JP6999761B2 - Vehicle peripheral monitoring device - Google Patents

Description

The present invention relates to a vehicle peripheral monitoring device.

Conventionally, vehicles such as automobiles are provided with outer mirrors such as door mirrors. This outer mirror is used when the driver visually recognizes the rear side and the rear side of the vehicle, and is provided on the side surface of the vehicle body so as to bulge outward. In such an outer mirror, it is a factor that increases the air resistance when the vehicle is running, and since the shape and size of the mirror are limited, a region that becomes a blind spot for the driver is generated. There was a case that it ended up.

Therefore, in recent years, an electronic mirror device in which an imaging means such as a camera is mounted on a vehicle instead of an outer mirror has been proposed (see, for example, Patent Document 1). In this electronic mirror device, the rear and rear sides of the vehicle are imaged by the image pickup means, and the captured images are displayed on the monitor in the vehicle interior.

Japanese Unexamined Patent Publication No. 2016-124391

As described above, the number of vehicles equipped with the image pickup means is increasing, and it is required to effectively utilize the function of the image pickup means.

On the other hand, when getting off the vehicle, when opening the door, it is necessary to pay attention to the person, bicycle or car approaching from the rear of the vehicle, but until now, the occupants themselves have to check the safety of the surroundings. I was just there.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a peripheral monitoring device for a vehicle capable of supporting safety when the vehicle gets off by using an imaging means mounted on the vehicle. Is.

In order to solve such a problem, the present invention provides a vehicle peripheral monitoring device mounted on a vehicle, which is provided on a door of the vehicle and includes an image pickup unit that images the rear and rear sides of the vehicle. This vehicle peripheral monitoring device is set on the side of the vehicle, the course prediction unit that predicts the course of the object imaged by the image pickup unit, the course of the object predicted by the course prediction unit, and the vehicle. An approach prediction unit that predicts whether or not an object will enter the door opening / closing area based on the door opening / closing area that defines the movable range in which the door opens and closes, and an opening detection that detects the open state of the vehicle door. When it is predicted that the object will enter the door opening / closing area by the unit and the approach prediction unit, and the open detection unit detects that the door of the vehicle is open, the door of the vehicle in the closed state will open in the opening direction. It has a control unit that executes control for restricting the rotation operation of the door of the vehicle at the moment of rotation to .

In the present invention, it is preferable that the open detection unit detects a state in which the door of the vehicle is open based on the positional deviation of the image captured by the image pickup unit .

According to the present invention, it is possible to predict whether or not an object enters the door opening / closing region by using the image pickup unit mounted on the vehicle, so that it is possible to support the safety when the vehicle gets off.

Explanatory drawing showing a vehicle A block diagram showing a system configuration of a vehicle including a vehicle peripheral monitoring device according to this embodiment. A diagram illustrating a process of predicting the entry of an object into a door opening / closing area. A flowchart showing the operation of the vehicle peripheral monitoring device according to the present embodiment.

Hereinafter, the vehicle C equipped with the vehicle peripheral monitoring device 20 according to the present embodiment will be described. Here, FIG. 1 is an explanatory diagram showing the vehicle C. FIG. 2 is a block diagram showing a system configuration of a vehicle C including a vehicle peripheral monitoring device 20 according to the present embodiment. The vehicle C according to the present embodiment is, for example, a type of automobile including a pair of left and right front side doors 2 and a pair of left and right rear side doors 3.

The side doors 2 and 3 include an outside handle 4 arranged outside the side doors 2 and 3 and an inside handle 32 arranged inside the side doors 2 and 3 (on the vehicle interior side). The inside handle 32 is provided with a capacitance sensor 33 for detecting the contact or approach of an occupant to the inside handle 32.

Further, the side doors 2 and 3 are provided with a door lock device 30 provided with a latch 31 that locks to the vehicle body. The latch 31 included in the door lock device 30 can be released by the outside handle 4 or the inside handle 32. The door lock device 30 includes an actuator 34 that switches between a locked state and an unlocked state, and a door lock control unit 35 that controls the actuator 34. When the door lock device 30 is in the locked state, the release operation of the latch 31 by the outside handle 4 or the inside handle 32 is prohibited. On the other hand, when the door lock device 30 is in the unlocked state, the release operation of the latch 31 by the outside handle 4 or the inside handle 32 is permitted.

This vehicle C is equipped with an electronic mirror device 10. The electronic mirror device 10 is a device that performs rearward visual recognition by using an image pickup means instead of an outer mirror such as a door mirror. The electronic mirror device 10 is mainly composed of a pair of left and right first cameras 5 mounted on the vehicle C, an electronic mirror control unit 11, and a pair of display units 12 corresponding to the left and right first cameras 5. There is.

The first camera 5 is provided on each of the left and right side surfaces of the vehicle body, and is mounted on the outside handle 4 of the front side door 2 in the present embodiment. Each first camera 5 captures the rear view of the vehicle C, that is, the rear and rear sides of the vehicle C (first imaging unit). Specifically, the first camera 5 on the right side captures the rear side and the right rear side of the vehicle C, and the first camera 5 on the left side captures the rear side and the left rear side of the vehicle C. As the first camera 5, a digital camera using an image pickup element such as CMOS or CCD and a wide-angle lens is suitable.

The electronic mirror control unit 11 controls the electronic mirror device 10, and when it is functionally captured, it is composed of an image acquisition unit 11a, an image processing unit 11b, and an image display unit 11c. As the electronic mirror control unit 11, a microcomputer mainly composed of a CPU, ROM, RAM, and an I / O interface can be used.

The image acquisition unit 11a is connected to the left and right first cameras 5, and acquires captured images of the rear and rear sides of the vehicle C from the left and right first cameras 5 at regular intervals. The image processing unit 11b cuts out the captured image acquired by the image acquisition unit 11a according to a predetermined cutting range to generate a display image. The image processing unit 11b generates left and right display images corresponding to the left and right first cameras 5. When the image display unit 11c receives the display image from the image processing unit 11b, the image display unit 11c displays this image on the pair of display units 12. At this time, the image processing unit 11b displays the display image processed from the first camera 5 on the right side on the display unit 12 corresponding to the first camera 5, and the display image processed from the first camera 5 on the left side. Is displayed on the display unit 12 corresponding to the first camera 5.

The pair of display units 12 are, for example, an organic EL display or a liquid crystal display. Each display unit 12 is connected to an electronic mirror control unit 11. The pair of display units 12 are arranged at the base ends of the front pillars located on both sides of the windshield, for example, in the vehicle interior. The display unit 12 corresponding to the first camera 5 on the right side is arranged at the base end portion of the front pillar on the right side, and the display unit 12 corresponding to the first camera 5 on the left side is arranged at the base end portion of the front pillar on the left side. Has been done. However, the pair of display units 12 may be provided in other parts of the vehicle interior, for example, an instrument panel.

As one of the features of this embodiment, the vehicle C is equipped with a vehicle peripheral monitoring device 20. The vehicle peripheral monitoring device 20 is a device that supports safety when the vehicle gets off. The vehicle peripheral monitoring device 20 is mainly composed of a second camera 6, a monitoring control unit 21, and a notification unit 24. The vehicle peripheral monitoring device 20 uses not only the second camera 6 but also the first camera 5 of the front side door 2 included in the electronic mirror device 10.

The second camera 6 is a camera that is combined with the first camera 5 to form a stereo camera, and is arranged at a required position with respect to the first camera 5. The second camera 6 is provided on each of the left and right side surfaces of the vehicle body, and is mounted on the outside handle 4 of the rear side door 3 in the present embodiment. Like the first camera 5, each second camera 6 captures the rear view of the vehicle C, that is, the rear and rear sides of the vehicle C (second imaging unit). Specifically, the second camera 6 on the right side captures the rear side and the right rear side of the vehicle C, and the second camera 6 on the left side captures the rear side and the left rear side of the vehicle C. As the second camera 6, a digital camera using an image pickup element such as CMOS or CCD and a wide-angle lens is suitable.

The monitoring control unit 21 includes an image acquisition unit 21a, an image processing unit 21b, and a control unit 21c. The monitoring control unit 21 performs the processing described later for each of the stereo camera composed of the first camera 5 and the second camera 6 on the right side of the vehicle and the stereo camera composed of the first camera 5 and the second camera 6 on the left side of the vehicle. conduct. Here, FIG. 3 is a diagram illustrating the prediction of entry of the object O into the door opening / closing region Ad.

The image acquisition unit 21a is connected to the first camera 5 and the second camera 6 forming a stereo camera, and acquires images captured from the first camera 5 and the second camera 6 at regular intervals.

The image processing unit 21b processes the captured images acquired from the first camera 5 and the second camera 6. The image processing unit 21b includes a distance detection unit 21b1, a course prediction unit 21b2, and an approach prediction unit 21b3.

The distance detection unit 21b1 detects the distance to the object O by using stereo image processing. Stereo image processing is a process that uses the principle of a stereo camera to determine the distance to a measurement point using the parallax (difference in position) that occurs in the two captured images when the same measurement point is captured by two cameras. .. The distance detection unit 21b1 performs stereo image processing based on the pair of captured images acquired by the first camera 5 and the second camera 6. Through this stereo image processing, the object O is detected and the distance from the vehicle C to the object O is detected.

The course prediction unit 21b2 predicts the course of the object O based on the transition of the distance to the object O detected by the distance detection unit 21b1.

The approach prediction unit 21b3 causes the object O to enter the door opening / closing area Ad based on the course of the object O predicted by the course prediction unit 21b2 and the door opening / closing area Ad set on the side of the vehicle C. Predict whether or not. Here, the door opening / closing area Ad defines a movable range in which the side doors 2 and 3 of the vehicle C are opened / closed, and is set corresponding to the front side door 2 and the rear side door 3 provided in the vehicle C, respectively. ..

The control unit 21c controls the vehicle peripheral monitoring device 20. Specifically, the control unit 21c performs predetermined control when the approach prediction unit 21b3 predicts the entry of the object O into the door opening / closing area Ad. In the present embodiment, the predetermined control performed by the control unit 21c is a notification control using the notification unit 24 and a lock control using the door lock device 30.

The notification unit 24 notifies the occupant of predetermined information. As the notification unit 24, a navigation display 7 arranged on the instrument panel, an alarm lamp 8 in a meter device provided with a speedometer or the like, or a speaker 9 can be used.

The vehicle C is provided with a CAN (Controller Area Network). The electronic mirror device 10 and the vehicle peripheral monitoring device 20 are connected to the CAN and are configured to be able to communicate with each other. Further, the vehicle peripheral monitoring device 20 can communicate with various sensors and various control systems mounted on the vehicle C via the CAN.

Specifically, the vehicle peripheral monitoring device 20 can communicate with the detection signal of the capacitance sensor 33 provided on the inside handle 32 and the door lock control unit 35 that controls the actuator 34 through the CAN. Further, the vehicle peripheral monitoring device 20 can acquire a shift position signal through the CAN.

FIG. 3 is a flowchart showing the operation of the vehicle peripheral monitoring device 20 according to the present embodiment. The process shown in this flowchart is executed with the ignition switch of the vehicle C turned on as a trigger.

First, in step 1 (S1), the control unit 21c determines whether or not the current shift position is parking (P) based on the shift position signal. If the shift position is parking, a positive determination is made in step 1 and the process proceeds to step 2. On the other hand, if the shift position is not parking, a negative determination is made in step 1, and the process proceeds to step 10 (S10) described later.

In step 2, the control unit 21c activates the second camera 6 and also activates the first camera 5 through the electronic mirror device 10. If the first camera 5 and the second camera 6 are already activated, this step 2 can be skipped.

In step 3 (S3), the image acquisition unit 21a acquires captured images from the first camera 5 and the second camera 6, respectively. As a result, a pair of captured images including the captured image acquired from the first camera 5 and the captured image acquired from the second camera 6 are acquired.

In step 4 (S4), the distance detection unit 21b1 performs stereo image processing based on the pair of captured images. In the stereo image processing, one captured image and the other captured image are compared, and the difference in position in each image in which the same subject is captured, that is, the parallax is calculated. According to the principle of triangulation, the distance to the subject projected on the captured image is calculated based on the calculated parallax. Then, based on the calculated distance to the subject, the surrounding scenery and the object O such as a person, a two-wheeled vehicle, or an automobile are separated, and the object O is detected. The object O is associated with a distance to the object O (a position in real space with respect to the stereo camera). As a result, the object O and the distance to the object O are detected.

In step 5 (S5), the course prediction unit 21b2 predicts the course of the object O. In the distance detection unit 21b1 described above, the distance to the object O is calculated in time series in correspondence with the acquisition cycle of the captured image by the image acquisition unit 21a. Therefore, the course prediction unit 21b2 predicts the course of the object O based on the transition of the distance to the object O detected by the distance detection unit 21b1. For example, the course prediction unit 21b2 calculates the relative velocity and the moving direction of the current object O, and uses the arrival position Po of the object O and the movement trajectory To up to the arrival position Po after a predetermined time as the course. Predict (see Figure 3).

In step 6 (S6), the approach prediction unit 21b3 determines that the object O is based on the course of the object O predicted by the course prediction unit 21b2 and the door opening / closing area Ad set on the side of the vehicle C. Predict whether or not to enter the door opening / closing area Ad. Specifically, in the approach prediction unit 21b3, when the predicted course of the object O, that is, the arrival position Po or the movement locus To is included in any of the door opening / closing regions Ad, the object O is the door. It is predicted to enter the opening / closing area Ad. On the other hand, when the predicted arrival position Po or the movement locus To is not included in any of the door opening / closing regions Ad, it is predicted that the object O does not enter the door opening / closing region Ad.

In step 7 (S7), the control unit 21c determines whether or not the object O has entered the door opening / closing area Ad. If the object O has entered, a positive judgment is made in step 7, and the process proceeds to step 8 (S8). On the other hand, if the object O does not enter, a negative determination is made in step 7 and the process returns to step 1.

In step 8, the control unit 21c refers to the detection signal of the capacitance sensor 33 and determines whether or not the contact of the human body with the inside handle 32 is detected. When the contact of the human body with the inside handle 32 is detected, a positive determination is made in step 8 and the process proceeds to step 9 (S9). On the other hand, if the contact of the human body with the inside handle 32 is not detected, a negative determination is made in step 8 and the process returns to step 1.

In step 9, the control unit 21c executes one or both of the following two controls and ends this routine (RETURN).

(1) Notification control The control unit 21c controls the notification unit 24 to notify the occupants. This notification alerts the object O to enter the movable range of the side doors 2 and 3. Examples of the notification method include display of an abnormal state using the display 7 or the alarm lamp 8, voice output or alarm sound output using the speaker 9.

Further, the control unit 21c may display the captured image acquired from the first camera 5 or the second camera 6 on the display 7. At this time, the control unit 21c may display the captured image on the display 7 after performing image processing so that the object O predicted to enter is highlighted.

(2) Lock control The control unit 21c controls the door lock device 30 via the door lock control unit 35 to set the door lock device 30 to the locked state. In this locked state, the release operation of the latch 31 by the inside handle 32 is prohibited. This restricts the opening of the side doors 2 and 3.

In step 10 (S10), the control unit 21c stops the second camera 6 and exits this routine (RETURN). If the second camera 6 is not activated, this step can be skipped.

As described above, in the present embodiment, the vehicle peripheral monitoring device 20 is mounted on the vehicle C including the first camera 5 that captures the rear and rear sides of the vehicle C, and (1) the first camera 5. The distance detection unit 21b1 that detects the distance to the object O existing behind and behind the vehicle C based on the captured image output from the vehicle C, and (2) the object O detected by the distance detection unit 21b1. Based on the transition of the distance to, the course prediction unit 21b2 that predicts the course of the object O, (3) the course of the object O predicted by the course prediction unit 21b2, and the course set to the side of the vehicle C. An approach prediction unit 21b3 that predicts whether or not the object O enters the door opening / closing area Ad based on the door opening / closing area Ad that defines the movable range in which the side doors 2 and 3 of the vehicle C are opened / closed. Have.

According to this configuration, the distance to the object O existing behind or behind the vehicle C can be detected by using the captured image captured by the first camera 5. Then, the course of the object O can be predicted from this distance. As a result, it is possible to predict that the object O will enter the movable range of the side doors 2 and 3, so that it is possible to support the safety when the vehicle gets off.

In particular, the object O appearing from the rear of the vehicle C is likely to enter the blind spot of the occupant, and the two-wheeled vehicle or the like has a high approaching speed, so that the object O may appear unexpectedly without being noticed by the occupant. Therefore, by using the first camera 5 of the electronic mirror device 10 that covers the range including the rear, it is possible to appropriately detect the rear object O to be paid more attention to. This can effectively support the safety when the vehicle gets off.

Further, in the present embodiment, the vehicle peripheral monitoring device 20 further includes a second camera 6 that is combined with the first camera 5 to form a stereo camera, and the distance detection unit 21b1 includes the first camera 5 and the first camera 5. Based on the captured images output from the second camera 6, the positions of the objects O located behind and behind the vehicle C are detected. In this case, the first camera 5 is attached to the outside handle 4 of the front side door 2 of the vehicle C, and the second camera 6 is attached to the outside handle 4 of the rear side door 3 of the vehicle C.

According to this configuration, by diverting the first camera 5 of the electronic mirror device 10 mounted on the vehicle C, a stereo camera can be constructed only by providing the second camera 6. As a result, the distance to the object O can be appropriately detected from the pair of captured images output from the cameras 5 and 6.

Further, according to this configuration, by sharing the first camera 5, the vehicle peripheral monitoring device 20 can be constructed at low cost. Further, according to the electronic mirror device 10, the captured image output from the first camera 5 when the vehicle C is traveling is used, but the vehicle peripheral monitoring device 20 is a vehicle C capable of getting off the occupant. The captured image output from the first camera 5 when the vehicle is stopped is used. Therefore, the first camera 5 can be used with different functions when the vehicle is running and when the vehicle is stopped, and the first camera 5 and the captured image thereof can be effectively used.

In this embodiment, the distance to the object O is detected by using the second camera 6 together with the first camera 5. However, as for the method of detecting the distance to the object O, if the captured image of the first camera 5 is used, a radar such as a laser radar or a millimeter wave radar is used in combination with the second camera 6. May be.

Further, according to the present embodiment, the first camera 5 and the second camera 6 are attached to the outside handles 4 arranged on the outside of the side doors 2 and 3 of the vehicle C. According to this configuration, the camera 5 can be arranged in a place where a rear view can be obtained even in the vehicle C having no outer mirror on the side surface of the vehicle body. As a result, the object O approaching from the rear and the rear side can be appropriately detected.

Further, according to the present embodiment, the first camera 5 of the electronic mirror device 10 is attached to the outside handle 4 of the front side door 2 . As a result, the first camera 5, which is also used in the electronic mirror device 10, can be installed in a state where the reflection of the vehicle body is small.

In the present embodiment, the first camera 5 and the second camera 6 are attached to the outside handle 4, but any method can be used as long as a rear view can be obtained and a stereo camera can be configured. It may be placed in a place. For example, the first camera 5 is arranged on the outside handle 4, and the second camera 6 is arranged at an arbitrary vehicle body position in the vertical direction of the first camera 5.

Further, in the present embodiment, the vehicle peripheral monitoring device 20 further includes a control unit 21c that performs predetermined control when the approach of the object O is predicted to enter the door opening / closing region Ad by the approach prediction unit 21b3. ing.

In this case, the control unit 21c can control the notification unit 24 to notify the occupant when the entry of the object O into the door opening / closing area Ad is predicted.

According to this configuration, it is possible to alert the occupant that the object O is predicted to enter the movable range of the side doors 2 and 3. As a result, it is possible to suppress a situation in which the occupant opens the side doors 2 and 3 without noticing the object O.

Further, the control unit 21c can control the door lock device 30 to prohibit the release operation of the latch 31 by the inside handle 32 when the entry of the object O into the door opening / closing area Ad is predicted.

According to this configuration, even if the occupant operates the inside handle 32, the opening of the side doors 2 and 3 can be restricted. As a result, it is possible to suppress a situation in which the side doors 2 and 3 are opened in a situation where the object O is predicted to enter the movable range of the side doors 2 and 3.

Although the vehicle peripheral monitoring device 20 according to the present embodiment has been described above, the vehicle peripheral monitoring device 20 can be modified in various ways.

In the above-described embodiment, the control unit 21c executes predetermined control on condition that the entry of the object O into the door opening / closing region Ad is predicted and the occupant comes into contact with the inside handle 32. However, the predetermined control by the control unit 21c may be executed only when the entry of the object O into the door opening / closing region Ad is predicted. However, by adding the condition that the occupant has come into contact with the inside handle 32, it is possible to suppress a situation in which the control of the control unit 21c is executed even though the occupant does not intend to get off.

Further, in the above-described embodiment, in order to determine the opening operation of the side doors 2 and 3 by the occupant, the contact with the inside handle 32 is determined by the capacitance sensor 33. However, the detection of the opening operation is not limited to this. For example, it may be provided with an open operation detection unit that detects the rotation operation of the inside handle 32 or detects the state in which the side doors 2 and 3 are slightly opened.

Further, in the present embodiment in which the cameras 5 and 6 are mounted on the outside handle 4, the control unit 21c detects the open state of the side doors 2 and 3 by using the images captured from the cameras 5 and 6. You can also. That is, when the side doors 2 and 3 are opened, the angles of view of the cameras 5 and 6 arranged on the outside handle 4 are also displaced, so that the position of the vehicle body reflected in the captured image is also displaced. Therefore, the control unit 21c may determine this positional deviation and detect that the side doors 2 and 3 have been opened.

Further, in the present embodiment, the opening of the side doors 2 and 3 is invalidated by prohibiting the release operation of the latch 31 by the inside handle 32. However, the control unit 21c may control to regulate the rotational operation of the side doors 2 and 3 at the moment when the closed side doors 2 and 3 rotate in the opening direction.

In the above-described embodiment, the entry of the object O into the door opening / closing area Ad is predicted for all the side doors 2 and 3 regardless of whether or not the occupant is seated. However, the vehicle peripheral monitoring device 20 may include an occupant detection unit that detects the seating of the occupant for each seat on which the occupant sits. In this case, the approach prediction unit 21b3 predicts whether or not the object O will enter the door opening / closing area Ad, limited to the side doors 2 and 3 corresponding to the seat whose seating has been detected by the occupant detection unit. You may.

Further, the approach prediction unit 21b3 may predict whether or not the object O enters the door opening / closing area Ad only on the rear side door 3 without making such a seating determination. This is because the vehicle peripheral monitoring device 20 is premised on the object O approaching from the rear of the vehicle C.

Further, the approach prediction unit 21b3 may change the approach prediction sensitivity of the object O with respect to the door opening / closing area Ad according to the moving speed of the object O. For example, when the moving speed of the object O is high, it is preferable to execute the notification control or the lock control earlier than when the moving speed is slow. Therefore, the approach prediction unit 21b3 increases the approach prediction sensitivity when the relative speed of the object O to be predicted is high. As a method of increasing the approach prediction sensitivity, a virtual door opening / closing area is additionally set outside the door opening / closing area Ad, or the course prediction unit 21b2 is instructed to lengthen the setting time to the arrival position Po. And so on.

Further, in the method of detecting the object O using the captured image, the size of the object O can be recognized. Therefore, the approach prediction unit 21b3 may change the approach prediction sensitivity of the object O with respect to the door opening / closing area Ad according to the size of the object O. For example, the object O is classified into two-wheeled vehicles and pedestrians, and the approach prediction sensitivity for two-wheeled vehicles is higher than that for pedestrians.

Further, in the present embodiment, the control unit 21c performs either or both of notification control and lock control when the entry of the object O into the door opening / closing area Ad is predicted. However, the control performed by the control unit 21c may be other than this. For example, the control unit 21c may transmit the prediction result to another control system (external device) mounted on the vehicle C. As a result, the control system that receives the prediction result can perform processing such as performing notification using the notification means provided in the system or deactivating the equipment constituting the system.

Although the vehicle peripheral monitoring device according to the present embodiment has been described above, it is needless to say that the present invention is not limited to the above-described embodiment and various modifications can be made within the scope of the present invention. ..

For example, in the present embodiment, a side door is exemplified as a vehicle door, but a back door opened to the rear may be used.

C Vehicle 2, 3 Side door 4 Outside handle 5 Camera (1st camera)
6 camera (second camera)
7 Display 8 Alarm lamp 9 Speaker 10 Electronic mirror device 11 Electronic mirror control unit 21 Display unit 20 Vehicle peripheral monitoring device 21 Monitoring control unit 21a Image acquisition unit 21b Image processing unit 21b1 Distance detection unit 21b2 Path prediction unit 21b3 Approach prediction unit 21c Control unit 24 Notification unit 30 Door lock device 31 Latch 32 Inside handle 33 Capacitance sensor 34 Actuator 35 Door lock control unit

Claims (2)

In a vehicle peripheral monitoring device mounted on a vehicle equipped with an image pickup unit that is provided on the door of the vehicle and images the rear and rear sides of the vehicle.
A course prediction unit that predicts the course of an object imaged by the image pickup unit, and a course prediction unit.
The object opens and closes the door based on the path of the object predicted by the course prediction unit and a door opening / closing area set on the side of the vehicle and defining a movable range in which the door of the vehicle opens / closes. An approach prediction unit that predicts whether or not to enter the area,
An open detection unit that detects the open state of the vehicle door, and
When the approach prediction unit predicts that the object will enter the door opening / closing region, and the opening detection unit detects that the door of the vehicle is open, the door of the vehicle in the closed state is opened . A control unit that executes control to regulate the rotation operation of the door of the vehicle at the moment of rotation in the direction .
A vehicle peripheral monitoring device characterized by having. The peripheral monitoring device for a vehicle according to claim 1 , wherein the open detection unit detects a state in which the door of the vehicle is opened based on the positional deviation of the captured image captured by the image pickup unit.

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