JP6891460B2 - Vehicle display system and freeze detector - Google Patents

Description

The present invention relates to a vehicle display system and a freeze detection device.

Conventionally, there is known a vehicle display system that sequentially outputs a display image of a plurality of frames based on an image outside the vehicle taken by an in-vehicle camera to an in-vehicle display.

Patent Document 1 describes a technique for detecting such a freeze of an in-vehicle display system. Freeze refers to an event in which there is no change in the captured image output to the in-vehicle display even though the scene in the shooting range of the in-vehicle camera has changed. In the technique described in Patent Document 1, it is determined that a freeze has occurred when there is no change between images of a plurality of frames.

Japanese Unexamined Patent Publication No. 2008-193145

According to the inventor's examination, the process of determining whether or not there is a change between images of a plurality of frames is extremely burdensome.

In view of the above points, it is an object of the present invention to reduce the processing load of the process of detecting a freeze in a vehicle display system.

The invention according to claim 1 for achieving the above object sequentially outputs display images of a plurality of frames based on an image outside the vehicle taken by an in-vehicle camera (1, 2) to an in-vehicle display (5, 6). The first determination unit (S120) for determining whether or not the images in the first region of the main control units (31, 31a) and the display images of the plurality of frames sequentially output from the main control units have changed. , S220) and the case where the first determination unit determines that the image in the first region has not changed, and the display image of the plurality of frames is in the second region larger than the first region. Based on the second determination unit (S140, S240) that determines whether or not the image has changed, and the second determination unit that determines that the image in the second region has not changed, a predetermined value is determined. An abnormality handling unit (S150, S250) that performs abnormality handling processing is provided, and the first region in the display image of the plurality of frames is a pixel closest to the disappearance point in the display image of the plurality of frames and in the vertical direction. It is a display system for vehicles that includes pixels with the same position.
Further, the invention according to claim 3 outputs a plurality of frames of display images based on an image outside the vehicle taken by the vehicle-mounted camera (1, 2) to the vehicle-mounted display (5, 6) in order via a signal line. The first determination unit (S120, S120,) which determines whether or not the images in the first region of the main control unit (31 ) and the display images of the plurality of frames output in order from the main control unit have changed. S220) and the case where the first determination unit determines that the image in the first region has not changed are selected, and the image in the second region larger than the first region in the display image of the plurality of frames is selected. A second computer (32) having a second determination unit (S140, S240) for determining whether or not the image has changed, and being connected to the first computer by a predetermined communication line, and the above. The main control unit includes an abnormality response unit (S150, S250) that performs a predetermined abnormality response process based on the determination by the second determination unit that the image in the second region has not changed. An image in the first region is extracted from the display image of the plurality of frames and output to the second computer via the communication line so as to be used in the first determination unit, and the transmission band of the communication line is output. The width is narrower than the transmission bandwidth of the signal line, and the main control unit selects a case where the first determination unit determines that the image in the first region has not changed, and displays the plurality of frames. This is a vehicle display system that extracts an image in the second region from an image and outputs it to the second determination unit via the communication line.
Further, the invention according to claim 5 outputs a plurality of frames of display images based on an image outside the vehicle taken by the vehicle-mounted camera (1, 2) to the vehicle-mounted display (5, 6) in order via a signal line. It is determined whether or not the images in the first region of the main control unit (31 ) , which is the first computer, and the display images of the plurality of frames output in order from the main control unit are changed. A case where the first determination unit (S120, S220) and the first determination unit determines that the image in the first region has not changed is selected, and the display image of the plurality of frames is more than the first region. A second computer (S140, S240) having a second determination unit (S140, S240) for determining whether or not the image in the large second region has changed , and connected to the first computer by a predetermined communication line ( 32) and an abnormality response unit (S150, S250) that performs a predetermined abnormality response process based on the determination by the second determination unit that the image in the second region has not changed. The main control unit selects a case where the first determination unit determines that the image in the first region has not changed, and constitutes a plurality of images in the second region from the images of the plurality of frames. Individual partial images are extracted, and a time interval is set between the output period of one partial image and the output period of the next partial image so that the extracted plurality of partial images can be used in the second determination unit. This is a vehicle display system that outputs an image to the computer 2 via a predetermined communication line, and the transmission bandwidth of the communication line is narrower than the transmission bandwidth of the signal line.

The invention according to claim 6 is a main control unit (31) that sequentially outputs a display image of a plurality of frames based on an image outside the vehicle taken by the vehicle-mounted camera (1, 2) to the vehicle-mounted display (5, 6). 31a), which is a freeze detection device for detecting an abnormality, and determines whether or not an image in a first region of the display images of the plurality of frames sequentially output from the main control unit has changed. One determination unit (S120, S220) and the case where the first determination unit determines that the image in the first region has not changed are selected, and the display image of the plurality of frames is larger than the first region. The second determination unit (S140, S240) for determining whether or not the image in the second region has changed, and the second determination unit for determining that the image in the second region has not changed. Based on this, the first region in the display image of the plurality of frames is provided with an abnormality response unit (S150, S250) that performs a predetermined abnormality response process, and is closest to the disappearance point in the display image of the plurality of frames. It is a freeze detection device that includes a pixel having the same position in the vertical direction as the image.

In this way, the second determination unit that triggers the abnormality handling process selects and determines the case where it is determined that the image in the first region narrower than the second region has not changed. Therefore, the frequency with which the second determination unit makes a determination is reduced. Therefore, the load of the determination process for the abnormality response process is reduced accordingly. As a result, the processing load of the process of detecting the freeze is reduced.

The reference numerals in parentheses in the above and claims indicate the correspondence between the terms described in the claims and the concrete objects described in the embodiments described later and which are examples of the terms. is there.

It is a block diagram of the display system for a vehicle which concerns on 1st Embodiment. It is a flowchart of freeze detection processing executed by an additional microcomputer. It is a sequence diagram which shows the operation of the display system for a vehicle. It is a figure which shows the example of a small area. It is a block diagram of the display system for a vehicle which concerns on 2nd Embodiment. It is a flowchart of freeze detection processing executed by a sub-microcomputer. It is a sequence diagram which shows the operation of the display system for a vehicle. It is a sequence diagram which shows the operation of the display system for a vehicle. It is a figure which shows the partial image which constitutes a wide area image. It is a block diagram of the display system for a vehicle which concerns on 2nd Embodiment. It is a sequence diagram which shows the operation of the display system for a vehicle.

(First Embodiment)
Hereinafter, the first embodiment will be described. As shown in FIG. 1, the vehicle display system according to the present embodiment includes a right camera 1, a left camera 2, an electronic mirror ECU 3, an additional microcomputer 4, a right display 5, and a left display 6. This vehicle display system is an electronic mirror system for showing the driver a view of the side of the vehicle and the rear of the vehicle instead of the side mirror of the vehicle.

The right camera 1 and the left camera 2 are in-vehicle cameras that output video signals representing a scene within a shooting range outside the vehicle, respectively. Specifically, the right camera 1 is attached to the door on the right front side of the vehicle and outputs video signals representing images on the right side and the rear right side of the vehicle. Further, the left camera 2 is attached to the door on the left front side of the vehicle and outputs a video signal representing an image on the left side and the left rear side of the vehicle.

The electronic mirror ECU 3 is mounted on a vehicle and has a main microcomputer 31 and a sub microcomputer 32.

Video signals are input to the main microcomputer 31 from each of the right camera 1 and the left camera 2. The main microcomputer 31 has a CPU, RAM, ROM, and the like. The CPU executes the program recorded in the ROM, and when the program is executed, the RAM is used as a work area. When the CPU executes this program, the main microcomputer 31 executes the main control process.

In the main control process, the main microcomputer 31 repeatedly generates right-hand display images of a plurality of frames frame by frame based on the video signal input from the right camera 1, and outputs them to the additional microcomputer 4 in order. For example, the electronic mirror ECU 3 generates and outputs 60 frames of right-hand display images per second by performing predetermined image processing on the video signal input from the right camera 1.

Further, in the main control process, the main microcomputer 31 repeatedly generates left side display images of a plurality of frames frame by frame based on the video signal input from the left camera 2 and outputs them in order. For example, the electronic mirror ECU 3 generates and outputs 60 frames of left-hand display images per second by performing predetermined image processing on the video signal input from the left camera 2.

The image processing executed by the main microcomputer 31 includes, for example, distortion correction processing, trimming processing, viewpoint conversion processing, luminance adjustment processing, and object detection processing. In the object detection process, the main microcomputer 31 detects obstacles such as other vehicles and people by using a well-known image recognition technique, and generates a right-side display image and a left-side display image in which the detected obstacles are emphasized. In this embodiment, the main microcomputer 31 corresponds to the main control unit.

The sub-microcomputer 32 has a CPU, RAM, ROM, and the like. The CPU executes the program recorded in the ROM, and when the program is executed, the RAM is used as a work area. When the CPU executes this program, the sub-microcomputer 32 executes processing such as communication via CAN 7, failure diagnosis of the main microcomputer 31, and power management of the electronic mirror ECU 3. The processing load of these processes is lower than that of the main control process of the main microcomputer 31. Here, the processing load means the number of operations required per unit time. As described above, since the processing load of the main control processing of the main microcomputer 31 is high, the main microcomputer 31 is more likely to freeze than the sub microcomputer 32.

The sub-microcomputer 32 is connected to the main microcomputer 31 by a serial communication line. This serial communication line is mounted in the electron mirror ECU 3. The transmission band is narrower than the signal line that sends the video signal from the right camera 1 and the left camera 2 to the main microcomputer 31, and the transmission band is narrower than the signal line that sends the right-side display image and left-side display image from the main microcomputer 31 to the additional microcomputer 4. Is low.

The additional microcomputer 4 is a device for detecting the freeze of the main microcomputer 31. The right-side display image and the left-side display image output from the main microcomputer 31 are repeatedly input to the additional microcomputer 4 frame by frame.

The additional microcomputer 4 has a CPU, RAM, ROM, and the like. The CPU executes the program recorded in the ROM, and when the program is executed, the RAM is used as a work area. When the CPU executes this program, the additional microcomputer 4 executes the image transfer process and the freeze detection process.

In the image transfer process, the additional microcomputer 4 sequentially outputs the right-side display image input from the main microcomputer 31 to the right display 5, and sequentially outputs the left-side display image input from the main microcomputer 31 to the left display 6. As a result, the right display 5 repeatedly displays the right side display images of the plurality of frames one frame at a time in chronological order, and the left display 6 repeatedly displays the left side display images of the plurality of frames one frame at a time.

In the freeze detection process, the additional microcomputer 4 detects the freeze of the main microcomputer 31. Freeze is an event in which the captured image displayed on the right display 5 does not change at all even though the scene in the shooting range of the right camera 1 has changed, or the scene in the shooting range of the left camera 2 has changed. This refers to an event in which there is no change in the captured image displayed on the left display 6 despite the fact that the image is displayed. The details of the freeze detection process will be described later.

The right display 5 is an in-vehicle display arranged in front of and to the right of the driver's seat in the vehicle interior. The left display 6 is an in-vehicle display arranged in front of and to the left of the driver's seat in the vehicle interior. The right-side display image and the left-side display image displayed by the right display 5 and the left display 6 are visible to the driver sitting in the driver's seat.

The CAN 7 is an in-vehicle LAN for communicating with each other in various communication devices in the vehicle. In CAN7, information indicating the state of the vehicle battery, information on opening / closing the door, information on the presence / absence of the door lock, information on the operating state of the blinker, information on the shift position, information on the lighting state of the headlight, and the state of various systems Information (for example, error information, diagnostic information) and the like are transmitted from a device other than the electronic mirror ECU 3 in the vehicle.

Further, the mirror adjustment information is transmitted to the CAN 7 from the mirror adjustment switch. The mirror adjustment information includes cutout position information and dimming information. The cutout position information is information on the settings manually made by the occupant with respect to the mirror adjustment switch. The cutout position is information that determines which part of the images captured by the right camera 1 and the left camera 2 is used for display on the right display 5 and the left display 6.

The main microcomputer 31 acquires the information of the cutout position via the sub-microcomputer 32 in the above-mentioned trimming process, discards the part of the video signal other than the cutout position according to the acquired information, and uses only the remaining part. Generates a right-side display image and a left-side display image.

The dimming information is information related to the brightness setting manually performed by the occupant with respect to the mirror adjustment switch. Further, the main microcomputer 31 acquires dimming information via the sub-microcomputer 32 in the above-mentioned luminance adjusting process, and adjusts the luminance levels of the right side display image and the left side display image according to the acquired dimming information.

Hereinafter, the operation of the vehicle display system having the above configuration will be described with reference to FIGS. 2 and 3. The vehicle display system may be activated when the vehicle's main power source (eg, ignition) is on and stopped when it is off.

FIG. 2 is a flowchart of the freeze detection process executed by the additional microcomputer 4. FIG. 3 is a sequence diagram showing the operation of the vehicle display system. In FIG. 3, for the sake of simplicity, the operation of only one of the right camera 1 and the left camera 2 is shown, but the operation of the other camera is also the same. Further, in FIG. 3, for the sake of simplicity, the operation of only one of the right display 5 and the left display 6 corresponding to the above-mentioned camera is shown, but the operation of the other display is also the same. In the case of FIG. 3, the vehicle may be running or stopped.

The additional microcomputer 4 selects the time when the vehicle display system is operating and executes the above-mentioned image transfer process. Further, the additional microcomputer 4 may execute the freeze detection process at the time when the vehicle display system is operating. Alternatively, the additional microcomputer 4 may execute the freeze detection process when the vehicle is running and not execute the freeze detection process when the vehicle is stopped.

In the freeze detection process, the additional microcomputer 4 first waits in step S110 until a new video signal is input from the right camera 1 or the left camera 2. Hereinafter, the right camera 1 and the left camera 2 are simply referred to as cameras.

As shown in FIG. 3, when a new video signal is input from the camera in the main control process, the main microcomputer 31 displays the left side display image or the right side display image as described above based on the video signal in step T101. Generate. Hereinafter, the left side display image and the right side display image are simply referred to as display images, respectively. Then, the main microcomputer 31 outputs the generated display image to the additional microcomputer 4.

Then, the additional microcomputer 4 outputs the input display image to the right display 5 and the left display 6 corresponding to the camera (hereinafter, simply referred to as a display) in the image transfer process. As a result, the display displays the display image in step T401.

Further, the additional microcomputer 4 extracts pixels in a predetermined small area from the above-mentioned display image in step S110 of the freeze detection process. This small area corresponds to the first area. Here, the small area will be described with reference to FIG. The image shown in FIG. 4 is a display image output from the main microcomputer 31.

Each of the display images has a plurality of pixel sequences. These plurality of pixel sequences are arranged in the vertical direction (that is, the vertical direction). Each of the plurality of pixel rows includes a plurality of pixels arranged in a row in the left-right direction (that is, in the horizontal direction). For example, the display image is an image in which pixels are arranged in a matrix.

The display image data includes a plurality of pixel string data arranged one by one at the address of the storage area of the display image in the RAM. The plurality of pixel string data has a one-to-one correspondence with the above-mentioned plurality of pixel strings. One pixel string data is data representing a corresponding pixel string. The pixel string corresponding to a certain pixel string data and the pixel string corresponding to the pixel string data adjacent to the pixel string data at the address of the storage area are adjacent to each other in the vertical direction in the display image.

Each of the plurality of pixel string data includes a plurality of pixel data arranged one by one in order. The plurality of pixel data has a one-to-one correspondence with the pixels included in the corresponding pixel sequence. One pixel data is data representing the corresponding pixel. The pixel corresponding to a certain pixel data and the pixel corresponding to the pixel data and the pixel data adjacent to each other in the storage area are adjacent to each other in the left-right direction in the display image.

The area X surrounded by a horizontally elongated square frame in FIG. 4 is a small area. This small area includes only a part of consecutive pixels in a predetermined one pixel sequence among the plurality of pixel sequences described above. That is, all the pixels included in this small area are included as one continuous area in the one pixel sequence. Therefore, the image data in such a small area can be easily read from the storage area.

Then, the one pixel sequence includes the pixel closest to the vanishing point in the display image. The position of the vanishing point of the image indicated by the input video signal is determined in advance by the characteristics of the camera and the like. Then, the position information of the vanishing point of the image indicated by the video signals input from the right camera 1 and the left camera 2 is recorded in advance in the main microcomputer 31. Then, the main microcomputer 31 specifies the position of the vanishing point in the display image based on this position information, and determines a small area based on the position of the specified vanishing point.

More specifically, as shown in FIG. 4, the small area of the right-side display image is all of the one pixel sequence closest to the vanishing point on the right side of the right-most pixel in which the own vehicle is photographed. Contains only the pixels of. The small area of the left-side display image includes only all the pixels on the left side of the left-most pixel in which the own vehicle is photographed in the one pixel sequence closest to the vanishing point. The information on the pixels in which the own vehicle is photographed in the image indicated by the video signal is known in advance and is recorded in the main microcomputer 31. The main microcomputer 31 identifies the pixel in which the own vehicle is photographed in the display image based on the information of the pixel.

As described above, the small area in the display image of the plurality of frames includes the pixel closest to the vanishing point in the display image of the plurality of frames and the pixel having the same position in the vertical direction. The horizontal line passing through the vanishing point in the displayed image roughly corresponds to the horizontal line at the boundary between the sky and the ground. The vicinity of the horizon is a region in which the pixel value fluctuates more with the running of the vehicle than in the sky or the ground. Therefore, since the small area includes the pixel closest to the vanishing point and the pixel whose position in the vertical direction is the same, the addition is made to determine that the image in the small area has not changed. The microcomputer 4 is useless (that is, freeze occurs). The possibility of doing it (even though it is not) is reduced. As a result, the processing load of the process of detecting the freeze is further reduced.

Further, the additional microcomputer 4 uses the image in the small area (that is, the pixel group) extracted in step S110 this time and the image in the small area extracted in step S110 once or twice or more before this time in step S110. Compare with. It should be noted that what is compared here is the same small area of the display image sent to the same display among the right display 5 and the left display 6. The image in the small area extracted in step S110 one or two or more times before this time is a pixel group in the display image of the frame one or two or more times before the last acquired display image.

For this comparison, a method of comparing all the pixels in the small region bit by bit between the images to be compared may be adopted. Alternatively, a method of comparing hash values (for example, SHA, MD5, CRC) in a small region between images to be compared may be adopted.

Subsequently, in step S120, it is determined whether or not there is a difference in the images to be compared based on the comparison result of the immediately preceding step S110. If there is any difference, it is judged that there is a difference. If it is determined that there is a difference, the process returns to step S110, and if it is determined that there is no difference, the process proceeds to step S130.

In the case of FIG. 3, in step T301, the additional microcomputer 4 determines that there is a difference in the image of the small area by the processing of steps S110 and S120, and returns to step S110. As described above, when the vehicle display system is operating normally and the main microcomputer 31 is not frozen, the additional microcomputer 4 determines that there is a difference in the image of the small area.

In the example of FIG. 3, the main microcomputer 31 continues to acquire the video signal from the camera, generate a display image in step T103, and output the generated display image to the additional microcomputer 4. Then, the additional microcomputer 4 displays this display image on the display (see step T403), and determines in step T303 that there is a difference in the image of the small area.

After that, in the case of FIG. 3, the vehicle display system operates normally and the main microcomputer 31 does not freeze, but a state in which the image of the small area does not change by chance occurs. In this case, there is a change in the pixels other than the small area.

In that case, the main microcomputer 31 acquires a video signal from the camera, generates a display image in step T105, and outputs the generated display image to the additional microcomputer 4. Then, the additional microcomputer 4 displays this display image on the display (see step T405). However, the additional microcomputer 4 determines in step T305 that there is no difference in the image of the small area. Specifically, the additional microcomputer 4 determines in step S120 that there is no difference, and proceeds to step S130.

Subsequently, in step S130, the additional microcomputer 4 extracts pixels in a predetermined wide area from the display image finally generated. This wide area corresponds to the second area, includes the above-mentioned small area, and is larger than the small area. For example, the second region may be a rectangular region including all pixels of the display image. For example, the wide area may be a rectangular area containing four or more times as many pixels as the small area.

Further, the additional microcomputer 4 compares the image in the wide area extracted in step S130 this time with the image in the wide area extracted in step S110 one or two times or more before this time in step S130. It should be noted that what is compared here is the same wide area of the display image sent to the same display among the right display 5 and the left display 6. The image in the wide area extracted in step S110 one or two or more times before this time is a pixel group in the display image of the frame one or two or more times before the last acquired display image.

For this comparison, a method of comparing all the pixels in a wide area bit by bit between the images to be compared may be adopted. Alternatively, a method of comparing hash values in a wide area between images to be compared may be adopted.

Subsequently, in step S140, the additional microcomputer 4 determines whether or not there is a difference in the images to be compared based on the comparison result of the immediately preceding step S130. If there is any difference, it is judged that there is a difference. If it is determined that there is a difference, the process returns to step S110, and if it is determined that there is no difference, the process proceeds to step S150. In the case of FIG. 3, as described above, since there is a difference in the pixels in the wide area, it is determined that there is a difference in the pixels in the wide area as in step T306, and the process returns from step S130 to step S110.

In the example of FIG. 3, the main microcomputer 31 continues to acquire the video signal from the camera, generate a display image in step T107, and output the generated display image to the additional microcomputer 4. Then, the additional microcomputer 4 displays this display image on the display (see step T407), and determines in step T307 that there is a difference in the image of the small area.

After that, in the case of FIG. 3, the main microcomputer 31 freezes. In this case, although there is actually a change in the side view and the rear view of the vehicle, there is no change in either the right side display image or the left side display image output from the main microcomputer 31.

This is because, in the main control process of the main microcomputer 31, an abnormality (for example, an infinite loop) occurs in either the processing portion for generating the right side display image or the processing part for generating the left side display image. This is because it is one aspect of the freeze of 31. In this case, the display image corresponding to either one of them does not change in the storage area of the display image in the RAM. In the main control process, the data stored in the storage area of the display image in the RAM is output to the right display 5 and the left display 6 via the additional microcomputer 4. Therefore, when the data does not change, the main microcomputer 31 The display image output from is not changed.

In that case, the main microcomputer 31 acquires a video signal from the camera, generates a display image in step T109, and outputs the generated display image to the additional microcomputer 4. Then, the additional microcomputer 4 displays this display image on the display (see step T409).

However, the additional microcomputer 4 determines in step T309 that there is no difference in the image of the small area. Specifically, the additional microcomputer 4 determines in step S120 that there is no difference, and proceeds to step S130.

Further, the additional microcomputer 4 determines in step T311 that there is no difference in the wide area image. Specifically, the additional microcomputer 4 determines in step S140 that there is no difference, and proceeds to step S150.

In step S150, the additional microcomputer 4 performs freeze-corresponding processing. Specifically, as shown in step T313, a signal indicating that a freeze has been detected is output to the sub-microcomputer 32.

Upon receiving this signal, the sub-microcomputer 32 resets the main microcomputer 31 in step T201. As a result, the main microcomputer 31 is reset and restarted. As a result, in the main microcomputer 31, the main control process is temporarily completed, the reset is executed, and the main control process is restarted after the reset. As a result, the freeze of the main microcomputer 31 may be eliminated.

When the main microcomputer 31 is reset, the captured image is temporarily not displayed on the right display 5 and the left display 6 until the main control process is once completed and then restarted.

When the sub-microcomputer 32 receives the signal indicating that the freeze has been detected, the sub-microcomputer 32 may inquire the driver whether or not the reset is possible by voice or image. In this case, the reset is performed when the driver operates the reset permission, and the reset is not performed when the driver refuses the reset. By doing so, the driver can appropriately select the reset time of the main microcomputer 31 according to the situation.

By resetting, it is desirable that the abnormality of the processing portion having an abnormality among the processing portion for generating the right side display image and the processing portion for generating the left side display image is eliminated, and the processing portion without the abnormality becomes normal. However, this is not always the case, and the possibility that an abnormality will occur in the processing part where there was no abnormality due to the reset is not zero. Therefore, the effect that the driver can appropriately select the reset timing of the main microcomputer 31 according to the situation contributes to the improvement of the safety of the vehicle.

Whether or not the inquiry is made, the sub-microcomputer 32 may notify the driver of the occurrence of the freeze by voice or image.

Subsequently, in step T203, the sub-microcomputer 32 transmits a freeze notification indicating that the main microcomputer 31 has been frozen to another in-vehicle device on the CAN 7. As a result, these in-vehicle devices can perform processing corresponding to the abnormality of the vehicle display system.

As described above, the main microcomputer 31 sequentially outputs the display images of a plurality of frames based on the image outside the vehicle taken by the camera to the display. Further, the additional microcomputer 4 determines whether or not the image in the small area has changed in the display images of the plurality of frames sequentially output from the main microcomputer 31. Further, the additional microcomputer 4 selects a case where it is determined that the image in the small area has not changed, and determines whether or not the image in the wide area has changed in the display image of a plurality of frames. Then, the additional microcomputer 4 performs a predetermined abnormality handling process based on the determination that the image in the second region has not changed.

In this way, the additional microcomputer 4 selects the case where it is determined that the image in the small area narrower than the wide area has not changed in the determination (that is, the determination in step S140) that directly triggers the abnormality handling process. So, do it. Therefore, the frequency with which the determination that directly triggers the abnormality handling process is performed is reduced. Therefore, the load of the determination process for the abnormality response process is reduced accordingly. As a result, the processing load of the process of detecting the freeze is reduced.

In the present embodiment, the additional microcomputer 4 functions as a first determination unit by executing step S120, functions as a second determination unit by executing step S140, and is abnormal by executing step S150. Functions as a corresponding part. Further, in the present embodiment, the additional microcomputer 4 corresponds to the freeze detection device.

(Second Embodiment)
Next, the second embodiment will be described. In the vehicle display system of the first embodiment, the additional microcomputer 4 performs the freeze detection process, whereas in the vehicle display system of the present embodiment, the sub-microcomputer 32 performs the freeze detection process.

In the vehicle display system of the present embodiment, as shown in FIG. 5, the additional microcomputer 4 is abolished with respect to the vehicle display system of the first embodiment. The right-side display image and the left-side display image output from the main microcomputer 31 of the present embodiment are directly output to the right display 5 and the left display 6, respectively. Other hardware configurations of the vehicle display system are the same as those in the first embodiment.

Here, the communication line between the main microcomputer 31 and the sub-microcomputer 32 will be described. The communication line between the main microcomputer 31 and the sub-microcomputer 32 is a serial communication line. The transmission bandwidth of this serial communication line is that of the signal line that outputs the left display image from the main microcomputer 31 to the left display 6 than the transmission bandwidth of the signal line that outputs the right display image from the main microcomputer 31 to the right display 5. Much narrower than the transmission bandwidth. Therefore, the amount of data transmitted per unit time via the serial communication line is much smaller than the amount of data of the display image transmitted from the main microcomputer 31 to the display, for example, 1/50 or less.

The main microcomputer 31 of the present embodiment performs the same main control processing as that of the first embodiment, and also executes the freeze detection image transmission processing in parallel with the main control processing. In the freeze detection image transmission process, the main microcomputer 31 repeatedly and periodically extracts a small area image of the right side display image and a small area image of the left side display image from the storage area of the display image in the RAM. .. The extraction is performed every time the main microcomputer 31 generates a new display image and records it in the storage area of the display image in the RAM. Then, the main microcomputer 31 sequentially outputs the extracted images to the sub-microcomputer 32 via the serial communication line.

Further, in the freeze detection image transmission process, the main microcomputer 31 outputs a wide area image to the sub microcomputer 32 based on the request for the wide area image from the sub microcomputer 32.

Similar to the first embodiment, the sub-microcomputer 32 executes processing such as failure diagnosis of the main microcomputer 31 and power management of the electronic mirror ECU 3. In addition, the CPU of the sub-microcomputer 32 executes a predetermined program, so that the sub-microcomputer 32 also performs freeze detection processing.

FIG. 6 is a flowchart of this freeze detection process. 7 and 8 are sequence diagrams showing the operation of the vehicle display system according to the present embodiment. In FIGS. 7 and 8, for the sake of simplicity, the operation of only one of the right camera 1 and the left camera 2 is shown, but the operation of the other camera is also the same. Further, in FIG. 7, for the sake of simplicity, the operation of only one of the right display 5 and the left display 6 corresponding to the above-mentioned camera is shown, but the operation of the other display is also the same. In the cases of FIGS. 7 and 8, the vehicle may be running or stopped.

In the case of FIG. 7, the vehicle display system operates normally and the main microcomputer 31 does not freeze, but a state in which the image of the small area does not change by chance occurs. In the case of FIG. 8, the main microcomputer 31 freezes.

In the freeze detection process, the sub-microcomputer 32 first waits in step S210 until an image of a small area is input from the right camera 1 or the left camera 2. Hereinafter, the right camera 1 and the left camera 2 are both simply referred to as cameras.

First, the case of FIG. 7 will be described. As shown in FIG. 7, when a new video signal is input from the camera in the main control process, the main microcomputer 31 displays the left side display image or the right side display image as described above based on the video signal in step T111. Generate. Hereinafter, both the left side display image and the right side display image are simply referred to as display images. Then, the generated display image is newly overwritten and recorded in the storage area of the display image in the RAM.

Then, the main microcomputer 31 outputs the display image recorded in the storage area to the corresponding one of the right display 5 and the left display 6 (hereinafter, simply referred to as a display). As a result, the display displays the display image in step T411.

Further, when a new display image is recorded in the storage area in the freeze detection image transmission process, the main microcomputer 31 displays a small area image of the display image via a serial communication line in step T112. Output to the sub-microcomputer 32.

Further, when the sub-microcomputer 32 acquires an image of a small area from the main microcomputer 31, the image acquired this time in step S210 and the image in the small area extracted in step S110 one or two times or more before this time. Compare with. It should be noted that what is compared here is a display image sent to the same display among the right display 5 and the left display 6. The image in the small area acquired one or two or more times before this time is a group of pixels in the display image of the frame one or two or more times before the last acquired display image.

Subsequently, in step S220, it is determined whether or not there is a difference in the images to be compared based on the comparison result of the immediately preceding step S210. If there is any difference, it is judged that there is a difference. If it is determined that there is a difference, the process returns to step S210, and if it is determined that there is no difference, the process proceeds to step S225.

In the case of FIG. 7, in step T212, the sub-microcomputer 32 determines that there is a difference in the image of the small area by the processing of steps S210 and S220, and returns to step S210. In this way, when the vehicle display system is operating normally and the main microcomputer 31 is not frozen, the sub-microcomputer 32 determines that there is a difference in the image of the small area.

After that, in the case of FIG. 7, the vehicle display system operates normally and the main microcomputer 31 does not freeze, but a state in which the image of the small area does not change by chance occurs. In this case, there is a change in the pixels other than the small area.

In that case, the main microcomputer 31 acquires a video signal from the camera, generates a display image in step T113, and displays the generated display image on the display (see step T413).

Further, the main microcomputer 31 outputs a small area image to the sub-microcomputer 32 in step T114. Then, the sub-microcomputer 32 determines in step T214 that there is no difference in the image of the small area. Specifically, the sub-microcomputer 32 determines in step S220 that there is no difference, and proceeds to step S225.

Subsequently, in step S225, the sub-microcomputer 32 outputs a signal requesting a wide area image to the main microcomputer 31 via the serial communication line. This operation corresponds to the operation of step T215 in FIG. 7.

In the freeze detection image transmission process, the main microcomputer 31 receives two wide-area images via the serial communication line in step T115 based on the reception of this signal requesting a wide-area image. Start sending minutes.

Here, a procedure for transmitting a wide-area image from the main microcomputer 31 to the sub-microcomputer 32 will be described with reference to FIG. As mentioned above, since the transmission bandwidth of the serial communication line is narrow, it takes a very long time to transmit all a large amount of data such as a wide area image.

For example, 60 frames of display images are transmitted from the main microcomputer 31 to each of the right display 5 and the left display 6 per second, whereas one frame is transmitted from the main microcomputer 31 to the sub-microcomputer 32. It takes 0.5 seconds or more to send a display image of a wide area.

When a wide-area display image is transmitted via a serial communication line having a narrow transmission bandwidth in this way, there is a possibility that the transmission buffer may overflow and the bandwidth may be continuously occupied for a long time.

When the main microcomputer 31 is provided with a buffer memory for temporarily holding the data output from the main microcomputer 31 for the serial communication line in order to compensate for the narrow transmission band of the serial communication line, the transmission buffer overflows. Can occur. If the amount of data output from the main microcomputer 31 is too large, the difference between the amount of data output from the main microcomputer 31 and the amount of data already output to the serial communication line exceeds the capacity of the buffer memory. In addition, the buffer overflows and the transmission data is lost.

Long-term continuous occupancy of a band means that the serial communication line is continuously occupied for a long time only for transmitting a wide area image. When the band is continuously occupied for a long time, other communication (for example, transmission / reception of other diagnostic information, transmission / reception of a signal for power supply control) via the serial communication line of the main microcomputer 31 and the sub microcomputer 32 can be performed for a long time. It will disappear.

Therefore, as shown in FIG. 9, the main microcomputer 31 divides the image in the wide area Z of the storage area of the display image in the RAM into a plurality of partial images Y. These plurality of partial images constitute an image in the wide area Z. In the example of FIG. 9, the image in the wide area Z is divided into 8 × 8 = 64 partial images.

Then, the main microcomputer 31 extracts these plurality of partial images one by one from the storage area at time intervals, and outputs them to the sub-microcomputer 32 via the serial communication line.

That is, the main microcomputer 31 selects a case where it is determined that the image in the small area has not changed, and extracts a plurality of partial images constituting the image in the wide area from the images of the plurality of frames. Then, the extracted plurality of partial images are output to the sub-microcomputer 32 with a time interval between the output period of one partial image and the output period of the next partial image.

By outputting the extracted plurality of partial images to the sub-microcomputer 32 with a time interval between the output period of one partial image and the output period of the next partial image, the time interval is set. In, the other communication described above can be performed. Therefore, long-term continuous occupancy of the band is reduced. Also, the possibility of overflowing the transmission buffer is reduced.

As described above, it takes a long time to transmit a wide area image via the serial communication line. Therefore, the display image in the storage area may be updated while the partial images are extracted one by one and transmitted. Therefore, when all the partial images constituting the wide area are transmitted from the main microcomputer 31 to the sub-microcomputer 32, the partial images do not always belong to the same one frame, and in many cases, they are divided into a plurality of different frames. Belongs.

However, even if this is the case, there is no problem in detecting the freeze of the main microcomputer 31. For example, if a freeze occurs in the processing portion that generates the right-side display image during the main control process, the right-side display image of the storage area does not change for a long time. The same applies when a freeze occurs in the processing portion that generates the left-side display image.

Further, as described above, the display image in the storage area may change during transmission because the captured image in a wide area is transmitted in small pieces as a plurality of partial images, but this causes two frames. If the wide area image changes, no freeze has occurred. Therefore, even in this case, it is sufficient to deal with the case where there is no freeze.

Specifically, in the freeze detection image transmission process, the main microcomputer 31 first serializes the first partial image of the first wide-area image of the two wide-area images in step T115. It is transmitted to the sub-microcomputer 32 via the communication line.

Next, in the freeze detection image transmission process, the main microcomputer 31 performs the second portion of the first wide-area image in step T118 after a predetermined time interval from the completion of the output period of the previous partial image. The image is transmitted to the sub-microcomputer 32 via the serial communication line.

After that, in the freeze detection image transmission process, the main microcomputer 31 displays the next partial image of the first wide-area image after a predetermined time interval from the completion of the output period of the previous partial image as described above. The process of transmitting to the sub-microcomputer 32 via the serial communication line is repeated. As a result, all partial images of the first wide-area image are transmitted to the sub-microcomputer 32.

After that, in the freeze detection image transmission process, the main microcomputer 31 performs the first partial image of the second wide area image after a predetermined time interval from the completion of the output period of the last partial image of the first wide area. Is transmitted to the sub-microcomputer 32 via the serial communication line.

After that, in the freeze detection image transmission process, the main microcomputer 31 transfers the next partial image of the second wide-area image to the serial communication line after a predetermined time interval from the completion of the output period of the previous partial image. The process of transmitting to the sub-microcomputer 32 via the above is repeated.

At the end of this repetition, in the freeze detection image transmission process, the main microcomputer 31 performs the last portion of the second wide area image in step T120 after a predetermined time interval from the completion of the output period of the previous partial image. The image is transmitted to the sub-microcomputer 32 via the serial communication line.

In this way, while a plurality of partial images are intermittently transmitted with a predetermined time interval between the output period of one partial image and the output period of the next partial image, the interval between the transmissions is performed. In time, the other communications described above take place over the serial communication line.

Further, even while a plurality of partial images are intermittently transmitted at predetermined time intervals, the main microcomputer 31 generates a display image every time a video signal is acquired from the camera in the main control process. (See steps T116, T119, T416, T419).

When the sub-microcomputer 32 receives all the partial images of the two wide-area images, the process proceeds from step S225 to step S230, and the two received wide-area images are compared with each other.

Subsequently, in step S240, the sub-microcomputer 32 determines whether or not there is a difference in the images to be compared based on the comparison result of the immediately preceding step S230. If there is any difference, it is judged that there is a difference. If it is determined that there is a difference, the process returns to step S210, and if it is determined that there is no difference, the process proceeds to step S250. In the case of FIG. 7, as described above, there is a difference in the pixels in the wide area just because the image in the small area does not change by chance. Therefore, it is determined that there is a difference in the pixels in the wide area as in step T220. , Return to step S210 from step S240.

In the case of FIG. 7, the main microcomputer 31 continues to acquire the video signal from the camera, generate a display image in step T121, and display the generated display image on the display (see step T421). At the same time, the main microcomputer 31 outputs a small range of images to the sub-microcomputer 32 in step T122. Then, in step S220, the sub-microcomputer 32 determines that there is no difference in the pixels in the small area (see step T222).

Next, the case of FIG. 8 will be described. During the operation of FIGS. 7 and 8, the same reference numerals are given to the operations having the same contents, and the description thereof will be omitted. In the operation of FIG. 8, the operation of the main microcomputer 31 from steps T111 to T120, the operation of the sub-microcomputer 32 from steps T212 to T215, and the operation of the display are the same as those of FIG.

However, the event that occurs immediately before step T113 is not an event in which the small region does not change by chance in a normal state, but an event in which the main microcomputer 31 freezes.

In that case, when the sub-microcomputer 32 receives all the partial images of the two wide-area images, the process proceeds from step S225 to step S230, and the two received wide-area images are compared with each other.

Subsequently, in step S240, the sub-microcomputer 32 determines whether or not there is a difference in the images to be compared based on the comparison result of the immediately preceding step S230. In the case of FIG. 8, as described above, since the freeze has occurred, the display image of the storage area (that is, the right side display image or the left side display image) is not updated. Therefore, in step S240, the sub-microcomputer 32 determines that there is no difference in the pixels in the wide area as in step T224, and proceeds from step S240 to step S250.

In step S250, the sub-microcomputer 32 performs freeze-corresponding processing. Specifically, as shown in step T226, the main microcomputer 31 is reset. As a result, the main microcomputer 31 is reset and restarted. As a result, in the main microcomputer 31, the main control process is temporarily completed, the reset is executed, and the main control process is restarted after the reset. As a result, the freeze of the main microcomputer 31 may be eliminated.

In step S250, the sub-microcomputer 32 may ask the driver whether or not the reset is possible by voice or image. In this case, the reset is performed when the driver operates the reset permission, and the reset is not performed when the driver refuses the reset. By doing so, the driver can appropriately select the reset time of the main microcomputer 31 according to the situation.

Subsequently, in step T228, the sub-microcomputer 32 transmits a freeze notification indicating that the main microcomputer 31 has been frozen to another in-vehicle device on the CAN 7. As a result, these in-vehicle devices can perform processing corresponding to the abnormality of the vehicle display system.

By doing so, the sub-microcomputer 32 of the present embodiment can realize the same function as the additional microcomputer 4 of the first embodiment.

Further, the main microcomputer 31 extracts an image in a small area from the display images of a plurality of frames and outputs the image to the sub-microcomputer 32 via a predetermined serial communication line. Then, the main microcomputer 31 selects the case where the sub-microcomputer 32 determines that the image in the small area has not changed, extracts the image in the wide area from the display images of the plurality of frames, and uses the serial communication line. Output to the sub-microcomputer 32. By doing so, the frequency of transmitting images in a wide area can be reduced, so that the bandwidth of the serial communication line can be saved.

In the present embodiment, the sub-microcomputer 32 functions as a first determination unit by executing step S220, functions as a second determination unit by executing step S240, and is abnormal by executing step S250. Functions as a corresponding part. Further, in the present embodiment, the main microcomputer 31 corresponds to the main control unit, and the sub-microcomputer 32 corresponds to the freeze detection device.

(Third Embodiment)
Next, the third embodiment will be described. In the vehicle display system of the first embodiment, the additional microcomputer 4 performs the freeze detection process, whereas in the vehicle display system of the present embodiment, the main microcomputer 31 performs the freeze detection process.

Of the main microcomputer 31, the main control process may freeze even if the freeze detection process is not frozen. In such a case, freeze detection is possible even if the main microcomputer 31 is executing the freeze detection process.

The hardware configuration of this embodiment is the same as that of the second embodiment. As shown in FIG. 10, the main microcomputer 31 of the present embodiment has a main control unit 31a and a freeze detection unit 31b. The main control unit 31a executes the main control process, and the freeze detection unit 31b executes the freeze detection process. The processing content of the main control processing is the same as that of the first embodiment. The processing content of the freeze detection process is also the same as that of the first embodiment.

However, the method of acquiring the image of a small area and the image of a wide area in the freeze detection process is different from that of the first embodiment. Specifically, in the present embodiment, the freeze detection unit 31b obtains a small area image and a wide area image from the display image storage area in the RAM of the main microcomputer 31 in steps S110 and S130 of FIG. get.

Further, in the freeze handling process (step S150 in FIG. 2) during the freeze detection process, the freeze detection unit 31b not only notifies the sub-microcomputer 32 of the freeze detection, but also resets the main microcomputer 31.

FIG. 11 shows the operation of the vehicle display system according to the present embodiment. The processes with the same reference numerals in FIGS. 11 and 3 indicate the same processing contents. As shown in this figure, in the present embodiment, the freeze detection unit 31b performs what the additional microcomputer 4 has done in the first embodiment, thereby realizing the same functions as those in the first embodiment.

By doing so, the freeze detection unit 31b of the present embodiment can realize the same function as the additional microcomputer 4 of the first embodiment.

In the present embodiment, the freeze detection unit 31b functions as a first determination unit by executing step S120, functions as a second determination unit by executing step S140, and executes step S150. Functions as an abnormality response unit. Further, in the present embodiment, the main microcomputer 31 corresponds to the freeze detection device. Alternatively, the freeze detection unit 31b corresponds to the freeze detection device.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and can be changed as appropriate. Further, the above-described embodiments are not unrelated to each other, and can be appropriately combined unless the combination is clearly impossible. Further, in each of the above embodiments, the elements constituting the embodiment are not necessarily essential except when it is clearly stated that they are essential and when it is clearly considered to be essential in principle. Further, in each of the above embodiments, when numerical values such as the number, numerical values, amounts, and ranges of the constituent elements of the embodiment are mentioned, when it is clearly stated that they are particularly essential, and in principle, the number is clearly limited to a specific number. It is not limited to the specific number except when it is done. In particular, when a plurality of values are exemplified for a certain quantity, it is also possible to adopt a value between the plurality of values unless otherwise specified or when it is clearly impossible in principle. .. Further, in each of the above embodiments, when referring to the shape, positional relationship, etc. of a component or the like, the shape, unless otherwise specified or limited in principle to a specific shape, positional relationship, etc. It is not limited to the positional relationship. Further, the present invention also allows the following modifications and equivalent range modifications for each of the above embodiments. In addition, the following modified examples can be independently selected to be applied or not applied to the above-described embodiment. That is, any combination of the following modifications can be applied to the above embodiment.

(Modification example 1)
In each of the above embodiments, the comparison and determination of the images of the small area in the freeze detection process are performed every time one frame of the display image is generated. However, this does not necessarily have to be the case. For example, the comparison and determination of images in a small area in the freeze detection process may be performed each time a plurality of frames of display images are generated.

(Modification 2)
In each of the above embodiments, the image of the small region is limited to a part of the pixel group in one pixel sequence including the pixel closest to the vanishing point. However, the image of the small area may be other than such an image. For example, an image in a small region may be composed of a part of a pixel group in one pixel array including the pixel closest to the vanishing point, and an image group in the other pixel array. That is, the image of a small area may include a pixel group extending over a plurality of pixel sequences.

(Modification example 3)
In the above embodiment, in the comparison of the display images of the small area (steps S120 and S220) and the comparison of the display images of the wide area (steps S130 and S230), the comparison is performed using the display images for two frames. .. However, the comparison may be performed using display images of 3 frames or more.

1 Right camera 2 Left camera 4 Additional microcomputer 5 Right display 6 Left display 31 Main microcomputer 31a Main control unit 32 Sub microcomputer

Claims (6)

A main control unit (31, 31a) that sequentially outputs display images of a plurality of frames based on an image outside the vehicle taken by the vehicle-mounted camera (1, 2) to the vehicle-mounted display (5, 6).
The first determination unit (S120, S220) for determining whether or not the image in the first region of the display images of the plurality of frames sequentially output from the main control unit has changed.
When the first determination unit determines that the image in the first region has not changed, the image in the second region larger than the first region in the display image of the plurality of frames changes. The second determination unit (S140, S240) for determining whether or not the image is present, and
An abnormality handling unit (S150, S250) that performs a predetermined abnormality handling process based on the determination by the second determination unit that the image in the second region has not changed is provided.
The first region in the display image of the plurality of frames includes a pixel closest to a vanishing point in the display image of the plurality of frames and a pixel having the same vertical position. The main control unit is a first computer.
The main control unit sequentially outputs the display images of the plurality of frames based on the image of the outside of the vehicle taken by the vehicle-mounted camera to the vehicle-mounted display via the signal line.
The first determination unit and the second determination unit are provided in a second computer (32) connected to the first computer by a predetermined communication line.
The transmission bandwidth of the communication line is narrower than the transmission bandwidth of the signal line.
The main control unit extracts an image in the first region from the display image of the plurality of frames and outputs the image in the first region to the second computer via the communication line so as to be used in the first determination unit. ,
The main control unit, to select the case where the image is not changed with the first determination unit of the first region is determined, by extracting an image of said second region from the display image of said plurality of frames The vehicle display system according to claim 1, wherein the display system for a vehicle is output to the second computer via the communication line so as to be used in the second determination unit. The main control unit (3 ), which is the first computer, sequentially outputs the display images of a plurality of frames based on the images taken by the in-vehicle cameras (1, 2) to the in-vehicle display (5, 6) via the signal lines. 1) and
The first determination unit (S120, S220) for determining whether or not the image in the first region of the display images of the plurality of frames sequentially output from the main control unit has changed, and the inside of the first region. Select the case where the first determination unit determines that the image of is not changed, and determines whether or not the image in the second region larger than the first region is changed in the display image of the plurality of frames. A second computer (32) having a second determination unit (S140, S240) and connected to the first computer by a predetermined communication line.
An abnormality handling unit (S150, S250) that performs a predetermined abnormality handling process based on the determination by the second determination unit that the image in the second region has not changed is provided.
The main control unit extracts an image in the first region from the display image of the plurality of frames and outputs the image to the second computer via the communication line so as to be used in the first determination unit .
The transmission bandwidth of the communication line is narrower than the transmission bandwidth of the signal line.
The main control unit, to select the case where the image is not changed with the first determination unit of the first region is determined, by extracting an image of said second region from the display image of said plurality of frames , A vehicle display system that outputs to the computer of the second via the communication line so as to be used in the second determination unit. The main control unit selects a case where the first determination unit determines that the image in the first region has not changed, and constitutes a plurality of images in the second region from the images of the plurality of frames. The individual partial images are extracted, and the extracted plurality of partial images are output to the second determination unit with a time interval between the output period of one partial image and the output period of the next partial image. The vehicle display system according to any one of claims 1 to 3. The main control unit is a first computer you output to the vehicle-mounted display (5,6) in sequence via signal lines display images of a plurality of frames based on the image of the outside taken by the onboard camera (1, 2) ( 3 1) and
The first determination unit (S120, S220) for determining whether or not the image in the first region of the display images of the plurality of frames sequentially output from the main control unit has changed.
When the first determination unit determines that the image in the first region has not changed, the image in the second region larger than the first region in the display image of the plurality of frames changes. A second computer (32) having a second determination unit (S140, S240) for determining whether or not the image is present and connected to the first computer by a predetermined communication line.
An abnormality handling unit (S150, S250) that performs a predetermined abnormality handling process based on the determination by the second determination unit that the image in the second region has not changed is provided.
The main control unit selects a case where the first determination unit determines that the image in the first region has not changed, and constitutes a plurality of images in the second region from the images of the plurality of frames. Individual partial images are extracted, and a time interval is set between the output period of one partial image and the output period of the next partial image so that the extracted plurality of partial images can be used in the second determination unit. Te, and outputs it to the second computer via said communication line,
A vehicle display system in which the transmission bandwidth of the communication line is narrower than the transmission bandwidth of the signal line. A freeze detection device that detects an abnormality in the main control unit (31, 31a) that sequentially outputs a display image of a plurality of frames based on an image outside the vehicle taken by the vehicle-mounted camera (1, 2) to the vehicle-mounted display (5, 6). And
The first determination unit (S120, S220) for determining whether or not the image in the first region of the display images of the plurality of frames sequentially output from the main control unit has changed.
When the first determination unit determines that the image in the first region has not changed, the image in the second region larger than the first region in the display image of the plurality of frames changes. The second determination unit (S140, S240) for determining whether or not the image is present, and
An abnormality handling unit (S150, S250) that performs a predetermined abnormality handling process based on the determination by the second determination unit that the image in the second region has not changed is provided.
The freeze detection device includes the pixel closest to the vanishing point in the display image of the plurality of frames and the pixel having the same position in the vertical direction in the first region of the display image of the plurality of frames.

Images