in the traffic light pattern image information 510 of the image DB 450 is not limited to this, and the traffic light pattern image for other vehicles having different shapes and the traffic light pattern image for other pedestrians having different shapes are included. It may be included. Further, a traffic light pattern image for another moving body may be included, such as a traffic light pattern image for a railroad crossing.

FIG. 5B is a diagram showing an example of change method information used when changing the color of the light emitting region of the traffic light to generate display image data. As shown in FIG. 5B, the change method information 520 includes "change method" and "change example" as information items. In the present embodiment, the "change method" includes "change to a predetermined color", "change the saturation", "change the brightness", and "superimpose a predetermined image". The "change example" includes a specific example in which a predetermined area including the light emitting area of the traffic light or the light emitting area of the traffic light is changed based on the corresponding "change method".

As shown in FIG. 5B, in the present embodiment, when any one of "change to a predetermined color", "change the saturation", and "change the brightness" is selected, the display image generation unit 430 changes the color. The change target is the light emitting region of the traffic light detected by the traffic light detection unit 420. The display image generation unit 430 identifies the light emitting area of the traffic light by the information indicating the light emitting area of the traffic light notified by the traffic light detecting unit 420. Therefore, when the three light emitting regions of red, blue, and yellow, which are the light emitting colors of the traffic light, are detected as the light emitting regions of the traffic light, such as during the daytime, the colors of the three light emitting regions are used. Is changed. On the other hand, when any light emitting region during light emission is detected as the light emitting region of the traffic light, such as at night time, the color of the light emitting region of that color is changed.

Further, as shown in FIG. 5B, in the present embodiment, the change target whose color is changed by the display image generation unit 430 when "superimpose a predetermined image" is selected is detected by the traffic light detection unit 420. It is a predetermined area (the entire traffic light) including the light emitting area of the traffic light.

<Display example of display device>
Next, a display example of the display device 130 will be described. Here, a display example in the case where the traffic light detection unit 420 does not perform the traffic light detection process will be shown, and the cause of the driver erroneously recognizing the traffic light visually recognized via the display device 130 as the traffic light in front will be described.

FIG. 6 is a diagram showing a display example of the display device. In the display example of FIG. 6, both the display image data visually recognized by the driver of the vehicle via the display device 130 and the actual view in front of the vehicle viewed through the front window after the display device 130 are shown.

In the present embodiment, the photographing range taken by the image pickup apparatus 110 is wider in the upward direction than the range projected by the conventional indoor rearview mirror. For this reason, the display device 130 is a traffic light behind the vehicle (a traffic light for a vehicle traveling in a direction opposite to the traveling direction of the own vehicle) and a signal located relatively close to the own vehicle (that is, a conventional interior). The traffic light at the upper position, which is not reflected in the rearview mirror), will be displayed. Further, in the present embodiment, the photographing range taken by the imaging device 110 is wide in the depth direction, and the display device 130 clearly recognizes a traffic light that is relatively far away (that is, a traffic light that is difficult to see with a conventional indoor rearview mirror). Will be displayed in.

Therefore, as shown in FIG. 6, it is difficult for the driver to distinguish between the traffic light 601 displayed on the display device 130 and the traffic light 602 in the actual view viewed through the front window. As a result, the driver mistakenly recognizes the traffic light 601 displayed on the display device 130 as a traffic light in a real scene that is visually recognized through the front window. Alternatively, even if it is not erroneously recognized, attention is directed to the traffic light 601 displayed on the display device 130, and the driver's attention to the front is reduced, which affects the driving operation by the driver.

<Flow of display control processing and traffic light detection processing>
Next, the flow of the display control process and the traffic light detection process by the display control device 120 will be described with reference to FIG. 7. FIG. 7 is a flowchart showing the flow of the display control process and the traffic light detection process by the display control device according to the first embodiment.

(1) Display Control Process by Display Control Device First, the flow of the entire display control process by the display control device 120 will be described with reference to FIG. 7A. FIG. 7A is a flowchart showing the flow of the entire display control process by the display control device 120. When the camera monitoring system 100 is activated, the display control device 120 executes the display control process shown in FIG. 7A.

In step S701, the image data acquisition unit 410 acquires image data from the image pickup apparatus 110 and transmits the image data to the traffic light detection unit 420 in frame units. In step S702, the traffic light detection unit 420 executes the traffic light detection process and notifies the display image generation unit 430 of the image data and the information indicating the light emitting region of the traffic light.

In step S703, the display image generation unit 430 changes the color of the region of the image data corresponding to the information indicating the light emitting region of the traffic light, and generates the display image data. In step S704, the control unit 440 controls the display image data to be displayed on the display device 130 in frame units.

In step S705, the image data acquisition unit 410 determines whether or not to end the display control process. When the operation of the camera monitoring system 100 continues, it is determined that the display control process is not completed in step S705 (when No in step S705), and the process returns to step S701. On the other hand, when the operation of the camera monitoring system 100 is stopped (Yes in step S705), the display control process is terminated.

(2) Traffic light detection process by the traffic light detection unit Next, the flow of the traffic light detection process (step S702) by the traffic light detection unit 420 will be described in detail with reference to FIG. 7 (b). FIG. 7B is a flowchart showing the flow of the traffic light detection process by the traffic light detection unit 420.

In step S711, the traffic light detection unit 420 extracts the upper region 721 of the image data 720 acquired by the image data acquisition unit 410.

In step S712, the traffic light detection unit 420 determines whether or not a region having red, blue, and yellow, which are the emission colors of the traffic light, is extracted from the extracted upper region 721. If it is determined in step S712 that the regions having red, blue, and yellow, which are the emission colors of the traffic light, have not been extracted (if No in step S712), the traffic light detection process is terminated and step S703 is performed. Return to. In this case, the traffic light detection unit 420 notifies the display image generation unit 430 of only the image data acquired by the image data acquisition unit 410.

On the other hand, if it is determined in step S712 that the region having red, blue, and yellow (light emitting region 722), which is the emission color of the traffic light, has been extracted (in the case of Yes in step S712), the process proceeds to step S713. ..

In step S713, the traffic light detection unit 420 performs matching processing with the traffic light pattern image included in the traffic light pattern image information 510 of the image DB 450 with the predetermined range 723 including the light emitting region 722 as the determination target. The traffic light detection unit 420 performs a matching process after performing a process of reversing the traffic light pattern image included in the traffic light pattern image information 510.

In step S714, the traffic light detection unit 420 determines whether or not the degree of matching between the predetermined range 723 including the light emitting region 722 and any of the traffic light pattern images included in the traffic light pattern image information 510 is equal to or greater than a predetermined threshold value. To do. If it is determined in step S714 that the degree of matching with any of the traffic light pattern images is less than a predetermined threshold value (if No in step S714), the traffic light detection process is terminated and the process returns to step S703. In this case, the traffic light detection unit 420 notifies the display image generation unit 430 of only the image data acquired by the image data acquisition unit 410. On the other hand, if it is determined that the threshold value is equal to or higher than the predetermined threshold value (Yes in step S714), the process proceeds to step S715.

In step S715, the traffic light detection unit 420 determines that the object included in the predetermined range 723 is a traffic light. In this case, since the traffic light detection unit 420 has detected the light emitting area of the traffic light, the position of the light emitting area 722 is notified to the display image generation unit 430 together with the image data 720 as information indicating the light emitting area of the traffic light. After that, the traffic light detection unit 420 ends the traffic light detection process and proceeds to step S703.

<Display example of display device>
Next, a display example of the display device 130 will be described. Here, a display example when the traffic light detection unit 420 performs the traffic light detection process will be shown, and the reason why the possibility of erroneously recognizing the traffic light to be visually recognized via the display device 130 as the front traffic light can be described will be described.

FIG. 8 is a diagram showing a display example of the display device. Similar to the display example of FIG. 6, in the display example of FIG. 8, the display image data that the driver of the vehicle visually recognizes through the display device 130 and the actual view of the front that is visually recognized through the front window behind the display device 130. Both are shown.

When the traffic light detection unit 420 performs the traffic light detection process, the light emitting area of the traffic light included in the image data is detected, and the display image generation unit 430 changes the color of the light emitting area of the traffic light. Therefore, as shown in FIG. 8, the traffic light 801 displayed on the display device 130 and the traffic light 802 in the actual view viewed through the front window have clearly different colors. As a result, it is possible to reduce the possibility that the driver mistakenly recognizes the traffic light displayed on the display device 130 as a traffic light in a real scene that is visually recognized through the front window. Further, the color after being changed by the display image generation unit 430 is a color that is inconspicuous in the display image data. Therefore, it is possible to avoid a situation in which attention is directed to the traffic light displayed on the display device 130 and the attention to the front is reduced. That is, it is possible to reduce the influence on the driving operation by the driver.

<Summary>
As is clear from the above description, the display control device 120 according to the present embodiment is
-The light emitting region of the traffic light is detected from the image data taken by the image pickup device 110 that takes a picture of the rear of the vehicle and inverted left and right.
-The color of the light emitting area of the detected traffic light is changed to generate display image data, which is displayed on the display device 130.

As a result, according to the display control device 120 in the present embodiment, even if the display image data displayed on the display device includes a traffic light, the influence on the driver can be reduced.

[Second Embodiment]
In the first embodiment, the traffic light detection unit 420 detects the light emitting region of the traffic light by performing matching processing with the traffic light pattern image with a predetermined range including the light emitting region as a determination target. However, the method of detecting the light emitting area of the traffic light is not limited to this, and for example, the navigation information indicating the current position of the own vehicle is acquired, and the map information around the own vehicle (map information indicating the installation position of the traffic light) is used. By contrasting, the light emitting region of the traffic light may be detected.

FIG. 9 is a diagram showing an example of the functional configuration of the display control device according to the second embodiment. The difference from the functional configuration shown in FIG. 4 is that it has a traffic light detection unit 910 and a map information DB 920. The traffic light detection unit 910 is connected to, for example, a navigation device, and acquires navigation information indicating the current position of the own vehicle. Further, the traffic light detection unit 910 determines whether or not the extracted light emitting region is the light emitting region of the traffic light by comparing the current position of the own vehicle with the map information around the own vehicle read from the map information DB 920. When the traffic light detection unit 910 determines that the traffic light is in the light emitting area of the traffic light, the traffic light detection unit 910 notifies the display image generation unit 430 of information indicating the light emitting area of the traffic light together with the image data. The traffic light detection unit 910 displays only the image data when the light emitting region is not extracted or when it is not determined to be the light emitting region of the traffic light (that is, when the light emitting region of the traffic light is not detected). Notify the image generation unit 430.

By detecting the light emitting region of the traffic light based on the current position of the own vehicle in this way, according to the traffic light detection unit 910, it is possible to reduce erroneous detection of the light emitting region of the traffic light.

[Third Embodiment]
In the first embodiment, it has been described that the traffic light detection unit 420 is always functioning while the display control program is being executed by the display control device 120. However, the traffic light detection unit 420 may be configured to determine, for example, whether or not to function according to vehicle information.

FIG. 10 is a diagram showing an example of the functional configuration of the display control device according to the third embodiment. The difference from the functional configuration shown in FIG. 4 is that it has a determination unit 1010. The determination unit 1010 acquires vehicle information from an in-vehicle network or the like, and determines whether or not to make the traffic light detection unit 420 function according to the acquired vehicle information. Further, when the determination unit 1010 determines that the traffic light detection unit 420 does not function, it notifies the control unit 440 of the image data, and when it determines that the traffic light detection unit 420 functions, the determination unit detects the image data. Notify department 420.

Examples of vehicle information used for determining whether or not to make the traffic light detection unit 420 function include information on the brightness of the surroundings of the vehicle. As a result, the determination unit 1010 does not function the traffic light detection unit 420 during daytime hours or sunny days, but functions the traffic light detection unit 420 during nighttime hours, cloudy weather, rainy days, and the like. Can be configured to allow. The information regarding the brightness of the vehicle may be, for example, information generated based on the reception signal of the illuminance sensor or information generated based on the ON or OFF signal of the headlight of the vehicle.

In this way, according to the display control device 120 in the present embodiment, the frequency of changing the image data can be suppressed by configuring the configuration to determine whether or not the traffic light detection unit 420 functions according to the vehicle information. ..

[Fourth Embodiment]
In the first to third embodiments, the camera monitoring system 100 in which the display device 130 is arranged at the position of the indoor rearview mirror and the display device 130 functions as an electronic mirror has been described. However, the configuration of the camera monitoring system is not limited to this. For example, a projection mirror is placed at the position of the indoor rearview mirror, and the display image data is projected onto the projection mirror via the projector so that the projection mirror functions as an electronic mirror. May be.

FIG. 11 is a diagram showing an example of the system configuration of the camera monitoring system according to the fourth embodiment. The difference from FIG. 7 of the camera monitoring system 1100 shown in FIG. 11A is that a projector (image projection device) 1110 is arranged as an output device instead of the display device 130. In the case of the camera monitoring system 1100, since the displayed image data is projected on the mirror for projection and optically flipped horizontally on the mirror for projection, it is not necessary to flip the captured image left and right on the image pickup apparatus 110. Therefore, the display image data transmitted from the display control device 120 to the projector 1110 is data in which the color of the light emitting region of the traffic light included in the image data in which the captured image is not horizontally inverted is changed.

FIG. 11B is a diagram showing the relationship between the projector 1110 and the mirror 1120 for projection. In the present embodiment, the projector 1110 is arranged on the ceiling portion in the vehicle. As shown in FIG. 11B, the display image data emitted from the projector 1110 arranged on the ceiling portion is projected onto the projection mirror 1120 arranged at the position of the indoor rearview mirror. As a result, the driver can visually recognize the displayed image data through the projection mirror 1120.

[Other Embodiments]
In the first to fourth embodiments, the case where the image data is generated by using the entire captured image captured by the image pickup apparatus 110 has been described, but the image data is generated by using a part of the captured image. It may be configured. In this case, the area used for the image data may be configured so that the driver can specify it, for example.

Further, in the first to fourth embodiments, the traffic light detection units 420 and 910 fix the upper region to be extracted as the extraction target, but the upper region to be extracted as the extraction target may be variable. For example, the upper region may be changed depending on whether the vehicle is traveling uphill, downhill, or on a flat road. Whether the vehicle is traveling uphill, downhill, or on a flat road is determined by, for example, information on the inclination of the vehicle from the in-vehicle network via the vehicle information. It can be determined by acquiring it.

Further, in the first, third, and fourth embodiments, the traffic light detection units 420 and 910 perform matching processing with the traffic light pattern image in a predetermined range including the light emitting area as a determination target, and obtain the light emitting area of the traffic light. It was configured to detect. However, the determination target may be a light emitting region, and the light emitting region of the traffic light may be detected by performing matching processing with the light emitting region image.

Further, in the first to third embodiments, the image data in which the captured image is horizontally inverted is transmitted to the display control device 120 in the imaging device 110, but the process of horizontally inverting the captured image is display control. It may be configured to perform in device 120.

Further, in the first to third embodiments, the display device 130 has been described as being arranged at the position of the indoor rearview mirror. However, the configuration of the camera monitoring system is not limited to this, and for example, a display device having a movable half mirror attached to the front surface may be arranged at the position of the indoor rearview mirror. In this case, when the mode for displaying the display image data by the display device is turned on, the display of the display image data by the display device is started, and when it is turned off, the display of the display image data by the display device is finished. During this time, the driver confirms the rear of the vehicle by visually recognizing the display image data displayed via the display device.

On the other hand, when the mode for displaying the display image data is turned off, the mode in which the half mirror functions as an indoor rearview mirror is turned on, and the half mirror moves to a predetermined position. In this case, the driver confirms the rear of the vehicle through the half mirror.

Further, in the third embodiment, the case of determining whether or not to make the traffic light detection unit 420 function according to the acquired vehicle information has been described, but the traffic light detection unit 420 will be used according to the acquired vehicle information. The processing content of the traffic light detection process may be changed. Alternatively, the change method when the display image generation unit changes the color of the light emitting region of the traffic light may be changed.

Further, in the first to fourth embodiments, the camera monitoring systems 100 and 1100 have been described as substituting the indoor rearview mirror, but the out-of-vehicle body rearview mirror may be substituted.

The present invention is not limited to the configurations shown here, such as combinations with other elements in the configurations and the like described in the above embodiments. These points can be changed without departing from the spirit of the present invention, and can be appropriately determined according to the application form thereof.

100: Camera monitoring system 110: Imaging device 120: Display control device 130: Display device 410: Image data acquisition unit 420: Signal detection unit 430: Display image generation unit 440: Control unit 510: Signal pattern image information 520: Change method information 720: Image data 721: Upper region 722: Light emitting region 723: Predetermined range 910: Signal detection unit 1010: Determination unit 1100: Camera monitoring system 1110: Projector 1120: Mirror for projection

Claims (7)

A display control device connected to an image pickup device
An acquisition unit that acquires image data obtained by photographing the rear of the vehicle by the image pickup device from the image pickup device, and an acquisition unit.
A detection unit that detects the light emitting region of the traffic light from the image data,
A display image generator that generates display image data by changing the color of the detected light emitting area of the traffic light so that it is less noticeable than the surrounding colors.
A display control device including a control unit that controls the generated display image data to be visually recognized via an electronic mirror. The detection unit extracts a light emitting region having the emission color of the traffic light from the predetermined region of the image data, and performs matching processing on the predetermined range including the extracted light emitting region to obtain an object included in the predetermined range. The display according to claim 1, wherein when it is determined whether or not it is a traffic light and it is determined that it is a traffic light, the light emitting region having the light emitting color of the traffic light is detected as the light emitting region of the traffic light. Control device. The detection unit extracts a light emitting region having a traffic light emission color from a predetermined region of the image data, and based on the information indicating the position of the vehicle and the map information indicating the position of the traffic light at the time of extraction, the detection unit said. It is determined whether or not the extracted light emitting region is the light emitting region of the traffic light, and when it is determined that the light emitting region is the light emitting region of the traffic light, the light emitting region having the light emitting color of the traffic light is detected as the light emitting region of the traffic light. the display control device according to claim 1, wherein the. The display image generation unit changes the color of the light emitting region of the traffic light to a predetermined color, the process of changing the color saturation of the light emitting region of the traffic light, and the brightness of the color of the light emitting region of the traffic light. By executing either the process or the process of superimposing a predetermined image on the area including the light emitting area of the traffic light, the color of the light emitting area of the traffic light becomes less noticeable with respect to the surrounding colors. the display control device according to any one of claims 1 to 3, characterized in that to change. Further having a determination unit for determining whether or not to cause the detection unit to execute a process of detecting the light emitting region of the traffic light based on the acquired vehicle information.
Claims 1 to 4, wherein when the determination unit decides to execute the process of detecting the light emitting region of the traffic light, the detection unit detects the light emitting region of the traffic light from the image data. The display control device according to any one of the above items. It is a display control method of the display control device.
The acquisition process to acquire the image data obtained by photographing the rear of the vehicle,
A detection process for detecting the light emitting region of a traffic light from the image data,
A display image generation step of changing the detected color of the light emitting region of the traffic light so as to be less noticeable with respect to the surrounding colors and generating display image data.
A display control method comprising a control step of controlling the generated display image data so as to be visually recognized via an electronic mirror. An imaging device that captures the rear of the vehicle and
A camera monitoring system including a display control device that processes image data captured by the image pickup device.
The display control device is
An acquisition unit that acquires image data captured by the image pickup device from the image pickup device, and
A detection unit that detects the light emitting region of the traffic light from the image data,
A display image generator that generates display image data by changing the color of the detected light emitting area of the traffic light so that it is less noticeable than the surrounding colors.
A camera monitoring system including a control unit that controls the generated display image data to be visually recognized via an electronic mirror.

Images