KR101941607B1 - Imaging and display device for vehicle and recording medium - Google Patents

Abstract

A vehicle image pickup display device comprising: a display section (14) for displaying an image picked up by a photographing section (12) for photographing the rear of a vehicle; a display section The angle of view of the photographed image displayed on the display unit 14 is switched to a wider angle than the current angle of view and when the predetermined returning condition for returning to the original angle of view is established, And a control section 18 for performing the angle-of-view switching control.

Description

[0001] IMAGING AND DISPLAY DEVICE FOR VEHICLE AND RECORDING MEDIUM [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a vehicle photographing display device and a recording medium for displaying a photographed image photographed from the rear of a vehicle.

There is disclosed a vehicle image pickup apparatus for photographing the rear of a vehicle by a photographing unit such as a camera and displaying a photographed image obtained by photographing on a display unit such as a monitor in a vehicle room to check the rear of the vehicle instead of an optical mirror.

For example, in the invention disclosed in Japanese Patent Application Laid-Open No. 2009-81664, in a relatively large central display area located at the center in the horizontal direction of the video display means, The image is displayed. The right rear side image and the left rear side image are displayed as a compressed image in the outer display area located outside the central display area, rather than the rear image.

Japanese Patent Application Laid-Open No. 2009-81664 discloses that when a rear image is photographed by a rear camera installed on the rear portion of the vehicle, the camera may be installed behind the vehicle, The object is displayed larger than the optical image of the inner mirror. As a result, there is a possibility that the occupant may feel pressure due to the largely marked object, and therefore there is room for improvement.

The present invention provides a vehicle image pickup display device and a recording medium capable of suppressing a feeling of pressure caused by a large object being displayed when an object behind the vehicle approaches the vehicle.

A vehicle-mounted imaging display device according to a first aspect of the present invention includes: a display portion provided in a front portion of a vehicle compartment and displaying a captured image obtained by photographing a photographing portion photographing the rear of the vehicle; And when a predetermined wide angle condition is established when a distance between an object behind the vehicle and the vehicle approaches, the angle of view of the photographed image displayed on the display unit is switched to the wide angle of view larger than the current angle of view, And a control section for performing an angle-of-view switching control for switching to an original angle of view when a predetermined return condition is established.

According to this aspect, in the display section, a shot image obtained by shooting by the shooting section shooting the rear of the vehicle is displayed.

When the predetermined wide angle condition in which the passenger feels the pressure feeling is established by the object displayed on the display unit by approaching the distance between the object behind the vehicle and the vehicle is set in the control unit, the angle of view of the shot image displayed on the display unit is set to be larger than the current angle of view When the predetermined returning condition for returning to the original angle of view is established, the angle of view switching control for switching to the original angle of view is performed. That is, by switching to the wide angle than the current angle of view, the object is displayed smaller than the case where the angle of view is not switched (for example, the size is displayed to the same size as the size of the image illuminated by the optical mirror) . Therefore, when the object behind the vehicle approaches the vehicle, the feeling of pressure due to the object being displayed larger than necessary can be suppressed.

The distance between the object behind the vehicle and the vehicle means a distance from the photographing unit to the object, a distance from the detecting unit such as the range sensor to the object, or a distance between the vehicle and the vehicle or between the road and the vehicle To the distance detected from the position of the sub-vehicle and the position of the rear vehicle.

The predetermined wide-angle condition in which the occupant feels the pressure feeling due to the object displayed on the display unit is, for example, a threshold value of the distance between the object and the vehicle, a threshold value of the size of the object in the captured image, Quot; refers to a condition that is defined in advance by a threshold value or the like of the ratio occupied with respect to the area.

As a method of switching the angle of view of the shot image to a wider angle than the current angle of view, there are, for example, a method of changing the angle of view by image processing by changing the cut range in the shot image, And a method of optically changing the angle of view. Alternatively, there is a method of preparing a plurality of lenses and a photographing unit having different view angles and switching the lenses, and a method of preparing a plurality of photographing units provided with lenses having different view angles and switching the photographing units.

The returning condition is a condition that is predefined by, for example, a threshold value of the distance between the object and the vehicle, a threshold value of the size of the object in the shot image, or a threshold value of the ratio of the object in the shot image to the display area of the display unit to be. The returning condition may be the same as the predetermined wide-angle condition, but other threshold values may be applied in consideration of hysteresis.

In the above aspect, the control unit may receive a signal indicating retraction of the vehicle, and when the wide angle condition is established, the angle of view of the photographed image may be switched to the wide angle of view than the current angle of view. Thus, even when the distance to the rear vehicle that is stopped at the time of parking is shortened, it is possible to suppress the pressure feeling on the occupant.

Further, when the distance between the object and the vehicle is close, or when the size of the object to be displayed is relatively large, the occupant is likely to feel pressure due to the rear object displayed. Therefore, in the above-described aspect, the wide-angle condition is a condition that when a distance closer to a predetermined distance is detected by a detection unit that detects a distance to an object behind the vehicle, and when the area of the object in the captured image is smaller than a predetermined area And may be established in at least one of the large cases.

In the above aspect, when the vehicle is detected as the object and the wide-angle condition is established, the control unit may switch the angle of view of the captured image to a wider angle than the current angle of view. Thereby, when the rear vehicle approaches, it is possible to suppress the pressure feeling due to the displayed vehicle.

In the above aspect, when switching the angle of view to the wide angle, at least a part of the angle of view of the range in which the left and right widths of the vehicle as the object are displayed, or the outline of the vehicle as the object is displayed on the display unit It may be switched to the angle of view of the range. As a result, the pressure feeling due to the displayed rear vehicle can be reduced.

In the above-described aspect, the control unit switches the view angle so that the distance from the object becomes closer or the size of the object in the captured image becomes larger, You can. As a result, even if the object approaches, the display is not extremely large, and the size of the object does not suddenly decrease, and natural display becomes possible. In the case of gradual transition, it is possible to switch stepwise or continuously.

In the above aspect, the control section may further perform notification control for notifying that the angle of view is being changed when the angle of view is changed to the wide angle. Thus, it is possible to notify the occupant that the view angle is switched and displayed.

The non-transitory storage medium according to the second aspect of the present invention stores a program. The program is a photographing display program for causing a computer to function as a control unit of the photographing display apparatus of the first aspect.

As described above, according to the present invention, it is possible to suppress the pressure feeling caused by the object behind the displayed object, which is generated by approaching the vehicle behind the vehicle and the vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS Features, advantages, and technical and industrial significance of an exemplary embodiment of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals designate like elements.
Fig. 1A is a diagram showing a schematic vehicle mounting position of a vehicle image pickup display device according to the embodiment, and shows a vehicle front side.
Fig. 1B is a view showing a schematic vehicle mounting position of the vehicle image pickup display device according to the embodiment, and shows a rear portion of the vehicle. Fig.
2 is a block diagram showing a schematic configuration of a vehicle image pickup display device according to the present embodiment.
3A is a diagram for explaining display control performed by the image pickup apparatus for a vehicle according to the present embodiment.
3B is a diagram for explaining display control performed by the image pickup apparatus for a vehicle according to the present embodiment.
3C is a diagram for explaining display control performed by the image pickup apparatus for a vehicle according to the present embodiment.
Fig. 3D is a diagram for explaining display control performed by the image pickup apparatus for a vehicle according to the present embodiment.
4 is a flowchart showing an example of the flow of display control performed by the control apparatus of the image pickup apparatus for a vehicle according to the present embodiment.
5 is a flowchart showing an example of the flow of the first modification of the display control performed by the control apparatus of the image pickup apparatus for a vehicle according to the present embodiment.
6A is a diagram showing an example of an image displayed on the monitor when the angle of view is not switched.
6B is a diagram showing an example of an image displayed on the monitor when the angle of view is gradually changed to wide angle.
7 is a view showing an example of the angle of view depending on the distance from the rear object.
8 is a flowchart showing an example of the flow of the second modification of the display control performed by the control apparatus of the image pickup apparatus for a vehicle according to the present embodiment.
9 is a flowchart showing an example of a flow of the third modification of the display control performed by the control apparatus of the image pickup apparatus for a vehicle according to the present embodiment.
10 is a flowchart showing an example of the flow of the fourth modification of the display control performed by the control apparatus of the image pickup apparatus for a vehicle according to the present embodiment.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. Figs. 1A and 1B are views showing a schematic vehicle mounting position of a vehicle image pickup display device according to the present embodiment, wherein Fig. 1A shows a vehicle front side and Fig. 1B shows a vehicle rear side.

The vehicle image pickup display device according to the present embodiment is configured such that an image is taken by a camera 12 as an example of a photographing section provided in a rear portion of a vehicle and a photographed image obtained by photographing by the camera 12 is installed at a position of an inner mirror in a vehicle And displayed on the monitor 14 as an example of one display section. By providing the monitor 14 at the position of the inner mirror, the monitor 14 can function as an inner mirror.

In the present embodiment, a half mirror is provided on the display surface side of the monitor 14. In the half mirror, when the monitor 14 is turned on and in the display state, the displayed image is transmitted and the rear clock by the monitor 14 can be confirmed. On the other hand, when the monitor 14 is turned off and is in the non-display state, the rearward clock can be confirmed by the optically reflected image of the half mirror.

The bumper on the rear portion of the vehicle is provided with a range sensor 16 as an example of the detection portion, and distance information regarding the distance to the rear object is detected. In Fig. 1B, a plurality of (four in Fig. 1B) range finder sensors 16 are provided on the bumper, but the number is not limited. But it may be one or two or more as long as it can cover the required area by the single range sensor 16. Since the positional relationship between the camera 12 and the position sensor 16 is predetermined, the distance from the camera 12 to the object can be detected by detecting the distance by the position sensor 16.

A control device 18 for controlling the camera 12 and the monitor 14 is provided in the trunk. As an example, the control device 18 is described as an example in which a vehicle is installed in a trunk, but the arrangement is not limited thereto, and may be provided at other places in the vehicle.

Fig. 2 is a block diagram showing a schematic configuration of the image pickup apparatus 10 for a vehicle according to the present embodiment.

The vehicle image pickup display device 10 according to the present embodiment includes a camera 12, a monitor 14, a range sensor 16, a switch 20, and a controller 18 as an example of a controller.

The camera 12 photographs the rear of the vehicle and outputs the photographing result to the control device 18. [ The camera 12 is disposed, for example, outside the vehicle (for example, a trunk or the like as shown in FIG. 1B), and photographs the rear of the vehicle as the surroundings of the vehicle. In the present embodiment, the camera 12 is provided outside the vehicle, but it may be formed in the vehicle.

The monitor 14 is provided at a position where the inner mirror is generally disposed, and is connected to the control device 18. [ Specifically, the position where the inner mirror is generally disposed may be, for example, the position of the front side of the vehicle at the center in the vehicle width direction of the ceiling or the vicinity of the upper part of the center of the front window shielding glass. Further, the monitor 14 in the present embodiment is provided at the position of the inner mirror, but it is not limited to this, and it may be provided at the front part in the vehicle room such as the upper part of the instrument panel. The photographed image photographed by the camera 12 is displayed on the monitor 14 under the control of the control device 18. [

The range sensor 16 is a sensor for detecting the distance to an object such as a vehicle behind the vehicle, and outputs distance information about the distance to the rear object to the control device. The range sensor 16 detects distance information by outputting a signal such as an ultrasonic wave or an infrared ray and receiving a signal reflected from the object. 1B shows a plurality of the range sensors 16, but in FIG. 2, one range sensor 16 is representatively shown.

The switch 20 is a switch for turning on and off the display of the monitor 14. The result of the operation of the switch 20 is inputted to the control device 18 and the monitor 14 On / off. The switch 20 may be provided at a portion corresponding to a lever for switching the anti-glare of the inner mirror, for example.

The control device 18 is constituted by a microcomputer in which a CPU 18A, a ROM 18B, a RAM 18C and an I / O (input / output interface) 18D are connected to a bus 18E, respectively.

The ROM 18B stores various programs such as a program for performing display control for displaying a photographed image photographed by the camera 12 on the monitor 14. The program stored in the ROM 18B is expanded in the RAM 18C and is executed by the CPU 18A to control the display of the photographed image on the monitor 14 and the like.

The camera 12, the monitor 14, the position sensor 16, and the switch 20 are connected to the I / O 18D. The control device 18 acquires the image pickup result of the camera 12 and performs processing for displaying the image on the monitor 14 (for example, processing such as mirror image conversion for reversing the left and right of the picked- And displays the photographed image on the monitor 14. In the present embodiment, a process of cutting out an image in a range of a view angle of a predetermined reference from the photographed image of the camera 12 is performed, and the cut image is displayed on the monitor 14. In addition, a predetermined angle of view of a range that satisfies the regulations is applied to the predetermined angle of view. For example, the angle of view when a range approximately equal to the range of the optical inner mirror is displayed on the monitor 14 may be applied as a predetermined angle of view.

However, in the conventional optical type inner mirror, even if the rear vehicle approaches, the occupant does not feel pressure. However, in the vehicle image pickup display device 10 according to the present embodiment, the camera 12 is installed in the rear part of the vehicle , And the objects close to each other are larger than the conventional ones. Therefore, when an object such as a rearward vehicle approaches the rear of the vehicle, there is a fear that the occupant feels pressure.

Therefore, in the vehicle image pickup display device 10 relating to the present embodiment, when the distance between the object behind the vehicle and the vehicle is approaching, a predetermined wide angle condition in which the occupant feels the pressure feeling by the object displayed on the monitor 14 is established Angle switching control for switching to the original angle of view is performed when a predetermined returning condition for returning to the original angle of view is established. More specifically, when the distance from the rear object is closer to a predetermined distance (for example, 2 m), the image is switched to a wider angle than the predetermined angle of view (hereinafter sometimes referred to as a wide angle). When the distance from the rear object is more than a predetermined distance, the angle of view is changed to the original reference angle. In the present embodiment, instead of displaying the entire photographed image of the camera 12 on the monitor 14, a range of a part of the image is cut off and displayed, and the range of cut is changed to change the angle of view. And the display control is performed. More specifically, in the display control for switching the angle of view, after a range corresponding to the angle of view to be changed is cut out from the captured image, image processing (for example, image processing for adjusting the number of pixels in the display area of the monitor 14, Image processing such as interpolation, reduction, compression, pixel thinning, or interpolation) is performed and displayed. In the following description, mirror image conversion and image processing to fit the display area of the monitor 14 are omitted Explain.

Specifically, it is assumed that the rear vehicle X as the object is displayed on the monitor 14 as shown in Fig. 3A. The rear vehicle X approaches and is displayed on the monitor 14 largely so that the occupant feels a sense of pressure. Therefore, when the distance from the rear vehicle X becomes shorter than a predetermined distance, do. For example, as shown in FIG. 3C, the angle of view is changed to a wide angle, and the rear vehicle X is displayed on the monitor 14 so as to be smaller than when the angle of view is not changed. When the distance from the rear vehicle X is more than the predetermined distance, the original image is returned to the original image angle and the photographed image is displayed on the monitor 14. [

Further, as shown by the dotted line in Fig. 3C, a mark 22 indicating that the angle of view is made wide angle may be displayed to notify the occupant that the angle of view is wide angle. Alternatively, notification control for generating voice, light, or the like may be performed to notify that the angle of view is changed to a wide angle.

As a method of changing the angle of view to a wide angle, a mode of changing the angle of view by changing the cut-out range from the entire photographed image of the camera 12 as described above is applied in the present embodiment, When the lens can be driven, a zoom lens or the like may be driven to optically change the angle of view. Alternatively, a plurality of lenses and cameras having different angle of view may be prepared and the lenses may be switched. Alternatively, a plurality of cameras provided with lenses having different angle of view may be prepared and the camera may be switched. Alternatively, the angle of view may be switched by combining each of the above.

3C, at least a part of the angle of view of the range in which the left and right widths of the rear vehicle X are displayed, or the outline of the rear vehicle X is displayed on the monitor 14 The angle of view of the displayed range may be changed to a wide angle. Alternatively, as shown in Fig. 3D, the road surface on the lower side of the rear vehicle X may be wide-angle to the view angle of the range in which the road surface is displayed.

Subsequently, concrete display control performed by the control device 18 of the image pickup apparatus 10 for a vehicle according to the present embodiment configured as described above will be described. 4 is a flowchart showing an example of the flow of display control performed by the control device 18 of the image pickup apparatus 10 for a vehicle according to the present embodiment. The process of Fig. 4 starts when the switch 20 is turned on with an ignition switch (not shown) turned on.

In step 100, the CPU 18A acquires a photographed image of the camera 12, starts displaying the photographed image on the monitor 14, and proceeds to step 102. [ In the present embodiment, a range corresponding to the angle of view of a predetermined reference in the captured image of the camera 12 is cut out and displayed on the monitor 14. Thereby, the photographed image on the rear side of the vehicle is displayed on the monitor 14, and it becomes possible to perform the rearward confirmation.

In step 102, the CPU 18A detects the distance to the rear object on the basis of the detection result of the distance sensor 16, and proceeds to step 104. [

In step 104, the CPU 18A determines whether or not the distance to the object is less than a predetermined threshold value. If the determination is affirmative, the process proceeds to step 106. If the determination is negative, the process proceeds to step 113.

In step 106, the CPU 18A determines whether the angle of view is changed to the wide angle to be wide angle by performing the step 108 already described below. If the determination is negative, the process proceeds to step 108. If the determination is affirmative, the process proceeds to step 110. [

In step 108, the CPU 18A changes the display image to the wide angle and proceeds to step 110. [ More specifically, the range of cropping from the picked-up image obtained by the photographing of the camera 12 is enlarged to make the view angle larger than the currently displayed picked-up image. Thus, even when the object such as the rear vehicle X approaches the subject vehicle, the angle of view is changed to the wide angle, so that the captured image which gives a feeling of pressure to the occupant is not displayed.

In step 110, the CPU 18A detects the distance to the object again and determines whether or not the distance from the object is equal to or greater than a predetermined threshold value. If the determination is affirmative, the process proceeds to step 112. If the determination is negative, the process proceeds to step 114.

In step 112, the CPU 18A restores the angle of view to the original angle of view and proceeds to step 114. [

On the other hand, in step 113, the CPU 18A determines whether the angle of view is changed to the wide angle to be wide angle by executing step 108 already. If the determination is affirmative, the process proceeds to step 112. If the determination is negative, the process proceeds to step 114.

In step 114, the CPU 18A determines whether or not the switch 20 has been operated and display-off has been instructed. If the determination is affirmed, the series of processes is terminated. If the determination is negative, the process returns to step 102 and the above-described process is repeated.

In this way, when the distance from the rear object is closer than a predetermined distance, the angle of view of the photographed image is switched to the wide angle, and when the distance from the object is more than a predetermined distance, It is possible to suppress the pressure feeling on the passenger because the passenger does not appear larger than the conventional one.

The predetermined distance of the wide angle condition for making the angle of view wide angle and the predetermined distance of the return angle for returning the original angle of view may be the same distance but may be set at different distances to prevent chattering It is preferable to set hysteresis in the process.

In the above embodiment, the angle of view is switched to the wide angle when the distance from the rear object is closer than a predetermined distance, regardless of the type of rear object, but the rear object may be limited to the vehicle. For example, as shown in Fig. 5, steps 101 and 116 may be added to the process of Fig.

That is, in step 100, the CPU 18A acquires the photographed image of the camera 12, starts displaying the photographed image on the monitor 14, and proceeds to step 101. [

In step 101, the CPU 18A determines whether or not there is a rearward vehicle X. The determination is made by detecting the rear vehicle X by performing image processing such as pattern matching on the basis of, for example, a captured image of the camera 12. If the determination is affirmative, the process proceeds to step 102. If the determination is negative, the process proceeds to step 116.

In step 116, the CPU 18A determines whether the angle of view is switched to the wide angle to be wide angle by performing step 108 already. If the determination is affirmative, the process proceeds to step 112. If the determination is negative, the process proceeds to step 114.

Thus, by adding steps 101 and 116, when the rear vehicle X approaches the predetermined distance, the angle of view can be changed to return to the original angle of view when the distance is more than a predetermined distance. Thus, even when the rear vehicle X approaches, the angle of view becomes wide, so that the rear vehicle X displayed on the monitor 14 is not displayed as large, so that the pressure on the occupant can be suppressed.

However, in the above embodiment, when the rear object is closer than a predetermined distance, the angle of view is changed to a wide angle. However, when the angle of view is changed to wide angle at once, the rear object displayed on the monitor 14 is suddenly displayed small, You can think of giving the passengers a sense of incongruity. Therefore, when the distance from the rear object is closer than a predetermined distance, the angle of view may be gradually increased to a wide angle.

For example, an image displayed on the monitor 14 when the angle of view is not switched is shown in Fig. 6A, and a case in which the angle of view is gradually changed to wide angle is shown in Fig. 6B. When the angle of view is not switched even if the distance to the object on the rear side (the vehicle in Figs. 6A and 6B) approaches, the entire rear vehicle X is gradually brought closer from the displayed state as shown in Fig. 6A, X are displayed in a larger size so that only a part of the rear vehicle X is displayed. 6B, even if the rear vehicle X approaches, the rear vehicle X is not displayed in an extremely large state, and the size of the rear vehicle X is not suddenly reduced , Natural display becomes possible. As a specific method for gradually changing the angle of view to a wide angle, for example, as shown in Fig. 7, the angle of view corresponding to the distance from the object behind can be determined in advance and switched to a angle of view corresponding to the distance. Here, when the distance from the object on the rear side is gradually increased, the light is gradually changed to a wide angle as shown by a solid line in FIG. 7, or may be nonlinearly wide angle as shown by a broken line in FIG. In the case of gradually changing to wide angle, it is possible to switch continuously as shown in Fig. 7, but it is also possible to switch stepwise. As described above, at least a part of the angle of view of the range in which the left and right widths of the rear vehicle X are displayed, or the outline of the rear vehicle X, The angle of view may be changed to the angle of view of the range shown in Fig. Alternatively, it may be made wide angle to the view angle of the range in which the road surface on the lower side of the rear vehicle X is displayed.

In the above-described embodiment, the angle of view is switched when the distance from the rear object is smaller than a predetermined distance, as a predetermined wide-angle condition in which the occupant feels pressure due to the object displayed on the monitor 14. However, The wide angle condition is not limited to this. For example, when the ratio of the screen occupied by the object displayed on the monitor 14 is more than a predetermined ratio, the angle of view may be switched to the wide angle. Alternatively, the angle of view may be switched to the wide angle when the size of the captured image of the rear object is larger than a predetermined size. In this case, for example, the area of the object in the photographed image is calculated, and when the calculated area is larger than the predetermined area, the angle of view may be switched to the wide angle. As a specific process, step 103 is performed instead of steps 102 and 104 of FIG. 4, and step 109 is performed instead of step 110, as shown in FIG. That is, in step 103, it is determined whether or not the size of the object in the shot image is larger than a predetermined threshold value. If the determination is affirmative, the process proceeds to step 106, and if not, the process proceeds to step 114. In step 109, it is determined whether or not the size of the object in the photographed image is less than or equal to a predetermined threshold. If the determination is affirmative, the process proceeds to step 112, and if not, the process proceeds to step 114.

Or from a result of a sensory test or the like that the feeling of pressure is reduced at a distance shorter than a predetermined distance (for example, 2 m, for example) or when the object of the monitor 14 is not filled with a sufficient display range. Therefore, the angle of view may be switched to the wide angle when the distance to the object is closer than a predetermined distance, and the size of the rear object in the captured image is larger than a predetermined size. In this case, the returning condition for returning to the original angle of view may be a case where the distance to the object is more than a predetermined distance, or a case where the size of the rear object in the captured image is less than or equal to a predetermined size. Alternatively, a case where the distance to the object is farther than a predetermined distance, and the size of the rear object in the captured image is less than or equal to a predetermined size may be applied to the return condition. As a specific example of the processing, for example, step 105 is performed instead of step 104 of FIG. 4, and step 111 is performed instead of step 110, as shown in FIG. That is, in step 105, it is determined whether or not the distance to the object is closer than a predetermined distance, and the size of the rear object in the captured image is larger than a predetermined threshold. If the determination is affirmative, If the result is negative, the process proceeds to step 114. In step 111, it is determined whether or not the above-described return condition is established. If the determination is affirmative, the process proceeds to step 112. If the determination is affirmative, the process proceeds to step 114.

Alternatively, the angle of view may be switched to the wide angle when the distance to the object is closer than a predetermined distance, or when the size of the object in the captured image of the rearward side is larger than a predetermined size.

8 and 9, steps 101 and 116 may be added as described with reference to Fig.

In the above embodiment, the angle of view is switched to the wide angle when the wide-angle condition for changing the angle of view is established regardless of the running direction of the vehicle. However, the traveling direction of the vehicle when switching the angle of view is restricted You can.

For example, as shown in Fig. 10, step 101A may be added after step 100 to the process of Fig. Alternatively, with respect to FIG. 4, FIG. 8, or FIG. 9, step 101A may be added after step 100 as in FIG.

10, in step 100, the CPU 18A acquires the photographed image of the camera 12, starts displaying the photographed image on the monitor 14, and moves to step 101A.

In step 101A, the CPU 18A determines whether the vehicle is being retracted. The determination determines whether or not the vehicle is being retracted, for example, by determining whether or not a signal indicating retraction of the vehicle such as a shift position sensor or a back switch has been received. If the determination is affirmative, the process proceeds to step 101, and if not, the process proceeds to step 116.

Thus, by adding step 101A, it is possible to switch the angle of view when the rear vehicle X is closer to the predetermined distance at the time of retreating, and to return to the original angle of view when the distance is more than a predetermined distance. Thus, even when the distance to the rear vehicle stopped at the time of parking is short, the pressure feeling on the occupant can be suppressed.

In the above embodiment, the example in which the distance from the rear object is detected by the distance sensor 16 has been described. However, the method of detecting the distance from the object is not limited to the distance sensor 16. [ For example, the vehicle-to-vehicle communication or the road-to-vehicle communication may be performed to acquire the position information of the rear vehicle X and the distance to the rear vehicle. Alternatively, the distance to the object may be detected from the captured image of the single-eye camera using image processing such as projection difference or optical flow. Alternatively, the distance between the captured image captured by the stereo camera and a rear object may be detected.

The display control shown in Figs. 4, 5, 8, and 9 performed by the control device 18 of the vehicle image pickup display device 10 in the above embodiment is described as software processing performed by executing a program However, the processing may be performed by hardware. Alternatively, a combination of software and hardware may be used. The program stored in the ROM may be stored in various storage media and circulated.

It is needless to say that the present invention is not limited to the above, but may be modified in various ways within the scope not departing from the gist of the invention.

Claims (8)

1. A vehicle image pickup display device,
A display section (14) provided at a front portion of the vehicle cabin for displaying a photographed image obtained by photographing the photographing section (12) for photographing the rear of the vehicle,
The angle of view of the photographed image displayed on the display unit 14 is switched to a wider angle than the current angle of view when a predetermined wide angle condition is established when the distance between an object behind the vehicle and the vehicle approaches, And a control unit (18) for performing an angle-of-view switching control for switching to an original angle of view when a predetermined return condition for returning is established,
The predetermined distance between the predetermined distance of the wide angle condition for making the angle of view wide angle and the predetermined distance of the returning condition for returning the original angle of view to the original angle of view are set to different distances. The method according to claim 1,
Wherein the control unit (18) receives a signal indicating retreat of the vehicle, and switches the angle of view of the shot image to a wider angle than a current angle of view, when the wide angle condition is established. 3. The method according to claim 1 or 2,
The wide angle condition is a condition in which a distance closer to a predetermined distance is detected by the detection unit 16 for detecting the distance from the object behind the vehicle and a case where the area of the object in the captured image is larger than a predetermined area Wherein the image pickup device is mounted on one side of the vehicle. 3. The method according to claim 1 or 2,
Wherein the controller (18) switches the angle of view of the shot image to a wider angle than the current angle of view, when the vehicle (X) is detected as the object and the wide angle condition is established. 5. The method of claim 4,
When switching the angle of view to the wide angle, the controller 18 controls the angle of view of the range in which the left and right widths of the vehicle X as the object are displayed, or at least a part of the contour of the vehicle X as the object, And switches to an angle of view of the displayed range. 3. The method according to claim 1 or 2,
The control unit (18), when performing the angle-of-view switching control, changes the angle of view so that the angle of view becomes gradually larger as the distance from the object becomes closer or as the size of the object in the taken image increases, Device. 3. The method according to claim 1 or 2,
Wherein the control section (18) further performs a notification control to notify that the angle of view is being changed when the angle of view is changed to the wide angle. A storage medium storing a program,
Wherein the program is a photographing display program for causing a computer to function as the control section (18) of the photographing display device (10) according to any one of claims 1 to 4.

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