JP6977745B2 - Vehicle peripheral visibility device - Google Patents

Description

The present invention relates to a vehicle peripheral visual recognition device for visually recognizing the vehicle peripheral area by displaying an image of the vehicle peripheral area captured by the image pickup device on a display device.

This type of vehicle peripheral visual recognition device has been conventionally used (for example, Patent Document 1). In the conventional vehicle peripheral viewing device, a CCD having a large image pickup area is provided, and the use image pickup area of the CCD is shifted up, down, left, and right by the CCD control unit to widen the image pickup field of view.

Japanese Unexamined Patent Publication No. 2005-20377

However, in the conventional vehicle peripheral visual recognition device, even if a CCD having a large image pickup area is provided, the image pickup area used by the CCD is constant. For this reason, in the conventional vehicle peripheral viewing device, the angle of view (viewing angle) of the image displayed on the display of the car navigation system is constant even if the imaging field of view is widened.

An object to be solved by the present invention is to provide a vehicle peripheral visual recognition device capable of changing the angle of view (viewing angle) of an image displayed on a display device based on vehicle information.

The present invention has an image pickup device that images the surroundings of a vehicle, a detection device that detects vehicle information, and a cut-out angle of view that is set based on vehicle information from the detection device for an image of the surroundings of the vehicle that is captured by the image pickup device. The image processing device includes an image processing device that cuts out and changes the cut-out angle of view according to a change in vehicle information, and a display device that displays an image cut out by the image processing device, and the image processing device changes the cut-out angle of view. It is characterized by having a range in the transition time to be made.

The present invention is characterized in that the image processing apparatus makes the transition time for changing the cut-out angle of view from narrow angle to wide-angle shorter than the transition time for changing the cut-out angle of view from wide-angle to narrow-angle.

In the present invention, the image pickup device is an image pickup device that images the rear and side of the vehicle, and the detection device is a detection device that detects ON (ON) and OFF (OFF) of the winker switch of the vehicle, and image processing. The device is an image processing device that makes the cut-out angle of view when the winker switch is ON and the cut-out angle of view when the winker switch is OFF wide, and the display device is a winker by the image processing device. It is a display device that displays an image cut out at a cut-out angle of view when the switch is OFF and an image cut out at a cut-out angle of view when the winker switch is ON.

In the present invention, the image processing device has the same or almost the same as the outer frame of the image cut out at the cut-out angle of view when the winker switch is ON and the cut-out angle of view when the winker switch is OFF. It is characterized by having an overlapping portion in which light-transmitting outer frames of the same size are overlapped.

The vehicle peripheral viewing device of the present invention can change the angle of view (viewing angle) of the image displayed on the display device based on the vehicle information.

FIG. 1 shows an embodiment of a vehicle peripheral visual recognition device according to the present invention, and is an explanatory plan view of a usage state mounted on the vehicle. FIG. 2 is a functional block diagram showing the overall configuration. FIG. 3 is an explanatory diagram showing an imaging angle of view (imaging range) of an imaging device mounted on the right side of the vehicle. FIG. 4 is an explanatory diagram showing a display screen of the display device. FIG. 5 is an explanatory diagram showing an image of an initial cut-out angle of view (minimum cut-out angle of view) displayed on the display screen of the display device. FIG. 6 is an explanatory diagram showing an image of an intermediate cut-out angle of view displayed on the display screen of the display device. FIG. 7 is an explanatory diagram showing an image of the maximum cut-out angle of view displayed on the display screen of the display device. FIG. 8 is an explanatory diagram showing the relative relationship between the steering angle and the cut-out angle of view. FIG. 9 is an explanatory diagram showing a transition time for changing the cut-out angle of view.

Hereinafter, an example of an embodiment (example) of the vehicle peripheral visual recognition device according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment and modifications. In the present specification and claims, the front, rear, upper, lower, left, and right are the front, rear, upper, lower, and front, rear, upper, and lower of the vehicle C when the vehicle peripheral visual recognition device according to the present invention is mounted on the vehicle C. Left, right.

In FIG. 8, the horizontal axis represents the steering angle θ, and the vertical axis represents the cut-out angle of view X. In FIG. 9, the vertical axis indicates the cut-out angle of view X, and the horizontal axis indicates the time T.

(Explanation of the configuration of the embodiment)
Hereinafter, the configuration of the vehicle peripheral visual recognition device according to this embodiment will be described. As shown in FIG. 2, the vehicle peripheral visual recognition device according to this embodiment includes an image pickup device (camera) 1, a detection device 2, an image processing device (image processing ECU) 3, a display device (monitor) 4, and the like. It is equipped with.

(Explanation of Imaging Device 1)
As shown in FIG. 1, the image pickup device 1 is mounted on the left and right doors of the vehicle C, respectively. The image pickup device 1 is a substitute for a rear view mirror for a vehicle, in this example, an outside mirror device (door mirror device) mounted on the left and right doors of the vehicle C. Hereinafter, the image pickup device 1 mounted on the right side of the vehicle C will be described. Since the image pickup device 1 mounted on the left side of the vehicle C has substantially the same configuration as the image pickup device 1 mounted on the right side of the vehicle C, the description thereof will be omitted.

The image pickup device 1 is connected to the image processing device 3. The image pickup device 1 captures information on the rear and sides of the vehicle C (see FIG. 3) in the vicinity of the vehicle C, and uses the imaged information on the rear and sides of the vehicle C as image data. It is output to the image processing device 3. In this example, the image pickup apparatus 1 uses a camera having an angle of view size (image size, number of pixels) of 2,560 × 1,440.

(Explanation of detection device 2)
The detection device 2 is mounted on the vehicle C. The detection device 2 is connected to the image processing device 3. The detection device 2 detects the information of the vehicle C and outputs the detected vehicle information as a detection signal to the image processing device 3. In this example, the detection device 2 includes a steering angle detection unit (steering angle sensor), a gear position detection unit (gear position sensor), and a direction instruction detection unit (direction instruction sensor). In addition to the detection unit, the detection device 2 includes a vehicle speed detection unit (vehicle speed sensor), a vehicle position detection unit (vehicle position sensor), an ultrasonic detection unit (ultrasonic sensor), and other detection units. And may be provided.

The steering angle detection unit detects the steering angle (steering angle, steering angle and synonym) θ of the steering handle (steering wheel, steering wheel, etc.) and outputs the steering angle signal to the image processing device 3. Is. That is, the steering angle detection unit is, for example, when the vehicle C makes a left turn or a right turn at an intersection, and the vehicle C travels on a curved road (a road with a left curve or a road with a right curve). In this case, when the lane in which the vehicle C is traveling is changed to the right side or the left side, the steering angle (rotation angle) θ of the steering handle operated by the driver is detected, and the steering angle signal is transmitted. It is output to the image processing device 3. The vehicle information detected by the steering angle detecting unit is the steering angle θ when the vehicle C makes a left turn or a right turn at an intersection, a curved road, or the like, or when the vehicle C changes lanes. The steering angle θ is from 0 ° to a maximum θB ° in left-hand rotation and right-hand rotation of the steering handle. In addition to detecting the steering angle θ, the steering angle detecting unit detects the operating direction (rotational direction) and the angular velocity of the steering handle, and outputs the operating direction signal and the angular velocity signal to the image processing device 3. It may be.

The gear position detection unit detects the gear position switched by the driver and outputs a gear position signal to the image processing device 3. In this example, the gear position detecting unit detects a forward gear position (gear position of 1st gear, 2nd gear, drive, etc.) in which the vehicle C advances, and outputs a gear position signal to the image processing device 3. Is. The vehicle information detected by the gear position detecting unit is the forward gear position when the vehicle C moves forward. In addition to the gear position in which the vehicle C moves forward, the gear position detecting unit may detect a reverse position in which the vehicle C moves backward, a parking position in which the vehicle C stops, a neutral position, or the like.

The direction instruction detection unit detects the operation of the direction instruction performed by the driver and outputs the direction instruction signal to the image processing device 3. The direction instruction detection unit is composed of, for example, a turn signal switch SW on the left side and a turn signal switch SW on the right side. The left winker switch SW In this example, the right winker switch SW is turned on by the driver when turning left or right at an intersection or when changing the driving lane to the left or right, and after turning left or right at an intersection or the like. Alternatively, the steering wheel is automatically turned off when the steering wheel returns by a predetermined angle or more after changing the traveling lane.

The left winker switch SW The right winker switch SW outputs an ON signal (for example, a high level signal) to the image processing apparatus 3 when it is ON and OFF when it is OFF, as shown in FIG. 9A. A signal (for example, a low level signal) is output to the image processing device 3. Turn signal switch SW on the left side When the turn signal switch SW on the right side is ON, the left turn signal lamp (not shown) and the right turn signal lamp (not shown) flash and light. The left turn signal switch SW When the right turn signal switch SW is OFF, the left turn signal lamp and the right turn signal lamp are turned off. The vehicle information detected by the direction instruction detecting unit is an ON state / OFF state of the winker switch SW.

(Explanation of Image Processing Device 3)
The image processing device 3 is mounted on the vehicle C. The image processing device 3 is connected to the image pickup device 1, the detection device 2, and the display device 4, respectively. The image processing device 3 sets the rear and side images of the vehicle C captured by the image pickup device 1 based on the steering angle θ and the forward gear position of the vehicle information from the detection device 2. It is cut out at the cut-out angle of view X (XA, XN, X1, X2, X3, XB), and the cut-out angle of view X (XA, XN, X1, X2) is changed according to the change of the steering angle θ of the vehicle information. , X3, XB).

As shown in FIGS. 3 and 8, in the image processing device 3, the angle of view of the mirror surface of the rear view mirror for a vehicle is set to the minimum cut-out angle of view (minimum horizontal angle of view) XA in the cut-out angle of view X. Further, the maximum imaging angle of view of the image pickup apparatus 1 is defined as the maximum cut-out angle of view (maximum horizontal angle of view) XB. Further, the cut-out angle of view between the minimum cut-out angle of view XA and the maximum cut-out angle of view XB is defined as an intermediate cut-out angle of view XN, X1, X2, X3. The reference numeral "XN" indicates an unspecified intermediate cut-out angle of view. The reference numeral "X1, X2, X3" indicates a specific intermediate cut-out angle of view.

As shown in FIGS. 3 and 8, the image processing apparatus 3 uses the minimum cut-out angle of view XA as the initial cut-out angle of view, and sets the cut-out angle of view X as the steering angle θ changes. It is changed in the range from the angle XA to the maximum cut-out angle of view XB via the intermediate cut-out angle of view XN, X1, X2, X3. The initial cut-out angle of view XA is the gear when the vehicle peripheral visual recognition device according to this embodiment is in the driven (operated) state, or when the vehicle peripheral visual recognition device according to this embodiment is driven (operated). This is a cut-out image that is initially cut out when the position detection unit detects the forward gear position.

As shown in FIG. 2, the image processing device 3 includes a discrimination unit 5, an image cutting unit 6, and an overlay unit 7.

The discrimination unit 5 determines the discrimination signals θA, θ1, θ2 based on the input signals θA, θ1, θ2, θ3, θB of the steering angle θ of the vehicle information from the detection device 2 and the input signals of the forward gear position. , Θ3 and θB are output to the image cutting unit 6.

The image cutting unit 6 has a cutting angle of view X (XA, XN,) in which an image from the image pickup apparatus 1 is set based on the discrimination signals θA, θ1, θ2, θ3, and θB from the discrimination unit 5. It is cut out by X1, X2, X3, XB). The discrimination signals θA, θ1, θ2, θ3, and θB are threshold values for cutting out at the cutting angle of view X (XA, XN, X1, X2, X3, XB).

The superimposing portion 7 is the image cut out at the initial cut-out angle of view XA on the image cut out at the set cut-out angle of view X (XA, XN, X1, X2, X3, XB). A light-transmitting outer frame 12 having the same or almost the same size as the outer frame (see FIG. 5) is superposed. The light-transmitting outer frame 12 is colored, for example, light-transmitting green.

The image processing device 3 has the cut-out angle of view X when the turn signal switch SW of the direction instruction detection unit of the detection device 2 is in the ON state, and the cut-out angle of view X when the turn signal switch SW is in the OFF state. On the other hand, it is a wide angle. For example, the image processing device 3 sets the cut-out angle of view X to the minimum cut-out angle of view XA (see FIGS. 3 and 5) when the winker switch SW of the direction instruction detection unit of the detection device 2 is ON. And from the intermediate cut-out angle of view XN, X1, X2, X3 (see FIGS. 3 and 6), the wide-angle intermediate cut-out angle of view XN, X1, X2, X3 and the maximum cut-out angle of view XB (FIG. 3, FIG. 7). See). Further, the image processing device 3 sets the cut-out angle of view X to the maximum cut-out angle of view XB and the intermediate cut-out image when the winker switch SW of the direction instruction detection unit of the detection device 2 is OFF. The angles XN, X1, X2, X3 are changed to the intermediate cut-out angle of view XN, X1, X2, X3 and the minimum cut-out angle of view XA.

In particular, as shown in FIGS. 9B and 9C, the image processing apparatus 3 has a narrow cutting angle of view X (in FIG. 9, the initial cutting angle of view (the minimum cutting angle)). The transition time T3 for changing from the angle of view) XA) to the wide-angle cut-out angle of view (the maximum cut-out angle of view XB in FIG. 9) has a width.

Further, as shown in FIGS. 9B and 9C, the image processing apparatus 3 sets the cutout angle of view X from a wide cutout angle of view (in FIG. 9, the maximum cutout angle of view XB) to a narrow angle. The transition time T4 to be changed to the cut-out angle of view (in FIG. 9, the initial cut-out angle of view (the minimum cut-out angle of view) XA) is set to have a width.

Further, as shown in FIGS. 9B and 9C, the image processing apparatus 3 sets the cutout angle of view X to a narrow cutout angle of view (in FIG. 9, the initial cutout angle of view (the minimum cutout). The transition time T3 for changing from the angle of view) XA) to the wide-angle cut-out angle of view (the maximum cut-out angle of view XB in FIG. 9) is set, and the cut-out angle of view X is changed to the wide-angle cut-out angle of view (in FIG. 9). The transition time is shorter than the transition time T4 for changing from the maximum cut-out angle of view XB) to the narrow cut-out angle of view (in FIG. 9, the initial cut-out angle of view (minimum cut-out angle of view) XA).

The transition times T3 and T4 may be linear transitions as shown in FIG. 9B, or may be non-linear transitions as shown in FIG. 9C. It may be something to do.

As shown by the solid line in FIG. 8, the image processing apparatus 3 has a change in the steering angle θ (θA, θ1, θ2, θ3, θB) of the vehicle information and the cut-out angle of view X (XA, XN, X1, X1). There is a range for each change of X2, X3, XB). That is, the change in the steering angle θ and the change in the cut-out angle of view X (XA, XN, X1, X2, X3, XB) fluctuate stepwise. Hereinafter, the step-like variation will be described in detail.

In the range where the steering angle θ is from 0 to the threshold value θA, the initial cut-out angle of view (the minimum cut-out angle of view) XA is cut out. When the steering angle θ reaches the threshold value θA, the cut-out angle of view X is cut out from the initial cut-out angle of view (the minimum cut-out angle of view) XA to the intermediate cut-out angle of view X1.

In the range where the steering angle θ is from the threshold value θA to the threshold value θ1, the intermediate cut-out angle of view X1 is cut out. When the steering angle θ reaches the threshold value θ1, the cut-out angle of view X is cut out from the intermediate cut-out angle of view X1 to the intermediate cut-out angle of view X2. On the other hand, when the steering angle θ returns to the threshold value θA, the cut-out angle of view X is cut out (returned) from the intermediate cut-out angle of view X1 to the initial cut-out angle of view XA.

In the range where the steering angle θ is from the threshold value θ1 to the threshold value θ2, the intermediate cut-out angle of view X2 is cut out. When the steering angle θ reaches the threshold value θ2, the cut-out angle of view X is cut out from the intermediate cut-out angle of view X2 to the intermediate cut-out angle of view X3. On the other hand, when the steering angle θ returns to the threshold value θ1, the cut-out angle of view X is cut out (returned) from the intermediate cut-out angle of view X2 to the intermediate cut-out angle of view X1.

In the range where the steering angle θ is from the threshold value θ2 to the threshold value θ3, the intermediate cut-out angle of view X3 is cut out. When the steering angle θ reaches the threshold value θ3, the cut-out angle of view X is cut out from the intermediate cut-out angle of view X3 to the maximum cut-out angle of view XB. On the other hand, when the steering angle θ returns to the threshold value θ2, the cut-out angle of view X is cut out (returned) from the intermediate cut-out angle of view X3 to the intermediate cut-out angle of view X2.

In the range where the steering angle θ is from the threshold value θ3 to the threshold value θB, the maximum cut-out angle of view XB is cut out. When the steering angle θ returns to the threshold value θ3, the cut-out angle of view X is cut out (returned) from the maximum cut-out angle of view XB to the intermediate cut-out angle of view X3.

As shown by the alternate long and short dash line in FIG. 8, the image processing device 3 has a change in the steering angle θ (θA, θ1, θ2, θ3, θB) and the cut-out angle of view X (XA, XN, X1, X2). , X3, XB) may be changed linearly.

(Explanation of display device 4)
The display device 4 is mounted in the field of view of the driver in the vehicle C. In this example, the display device 4 uses a monitor having an angle of view size (image size, number of pixels) of 1,280 × 720. The display device 4 is connected to the image processing device 3. The display device 4 uses the image cut out at the cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the image processing device 3 (see FIGS. 5, 6, and 7). ) Is displayed. The image shown in FIG. 5 is an image cut out by the image processing device 3 at the initial cut-out angle of view (the minimum cut-out angle of view) XA. The image shown in FIG. 6 is an image cut out by the image processing device 3 at the intermediate cut-out angle of view XN, X1, X2, X3. The image shown in FIG. 7 is an image cut out by the image processing device 3 at the maximum cut-out angle of view XB.

In FIGS. 3, 5 and 7, reference numerals "8", "9" and "10" indicate "road surface", "road shoulder" and "road wall" on which the vehicle C is traveling. Further, reference numeral "11" indicates a road cone arranged on the road surface 8. The road cone 11 represents a range (angle of view of the image displayed on the display device 4) that can be visually recognized by the driver from the image displayed on the display device 4 in the vehicle peripheral viewing device according to this embodiment. It is a mark for.

(Explanation of operation of embodiment)
The vehicle peripheral visual recognition device according to this embodiment has the above configuration, and its operation will be described below.

First, as shown in FIG. 4, no image is displayed on the display device 4. Then, the vehicle peripheral visual recognition device according to this embodiment is driven (operated). Alternatively, the gear position detecting unit detects the forward gear position while the vehicle peripheral visual recognition device according to this embodiment is driven (operated). Then, as shown in FIG. 5, the display device 4 displays an image cut out by the initial cut-out angle of view (minimum cut-out angle of view) XA set by the image processing device 3.

The steering angle θ changes to 0, θA, θ1, θ2, θ3, and θB. Then, as shown by the solid line in FIG. 8, the cut-out angle of view X set by the image processing apparatus 3 is changed to XA, XN, X1, X2, X3, and XB. Then, the image cut out at the cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the image processing device 3 is displayed on the display device 4 as shown in FIGS. 5 to 7. Will be done.

The image shown in FIG. 5 is an image cut out by the image processing device 3 at the initial cut-out angle of view (minimum cut-out angle of view) XA. The image shown in FIG. 5 has an angle of view equal to or substantially the same as the angle of view of the mirror surface of the rear view mirror for a vehicle. In the outer frame of the image shown in FIG. 5, a light transmissive outer frame 12 is displayed.

The image shown in FIG. 6 is an image cut out by the image processing device 3 at intermediate cut-out angles of view XN, X1, X2, and X3. The image shown in FIG. 6 is displayed with a wider angle of view than the image shown in FIG. 5 (see the light transmissive outer frame 12 in FIG. 6). For this reason, the road cone 11 that is not visible in the image shown in FIG. 5 is visible in the image shown in FIG. In the image shown in FIG. 6, the light transmissive outer frame 12 is displayed as a visible range in the image shown in FIG.

The image shown in FIG. 7 is an image cut out by the image processing device 3 at the maximum cut-out angle of view XB. The images shown in FIG. 7 are the image shown in FIG. 5 (see the light transmissive outer frame 12 in FIG. 7) and the image shown in FIG. 6 (see the frame shown by the broken line in FIG. 7). It is displayed with a wider angle of view. For this reason, the road cone 11 which is not visible in the image shown in FIG. 5 and the image shown in FIG. 6 is visible in the image shown in FIG. In the image shown in FIG. 7, the light transmissive outer frame 12 is displayed as a visible range in the image shown in FIG.

Here, when the vehicle C is in a state of advancing between the steering angle θ from 0 to the threshold value θA, at this time, as shown in FIG. 5, the display device 4 displays the initial cut-out angle of view (minimum cut-out angle). Angle of view) The image cut out by XA is displayed. At this time, when the vehicle C is turned left or right or changed lane to the right side on the left side, the driver performs a direction instruction operation. Then, the turn signal switch SW of the direction instruction detection unit of the detection device 2 changes from the OFF state to the ON state. In the image processing device 3, the cut-out angle of view X is changed from the initial cut-out angle of view (minimum cut-out angle of view) XA to the maximum cut-out angle of view XB based on the ON signal from the winker switch SW of the direction instruction detection unit of the detection device 2. do. As a result, as shown in FIG. 7, the display device 4 displays the image cut out at the maximum cut-out angle of view XB. As a result, the rear and side view ranges of the vehicle C are widened. For this purpose, the driver can safely operate the vehicle C to turn left or right or change lanes to the left or right while visually recognizing the rear and side of the vehicle C having a wide field of view.

When the cutout angle of view X is changed from the initial cutout angle of view (minimum cutout angle of view) XA to the maximum cutout angle of view XB, as shown in FIGS. Spend T3 to gradually and continuously switch and change.

After completing the left turn and right turn of vehicle C or the lane change to the left and right sides, the driver returns the steering wheel to the original state. Then, the turn signal switch SW of the direction instruction detection unit of the detection device 2 changes from the ON state to the OFF state. The image processing device 3 changes the cutout angle of view X from the maximum cutout angle of view XB to the initial cutout angle of view (minimum cutout angle of view) XA based on the OFF signal from the winker switch SW of the direction instruction detection unit of the detection device 2. do. As a result, as shown in FIG. 5, the display device 4 displays the original image cut out by the initial cut-out angle of view (minimum cut-out angle of view) XA.

When the cutout angle of view X is changed from the maximum cutout angle of view XB to the initial cutout angle of view (minimum cutout angle of view) XA, as shown in FIGS. T4 is spent to gradually and continuously switch and change.

(Explanation of the effect of the embodiment)
The vehicle peripheral visual recognition device according to this embodiment has the above-mentioned configuration and operation, and its effects will be described below.

In the vehicle peripheral viewing device according to this embodiment, when the steering angle θ changes to 0, θA, θ1, θ2, θ3, θB, the cut-out angle of view X set by the image processing device 3 becomes XA, XN, X1, The image cut out by the cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the image processing device 3 after being changed to X2, X3, XB is displayed on the display device 4.

As described above, the vehicle peripheral viewing device according to this embodiment can change the angle of view (viewing angle) of the image displayed on the display device based on the vehicle information. Thereby, the vehicle peripheral visual recognition device according to this embodiment can visually recognize the rear and side of the vehicle C with an angle of view wider than the angle of view of the mirror surface of the rear view mirror for the vehicle. As a result, the vehicle peripheral visual recognition device according to this embodiment can visually recognize the range of the blind spot on the mirror surface of the rear view mirror for the vehicle, and thus can contribute to traffic safety.

In particular, as shown in FIGS. 9A, 9B, and 9C, the vehicle peripheral visual recognition device according to this embodiment initially sets the cut-out angle of view X based on the ON of the winker switch SW of the vehicle information. When changing from the cut-out angle of view (minimum cut-out angle of view) XA to the maximum cut-out angle of view XB, the transition time T3 is spent from T1 at the start of the change to gradually and continuously switch and change. On the other hand, as shown in FIGS. 9A, 9B, and 9C, the vehicle peripheral visual recognition device according to this embodiment has a maximum cut-out angle of view X based on the OFF of the winker switch SW of the vehicle information. When changing from the cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view) XA, the transition time T4 is spent from T2 at the start of the change to gradually and continuously switch and change. As described above, the vehicle peripheral visual recognition device according to this embodiment has a width in the transition times T3 and T4 for changing the cut-out angle of view X.

As a result, the vehicle peripheral visual recognition device according to this embodiment sets the cutout angle of view X from the initial cutout angle of view (minimum cutout angle of view) XA to the maximum cutout angle of view XB, and from the maximum cutout angle of view XB to the initial cutout image. Compared with the case where the angle (minimum cut-out angle of view) XA is switched and changed in an instant (see FIG. 9D), the cut-out angle of view X can be changed continuously and smoothly. As a result, the vehicle peripheral visual recognition device according to this embodiment can provide the driver with an image that continuously and smoothly changes, so that the burden on the driver can be reduced.

Further, as shown in FIGS. 9 (B) and 9 (C), the vehicle peripheral visual recognition device according to this embodiment changes the cut-out angle of view X from the initial cut-out angle of view (minimum cut-out angle of view) XA to the maximum cut-out angle of view XB. The transition time T3 to be changed is shorter than the transition time T4 for changing the cut-out angle of view X from the maximum cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view) XA. Therefore, the vehicle peripheral visual recognition device according to this embodiment changes the initial cut-out angle of view (minimum cut-out angle of view) XA to the maximum cut-out angle of view XB, and changes from the maximum cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view). (Angle of view) Since it can be performed earlier than the change to XA, the blind spot can be visually recognized earlier, which can contribute to traffic safety. On the other hand, the vehicle peripheral visual recognition device according to this embodiment changes the maximum cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view) XA, and changes from the initial cut-out angle of view (minimum cut-out angle of view) XA to the maximum cut-out image. Since the change to the angle XB can be performed over time, the enlargement ratio of the image displayed on the display device 4 can be increased over time, and the burden on the driver can be reduced.

As shown in FIG. 9C, the vehicle peripheral viewing device according to this embodiment changes the initial cut-out angle of view (minimum cut-out angle of view) XA to the maximum cut-out angle of view XB in a non-linear logarithmic function. , It is possible to quickly see the blind spot at the start of the change. On the other hand, as shown in FIG. 9C, the vehicle peripheral visual recognition device according to this embodiment changes the maximum cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view) XA in a non-linear exponential manner. Therefore, the enlargement ratio of the image displayed on the display device 4 at the end of the change can be slowly increased over time, and the burden on the driver can be reduced. The change of the cut-out angle of view X may be non-linear other than the logarithmic function and the exponential function shown in FIG. 9C.

As shown by the solid line in FIG. 8, the vehicle peripheral visual recognition device according to this embodiment has a change in steering angle θ (θA, θ1, θ2, θ3, θB) and a cut-out angle of view X (XA, XN, X1, X2, There is a range for each change of X3 and XB). That is, the change in the steering angle θ (θA, θ1, θ2, θ3, θB) and the change in the cut-out angle of view X (XA, XN, X1, X2, X3, XB) fluctuate stepwise. be. For this reason, in the vehicle peripheral visual recognition device according to this embodiment, since the image displayed by the display device 4 is maintained at a constant cut-out angle of view within a constant width (range) of the steering angle θ, the cut-out angle of view X Is less troublesome than the case where is linearly changed as shown by the alternate long and short dash line in FIG. 8 as the steering angle θ changes. It is possible to provide a stable image to the driver.

The vehicle peripheral visual recognition device according to this embodiment has an initial cut-out angle of view XA on an image cut out at a cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the superimposing unit 7. The light transmissive outer frame 12 having the same or almost the same size as the outer frame of the image cut out in 1 (see FIG. 5) is superposed. For this purpose, the vehicle peripheral visual recognition device according to this embodiment is used for initial cutting in an image (see FIGS. 6 and 7) cut out at an intermediate cut-out angle of view XN, X1, X2, X3 and a maximum cut-out angle of view XB. It is possible to grasp the relative positional relationship between the angle of view XA and the intermediate cut-out angle of view XN, X1, X2, X3 and the maximum cut-out angle of view XB. That is, the vehicle peripheral viewing device according to this embodiment can contribute to traffic safety because the display device 4 can grasp the blind spot range on the mirror surface of the vehicle rear view mirror.

(Explanation of examples other than the embodiment)
In the above embodiment, as shown in FIGS. 9A, 9B, and 9C, the cutout angle of view X is set to the initial cutout angle of view (minimum cutout angle) based on the ON / OFF of the winker switch SW. Angle) The transition time T3 for changing from XA to the maximum cut-out angle of view XB and the transition time T4 for changing from the maximum cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view) XA are provided with different widths. .. However, in the present invention, the transition time for changing the cutout angle X from the narrow cutout angle to the wide cutout angle of view based on the steering angle θ, and the cutout from the wide angle cutout angle to the narrow angle. The transition time for changing the angle of view may have a width.

Further, in the above-described embodiment, as shown in FIGS. 9B and 9C, the cut-out angle of view X is set from the initial cut-out angle of view (minimum cut-out angle of view) XA based on the ON / OFF of the winker switch SW. The transition time T3 for changing to the maximum cut-out angle of view XB is shorter than the transition time T4 for changing from the maximum cut-out angle of view XB to the initial cut-out angle of view (minimum cut-out angle of view) XA. However, in the present invention, the transition time for changing the cut-out angle X from the narrow-angle cut-out angle to the wide-angle cut-out angle is set from the wide-angle cut-out angle to the narrow-angle cut-out image based on the steering angle θ. It may be shorter than the transition time for changing to an angle.

Further, in the above-described embodiment, the threshold values θA, θ1, θ2, θ3, and θB are provided for the steering angle θ of the vehicle information for changing the cut-out angle of view X (XA, XN, X1, X2, X3, XB). be. However, in the present invention, the dead zone θD is set in the thresholds θA, θ1, θ2, θ3, and θB provided at the steering angle θ of the vehicle information for changing the cut-out angle of view X (XA, XN, X1, X2, X3, XB). It may be provided.

Further, in the above-described embodiment, the cut-out angle of view X (XA, XN, X1, X2, X3, XB) is changed based on the change in the steering angle θ (θA, θ1, θ2, θ3, θB). be. However, in the present invention, the relative relationship between the change in the steering angle θ (θA, θ1, θ2, θ3, θB) and the change in the cut-out angle of view X (XA, XN, X1, X2, X3, XB) is determined by the vehicle speed. It may be changed based on S.

1 Imaging device 2 Detection device 3 Image processing device 4 Display device 5 Discrimination section 6 Image cutting section 7 Overlapping section 8 Road surface 9 Road shoulder 10 Road wall 11 Road cone 12 Light-transmitting outer frame C Vehicle SW Winker switch T time T1 At the start of change T2 At the start of change T3 Transition time T4 Transition time X Cut-out angle of view XA Minimum cut-out angle of view, Initial cut-out angle of view XB Maximum cut-out angle of view XN, X1, X2, X3 Intermediate cut-out angle of view θ Steering angle θA, θ1, θ2, θ3, θB input signal, discrimination signal, threshold

Claims (4)

An image pickup device that captures an image of the rear side of the vehicle, which is provided as an alternative to the outside mirrors installed on the left and right door mirrors of the vehicle.
A detection device that can detect ON / OFF of the winker switch of the vehicle, and
The rear side image captured by the image pickup device is cut out at a predetermined cut-out angle of view, and the cut-out angle of view when the winker switch is ON is the cutout when the winker switch is OFF. An image processing device that continuously switches and changes the cut-out angle of view so that the angle of view is wider than the angle of view.
A display device that displays the image cut out by the image processing device, and
Equipped with
The image processing device changes the transition time for changing the cut-out angle of view in a non-linear manner, and changes the cut-out angle of view from a narrow angle to a wide-angle lens. Shorter than the transition time to change to a corner,
Vehicle periphery viewing apparatus according to claim and this. In the image processing device, the cut-out angle of view when the winker switch is ON has a cut-out angle of view when the winker switch is OFF with respect to the cut-out angle of view when the winker switch is OFF. The vehicle peripheral visual recognition device according to claim 1, wherein the cut-out angle of view is changed so as to have a wide angle in a state where all of them are included. The first or second aspect of the image processing apparatus is characterized in that, when the winker switch is in the OFF state, the cut-out angle of view is the same as the angle of view of the mirror surface of the vehicle door mirror device. The vehicle peripheral visual recognition device described in. The display device was cut out by the image processing device at the cut-out angle of view when the winker switch was OFF, and at the cut-out angle of view when the winker switch was ON. The vehicle peripheral visual recognition device according to any one of claims 1 to 3, wherein the image can be displayed.

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