JP7037896B2 - Visual assistance device - Google Patents

Description

The present invention relates to an image display device provided in a vehicle such as an automobile and displaying a situation around the own vehicle, and more particularly to an image display device capable of intuitively changing the display range according to the intention of an occupant.

In a vehicle such as an automobile, an image captured by an image pickup device such as a camera is used to enable the occupant such as a driver to easily recognize the situation around the vehicle during manual driving and to reduce the monitoring burden. Various visual aids presented in the above have been proposed.

For example, in Patent Document 1, in a vehicle display device that displays an image of the front of a vehicle captured by an infrared camera on a head-up display, when it is determined from a steering operation that the vehicle turns a curve, it has a strip shape. Of the video data, the video data offset by a predetermined image shift amount from the central portion is extracted and displayed.
In Patent Document 2, in a driving support device that magnifies and displays an image of a gaze target to which the driver directs his / her gaze while driving, a magnified image in which the gaze target is enlarged and an annular shape adjacent to the entire outer periphery of the magnified image are described. It is an image, and an image consisting of a peripheral reduced image that has been reduced in size so that the image can be visually recognized by the driver in a state where the images are continuously connected from the enlarged image to the original landscape is generated and displayed in an superimposed manner. It is stated that.
According to Patent Document 3, in a vehicle display device, a mirror image of a road mirror in front of the own vehicle is photographed by a camera, and when the road reflector to be imaged adopts a curved mirror, it is projected and converted into a plane mirror image. It is described that image processing is performed and the image after this image processing is displayed in the display area of the windshield.
In Patent Document 4, in a vehicle display device that displays an image captured by an infrared camera in front of the own vehicle on a head-up display, the enlargement ratio of the image is gradually changed according to the vehicle speed, and the display unit is enlarged. By emitting the display light indicating the image to the front windshield through the opening of the instrument panel, the driver can visually recognize the image in front of the vehicle by the display light and realize whether the enlarged display is performed. It is stated that it should be done.

Japanese Unexamined Patent Publication No. 2004-155307 Japanese Unexamined Patent Publication No. 2009-43003 Japanese Unexamined Patent Publication No. 2005-178623 Japanese Unexamined Patent Publication No. 2004-168105

In the above-mentioned visual aid device, it is difficult to display all the information that the occupant should visually recognize while the vehicle is in operation on one screen, and the range (field of view) in which the image is displayed can be changed according to the occupant's request. Is desirable.
However, since the display range may be changed while the occupant manually drives the vehicle, the convenience of the visual recognition assisting device is impaired if a complicated operation is required.
In view of the above-mentioned problems, an object of the present invention is to provide a visual recognition assisting device that can intuitively change the display range according to the intention of the occupant.

The present invention solves the above-mentioned problems by the following solution means .

The invention according to claim 1 comprises an image pickup device that images the surroundings of the own vehicle, an image display device that displays an image captured by the image pickup device, a viewpoint detection device that detects the position of the viewpoint of an occupant, and a horizontal direction. The display range changing means for panning the image displayed on the image display device to the other side in the horizontal direction according to the movement of the viewpoint to one side in the above, and the risk object for detecting the risk object around the own vehicle. The display range changing means is a visual recognition assisting device including a detection means, which increases the pan amount of the image with respect to the movement amount of the viewpoint when the risk object is detected.
According to this, when the risk object is present, the pan amount of the image with respect to the viewpoint movement amount is increased, which makes the occupant feel uncomfortable, draws the occupant's attention, and can improve the safety.

As described above, according to the present invention, it is possible to provide an image display device that can intuitively change the display range according to the intention of the occupant.

It is a block diagram which shows the structure of the 1st reference example of the visual recognition assisting apparatus to which this invention is applied. It is a figure which shows an example of the driver's field of view in the vehicle which has the visual recognition assist device of 1st reference example . It is a flowchart which shows the operation of the visual recognition assist device of 1st reference example . It is a figure which shows the visual angle detection in the visual viewing assist device of 1st reference example . It is a figure which shows the other example of the driver's field of view in the vehicle which has the visual recognition assist device of 1st reference example , and is the figure which shows the state which the viewpoint is moved to the right side from the state of FIG. It is a figure which shows the other example of the driver's field of view in the vehicle which has the visual recognition assist device of 1st reference example , and is the figure which shows the state when the risk of collision with another vehicle approaching from the side occurs. It is a figure which shows the visual angle detection in the 2nd reference example of the visual recognition assisting apparatus to which this invention is applied.

< First reference example >
Hereinafter, a first reference example of the visual recognition assisting device to which the present invention is applied will be described.
The visual recognition assisting device of the first reference example is provided, for example, in an automobile such as a passenger car, and presents an image of the front of the own vehicle to an occupant such as a driver by an image display device to support the visual recognition of the situation around the own vehicle. be.
FIG. 1 is a block diagram showing a configuration of a visual recognition assisting device of the first reference example .
The visual recognition assisting device 1 of the first reference example includes a stereo camera device 10, an environment recognition unit 20, an occupant monitoring unit 30, a display image generation unit 40, a display device 50, and the like.

The stereo camera device 10, the environment recognition unit 20, the occupant monitoring unit 30, the display image generation unit 40, and the display device 50 are connected to each other via an in-vehicle LAN system such as a CAN communication system or directly to each other. It is possible to send and receive.
Further, each unit is configured to include, for example, an information processing means such as a CPU, a storage means such as a RAM or a ROM, an input / output interface, and a bus connecting these.

The stereo camera device 10 includes a camera LH11, a camera RH12, a stereo image processing unit 13, and the like.
The camera LH11 and the camera RH12 are an image pickup device having an optical system such as a lens group for taking a wide-angle image of the front of the own vehicle, a solid-state image pickup element such as CMOS, a drive device thereof, an image processing engine, an input / output interface, and the like. ..
The camera LH11 and the camera RH12 are attached with the optical axis of the optical system facing the front of the vehicle in a state of being separated from each other in the left-right direction.
The camera LH11 and the camera RH12 are fixed, for example, in a state of protruding downward from the front end portion of the roof 130 into the vehicle interior, and are adapted to capture an image of the front of the own vehicle through the windshield 140.

The data related to the images captured by the cameras LH11 and the camera RH12 are sequentially provided to the stereo image processing unit 13.
Further, these image data are also provided to the display image generation unit 40 via the stereo image processing unit 13 in order to generate an image to be displayed on the display device 50.
For example, when displaying the situation diagonally to the left and front of the own vehicle as in the first reference example (see FIG. 2), a display image can be generated using the image captured by the camera LH11.

The stereo image processing unit 13 performs known stereo image processing on the image data sequentially transmitted from the camera LH11 and the camera RH12, recognizes a subject existing in front of the own vehicle, and recognizes the recognized subject relative to the own vehicle. The position is detected by using the pixel position on the image, the parallax between the camera LH11 and the camera RH12, and the like.
Further, the stereo image processing unit 13 determines the type and attribute (for example, other vehicle, bicycle, pedestrian, building, lane end white line, etc.) of the recognized subject by the known image processing and image recognition technology. Is possible.

The environment recognition unit 20 recognizes the environment in front of the own vehicle by using the object detection result in front of the own vehicle by the stereo image processing unit 13.
Among other vehicles, buildings, etc. recognized by the stereo image processing unit 13, the environment recognition unit 20 recognizes a risk object having a high possibility of colliding with the own vehicle from the relative position, relative speed, etc. with respect to the own vehicle.
The environment recognition unit 20 functions as a risk object detecting means according to the present invention.

When the environment recognition unit 20 determines that a collision between the risk object and the own vehicle is unavoidable based on the relative position of the risk object with respect to the own vehicle, the relative speed (approach speed), etc. (when the pre-crash determination is established). ), Information about the risk object is transmitted to the display image generation unit 40.
Here, as information on the risk object, for example, the type of the risk object, the relative position with respect to the own vehicle, the relative speed, and the like can be mentioned.

The occupant monitoring unit 30 processes an image obtained by an occupant photographing camera 31 of an occupant who is a driver during manual operation, and detects the state of the occupant.
The occupant photography camera 31 is provided on, for example, the instrument panel 140 of the vehicle and captures the face and the like of the occupant to be monitored.
The occupant photography camera 31 can be provided, for example, in the combination meter 141 (see FIG. 2).
The occupant monitoring unit 30 performs predetermined image processing on the image data captured by the occupant photographing camera 31 to detect the position of the viewpoint (eye portion), the line-of-sight direction, the awakening state, and the like.
Information regarding the viewpoint position of the occupant is transmitted to the display image generation unit 40.
The occupant monitoring unit 30 functions as the viewpoint detection device according to the present invention in cooperation with the occupant photographing camera 31.

The display image generation unit 40 uses the image data provided by the stereo camera device 10, information on the risk object by the environment recognition unit 20, and the detection result of the occupant's viewpoint position by the occupant monitoring unit 30 by the display device 50. It generates data for the displayed image to be displayed.
The display image generation unit 40 has a function of setting a display range and a display position to be displayed on the display device 50 among the image data provided by the stereo camera device 10.
The display image generation unit 40 changes the framing of the image displayed on the display device 50 in the horizontal direction and the vertical direction according to the movement of the viewpoint of the occupant detected by the occupant monitoring unit 30, and changes the display range (field of view). Has the ability to change.
The display image generation unit 40 functions as the display range changing means according to the present invention.
The function of the display image generation unit 40 will be described in more detail later.

The display device 50 is an image display device that presents, for example, an image of an image of the outside of the vehicle diagonally to the left of the own vehicle to the user (occupant).
The display device 50 includes a display for displaying the display image generated by the display image generation unit 40, a drive device thereof, and the like.
As the display device 50, for example, a transparent LCD that is substantially transparent when not displayed and can be seen by the occupant can be used.
The arrangement of the display device 50 will be described in detail later.

FIG. 2 is a diagram showing an example of a driver's field of view in a vehicle having the visual recognition assist device of the first reference example .
As shown in FIG. 2, the vehicle has a windshield 110, a front door glass 120, a side mirror 130, an instrument panel 140, a steering wheel 150, an A pillar 160, a roof 170, a rearview mirror 180 and the like.

The windshield 110 is arranged on the front side of the driver.
The windshield 110 is a quadric curved glass that is formed in a substantially horizontally long rectangular shape and is curved in a direction in which the front is convex.
The windshield 110 is arranged so as to be tilted backward so that the upper end portion is on the rear side of the vehicle with respect to the lower end portion.
When viewed from the occupant's point of view, the transparent portion of the windshield 110 (the portion excluding the black ceramic portion (not shown) provided around the windshield 110) serves as a visual field for the occupant to directly see the front of the vehicle with the naked eye.

The front door glass 120 is an upper portion of the left and right front doors used for passengers to get on and off, and is provided on the side of the driver.
The front door glass 120 has an elevating main body portion 121 and a fixed triangular window portion 122 provided at the front portion of the main body portion 121.

The side mirror 130 allows the driver to confirm the left-right rear view.
The side mirrors 130 project outward in the vehicle width direction from the outer panels of the left and right front doors.
In the occupant's field of view, the side mirror 130 can be seen, for example, in the vicinity of the front end portion of the main body portion 121 of the front door glass 120.

The instrument panel 140 is an interior member provided below the windshield 110 in the vehicle interior.
The instrument panel 140 also functions as a housing for accommodating various instruments, display devices, switches, air conditioners, passenger seat airbag devices, knee protection airbag devices, and the like.
The instrument panel 140 is provided with a combination meter 141, a multifunction display 142, a navigation device display 143, and the like.

The combination meter 141 is provided in front of the driver's seat, and is a unitization of various instruments such as a speedometer, an engine tachometer, and a range finder.
The multifunction display 142 is an image display means such as an LCD provided at the upper portion of the instrument panel 140 in the central portion in the vehicle width direction.
The navigation device display 143 is an image display means such as an LCD on which a navigation device (not shown) displays a map or the like.
The navigation device display 143 is provided at the lower portion of the instrument panel 140 in the central portion in the vehicle width direction.

The steering wheel 150 is an annular operating member for inputting a steering operation during manual operation by the driver.
The steering wheel 150 is provided substantially directly in front of the driver.
The combination meter 141 is visible from the inner diameter side in the upper half of the steering wheel 150 in the occupant's field of view.

The A-pillar 160 is a columnar vehicle body structural member arranged along the side end portion of the windshield 110 and the front end portion of the windshield 120.
The surface of the A-pillar 160 on the vehicle interior side is covered with a resin pillar trim.

The roof 170 is formed so as to extend rearward from the upper end portion of the windshield 110.
The surface of the roof 170 on the vehicle interior side is covered with a resin roof trim.
A stereo camera accommodating portion 171 in which the camera LH11 and the camera RH12 are accommodated is provided at the front end portion of the roof 170 in the central portion in the vehicle width direction.

The rearview mirror 180 is a rear-view mirror provided in the vehicle interior.
The rearview mirror 180 is provided near the upper end portion of the windshield 110 in the center portion in the vehicle width direction via a stay (not shown).

For example, the screen portion of the display device 50 is provided so as to project from the vicinity of the A pillar 160 on the anti-driver side (left side in the case of FIG. 2) in the left-right direction to the center side (windshield 110 side) in the vehicle width direction. ..
A part of the display device 50 is arranged so as to overlap the front side of the windshield 110 when viewed from the viewpoint of the occupant.

Next, the operation of the visual recognition assist device of the first reference example will be described.
FIG. 3 is a flowchart showing the operation of the visual recognition assisting device of the first reference example .
Hereinafter, each step will be described step by step.

<Step S01: Acquisition of forward image data>
The display image generation unit 40 acquires image data in front of the own vehicle captured by the camera LH11 and the camera RH12 from the stereo image processing unit 13 of the stereo camera device 10.
Then, the process proceeds to step S02.

<Step S02: Crew viewpoint position detection>
The occupant monitoring unit 30 performs predetermined image processing on the image data captured by the occupant photographing camera 31 to detect the viewpoint position (coordinate position of the eye portion) of the occupant (driver during manual operation).
For example, the coordinate positions of the left and right eye parts can be detected, and the intermediate point thereof can be used as the viewpoint position used for setting the display range.
Information about the detected viewpoint position is provided to the display image generation unit 40.
After that, the process proceeds to step S03.

<Step S03: Judgment of presence / absence of risk target>
The environment recognition unit 20 determines whether or not there is a risk object that is likely to collide with the own vehicle in the vicinity of the own vehicle and within the range in which the image can be displayed by the display device 50.
Information regarding the discrimination result (presence / absence of risk target) by the environment recognition unit 20 is transmitted to the display image generation unit 40.
When a risk object exists, information such as the relative position, relative speed, and type of the risk object with respect to the own vehicle is also transmitted to the display image generation unit 40.
If the risk object exists, the process proceeds to step S05, and if it does not exist, the process proceeds to step S04.

<Step S04: Normal display image generation>
The display image generation unit 40 generates a normal display image displayed on the display device 50 at the normal time (when the risk object is not detected).
The display magnification of the normal display image can be configured to be the same as or reduced (widened) with respect to the field of view that can be visually observed in front of the own vehicle.
At this time, the display image generation unit 40 sees the display position reference point R (see FIG. 2) set on the image from the viewpoint of the occupant when the viewpoint position of the occupant exists at the position during normal operation. Displayed so that the line-of-sight direction at that time substantially matches the line-of-sight direction when the occupant directly visually observes the portion corresponding to the display position reference point R (the subject displayed at the display position reference point R on the image). Set the image display range and display position.
Then, the process proceeds to step S06.

<Step S05: Risk object close-up image generation>
The display image generation unit 40 generates a risk object close-up image that enlarges and displays the risk object by trimming the area including the risk object from the image data provided by the stereo camera device 10.
At this time, for example, the display color may be changed or the display may be blinked so that the close-up image of the risk object more strongly draws the attention of the occupant.
In addition, a text message or a graphic symbol indicating the existence of a risk object may be displayed. Further, such a display may be used in combination with a voice message, a warning sound, or the like.
In the close-up image of the risk object, the risk object can be always displayed on the display device 50 regardless of the viewpoint position of the occupant.
Then, the process proceeds to step S06.

<Step S06: Display device diagnosis>
The display image generation unit 40 uses the self-diagnosis function included in the display device 50 to determine whether the display device 50 is in a state where it can normally display an image.
If the display device 50 can display the image normally, the process proceeds to step S07, and if the display device 50 cannot display the image normally due to some trouble or the like, the process proceeds to step S10.

<Step S07: Image display execution>
The display image generation unit 40 displays the image generated in step S05 or step S06 by the display device 50, and then proceeds to step S08.

<Step S08: Judgment of presence / absence of viewpoint movement>
The display image generation unit 40 determines whether or not the occupant's viewpoint position has moved based on the detection result of the occupant's viewpoint position by the occupant monitoring unit 30.
If a displacement of a predetermined threshold value or more is detected at the viewpoint position of the occupant, the process proceeds to step S09, and in other cases, a series of processes is terminated.

<Step S09: Change display range>
The display image generation unit 40 changes the display range of the image displayed on the display device 50 according to the displacement of the viewpoint position detected in step S08.
FIG. 4 is a diagram showing a viewing angle detection in the visual recognition assisting device of the first reference example .
FIG. 4 schematically shows a state in which the vehicle is viewed from the vertical direction.
An example will be described in which the viewpoint position of the occupant is displaced from P1 to P2 to the right along the vehicle width direction.
The display image generation unit 40 calculates a viewing angle change amount θ, which is an angle formed by a straight line connecting the viewpoint movement reference points O set at the right end of the display area of the display device 50 and the viewpoint positions P1 and P2, respectively. do.
The display image generation unit 40 displays the image displayed on the display device 50 in the direction opposite to the moving direction of the viewpoint (in this case, on the left side) by the pan amount calculated by multiplying the viewing angle change amount θ by a preset coefficient. ) Pan (horizontal framing movement).
Further, the image displayed on the display device 50 may be tilted (framing movement in the vertical direction) according to the vertical displacement of the viewpoint position by substantially the same method.
Such panning and tilting can be performed by changing the trimming range when trimming the image provided by the stereo camera device 10 when the camera LH11 and the camera RH12 have a sufficiently wide angle of view. can.
In addition, when the risk object is detected and the close-up image of the risk object is displayed, the display range is changed so that the risk object deviates from the display range even if the viewpoint position is moved. Is prohibited and risk objects are always displayed.
After that, a series of processes is terminated.

<Step S10: Image display off>
The display image generation unit 40 stops the image display by the display device 50, and makes the display device 50 substantially transparent so that the occupant can see through it.
After that, a series of processes is terminated.

Hereinafter, a display example of the display device 50 in the visual recognition assist device 1 of the first reference example will be described.
FIG. 2 shows a state in which there is no risk object and the viewpoint position of the occupant is in the position during normal operation.
Since there is no risk object, the display device 50 normally displays a display image.
In the state shown in FIG. 2, trees A, B, C, D, and E stand side by side from the front side along the traveling direction of the own vehicle on the left side of the lane in which the own vehicle is traveling.
In the state shown in FIG. 2, the display range and the display magnification of the image displayed on the display device 50 are substantially the same as the visual field visually observed by the naked eye when the display device 50 is not present.
In this state, substantially the entire trees A, B, and C are visible, but the lower end of the tree D and most of the tree E are invisible.

FIG. 5 is a diagram showing another example of the driver's field of view in the vehicle having the visual recognition assist device of the first reference example , and is a diagram showing a state in which the viewpoint is moved from the state of FIG. 2 to the right side.
The image displayed on the display image 50 is panned to the left side because the viewpoint position of the occupant has moved to the right side from the state shown in FIG.
In the state shown in FIG. 5, the main parts of the trees D and E can be visually recognized in the display device 50, but the trees B and C displayed in the state shown in FIG. 2 are substantially in the display range. It is outside.
In the first reference example , when the occupant wants to visually check the state on the left side from the state shown in FIG. 2, the image displayed on the display device 50 is moved to the left by shifting the viewpoint position to the right. It can be panned to shift the display range to the left for easy visual inspection.

FIG. 6 is a diagram showing another example of the driver's field of view in the vehicle having the visual recognition assist device of the first reference example , and is a diagram showing a state when there is a risk of collision with another vehicle approaching from the side. be.
In the state shown in FIG. 6, there is another vehicle V traveling diagonally to the left and forward of the own vehicle toward the right when viewed from the own vehicle.
At the time shown in FIG. 6, the other vehicle V is recognized as a risk target because the possibility of a collision is high.
The display device 50 displays a close-up image of the risk object in which the image v of the other vehicle, which is an image of the other vehicle V, is always enlarged and displayed.
In the state shown in FIG. 6, the other vehicle V is visible in the vicinity of the left end portion of the windshield 110 in the visual field visually observed with the naked eye, but the other vehicle image v is visually observed with the naked eye in the display device 50. In addition to enlarging the display to other vehicles V, the display color of the screen is different, and a text message indicating that it is dangerous is also displayed to draw the attention of the occupants and encourage appropriate avoidance actions. It has become.

According to the first reference example described above, the following effects can be obtained.
(1) By moving the viewpoint to one side in the horizontal direction by the occupant, the image can be panned (framing movement in the horizontal direction) to the other side in the horizontal direction, and the display range in the horizontal direction according to the intention of the occupant. Can be changed intuitively.
Such an operation is similar to the operation of changing the field of view when visually observing the surroundings of the vehicle through the glass or through mirrors, and is accustomed to an existing vehicle without a visual recognition assist device. Even an occupant can easily use the visual field change function.
(2) By moving the viewpoint to one side in the vertical direction by the occupant, the image can be tilted to the other side in the vertical direction (framing movement in the vertical direction), and the display range in the vertical direction according to the intention of the occupant. Can be changed intuitively.
(3) By providing the viewpoint movement reference point O used for calculating the visual angle change amount θ on the right side (occupant side in the left-right direction) of the display area of the display device 50, the display range is greatly changed by a relatively small viewpoint movement amount. It is possible to obtain a wide range of visibility information without moving the viewpoint excessively.
(4) If there is a risk object, the normal display image is switched to the risk object close-up image, and the risk object is always displayed to draw the attention of the occupants and the visibility of the risk object. Can be enhanced to encourage appropriate measures.

< Second reference example >
Next, a second reference example of the visual recognition assisting device to which the present invention is applied will be described.
In each of the embodiments described below, the parts substantially in common with the above-mentioned first reference example are designated by the same reference numerals, the description thereof will be omitted, and the differences will be mainly described.

FIG. 7 is a diagram showing visual detection in the visual recognition assisting device of the second reference example .
In the second reference example , the viewpoint movement reference point O used for calculating the visual angle change amount θ is provided at the end of the display device 50 on the side opposite to the occupant side (left side) in the left-right direction.
According to the second reference example described above, by suppressing the amount of change in the display range with respect to the amount of movement of the viewpoint, it is possible to prevent the change in the display range from becoming complicated and giving the occupant a sense of discomfort.

< Embodiment >
Next, an embodiment of the visual recognition assisting device to which the present invention is applied will be described.
In the visual recognition assisting device of the embodiment , when the risk object is detected, instead of switching to the risk object close-up image that constantly enlarges the risk object as in the first reference example , the normal display is performed. The pan amount of the image is increased (increased gain) with respect to the movement amount of the viewpoint position in the image.
At this time, the display color may be changed or a warning message may be displayed as in the first reference example .
According to the embodiment described above, when the risk object exists, the pan amount of the image with respect to the viewpoint movement amount increases, which gives a sense of discomfort to the occupant, calls attention to the occupant, and improves safety. Can be done.

(Modification example)
The present invention is not limited to the embodiments described above, and various modifications and changes can be made, and these are also within the technical scope of the present invention.
(1) The configuration of the vehicle and the visual recognition assisting device is not limited to the above-described embodiment, and can be appropriately changed.
For example, the position where the display device is provided and the number of display devices can be appropriately changed.
Further, the functions realized by a single unit or the like in the embodiment may be divided into a plurality of units, or the functions realized by the plurality of units in the embodiment may be aggregated into a single unit.
(2) In the embodiment, a transparent LCD is used as the display device, but the specific configuration of the display device is not limited to this and can be appropriately changed. For example, a general non-transparent LCD or an organic EL display may be used.
Further, the head-up display device may be used to project an image on the windshield or a transparent plate provided separately from the windshield.
(3) In the embodiment, the image captured by the stereo camera device used for environment recognition in front of the own vehicle is used for generating the display image, but a dedicated camera unit may be provided for generating the display image. ..
In this case, instead of changing the trimming range for trimming a part of the wide-angle captured image when panning and shifting the image, the camera itself may be driven by an actuator to change the angle.

1 Visual assistance device 10 Stereo camera device 11 Camera LH 12 Camera RH
13 Stereo image processing unit 20 Environment recognition unit 30 Crew monitoring unit 31 Crew shooting camera 40 Display image generation unit 50 Display device 110 Windshield 120 Front door glass 121 Main body 122 Triangular window 130 Side mirror 140 Instrument panel 141 Combination meter 142 Multi-function display 143 Navigation device display 150 Steering wheel 160 A pillar 170 Roof 171 Stereo camera housing 180 Room mirror A, B, C Tree a, b, c Tree image R Display position reference point V Other vehicle v Other vehicle image P1, P2 Crew's viewpoint position O Viewpoint movement reference point

Claims (1)

An image pickup device that captures the surroundings of the vehicle and
An image display device that displays an image captured by the image pickup device, and an image display device.
A viewpoint detection device that detects the position of the occupant's viewpoint,
A display range changing means for panning an image displayed on the image display device to the other side in the horizontal direction in response to the movement of the viewpoint to one side in the horizontal direction.
Equipped with a risk object detection means to detect risk objects around the own vehicle,
The display range changing means is a visual recognition assisting device, characterized in that, when the risk object is detected, the pan amount of the image is increased with respect to the movement amount of the viewpoint.

Images