WO2019155936A1 - Visual recognition device for vehicle - Google Patents

Visual recognition device for vehicle Download PDF

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Publication number
WO2019155936A1
WO2019155936A1 PCT/JP2019/002875 JP2019002875W WO2019155936A1 WO 2019155936 A1 WO2019155936 A1 WO 2019155936A1 JP 2019002875 W JP2019002875 W JP 2019002875W WO 2019155936 A1 WO2019155936 A1 WO 2019155936A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
image
camera
unit
visual recognition
Prior art date
Application number
PCT/JP2019/002875
Other languages
French (fr)
Japanese (ja)
Inventor
誠二 近藤
Original Assignee
株式会社東海理化電機製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社東海理化電機製作所 filed Critical 株式会社東海理化電機製作所
Publication of WO2019155936A1 publication Critical patent/WO2019155936A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/26—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/02—Rear-view mirror arrangements
    • B60R1/04—Rear-view mirror arrangements mounted inside vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a vehicular visual recognition device for visualizing a vehicle periphery by photographing the vehicle periphery and displaying a captured image.
  • a technique is known in which a vehicle visual device for displaying a photographed image around a vehicle and visually recognizing the vehicle periphery is mounted on the vehicle instead of the optical mirror.
  • Japanese Patent Application Laid-Open No. 2005-328181 includes a direction specifying unit that specifies a direction in which it is necessary to call attention in the subsequent driving of the vehicle according to the driving state of the vehicle detected by the driving state detection unit.
  • the display area for displaying the images of the rear camera, the left side camera, and the right side camera the display area for displaying the video of the camera capturing the direction specified by the direction specifying unit is set as the video of the other camera. It has been proposed to display images of the rear camera, the left camera, and the right camera in an enlarged manner from the display area for displaying the image.
  • the present invention has been made in consideration of the above-described facts, and provides a vehicular visual recognition device capable of suppressing and displaying a double image area and a blind spot area when a plurality of captured images are combined and displayed.
  • the purpose is to do.
  • a first aspect includes a display unit that is provided in front of the vehicle interior and displays an image, a first imaging unit that is provided on one side of both sides of the vehicle and captures the rear of the vehicle, and a vehicle A display unit configured to combine a captured image of each of the first image capturing unit and the second image capturing unit; A control unit that performs display control to be displayed.
  • the display unit is provided in the front of the vehicle interior, an image is displayed on the display unit, the first imaging unit is provided on one side of both sides of the vehicle, and the first imaging unit is behind the vehicle. Is filmed.
  • the second photographing unit is provided at the rear portion of the vehicle and at one end portion in the vehicle width direction, and the rear of the vehicle is photographed by the second photographing unit.
  • control unit display control is performed in which a combined image obtained by combining the captured images of the first imaging unit and the second imaging unit is displayed on the display unit.
  • the first image capturing unit is provided on one side of the vehicle on both sides, and the second image capturing unit is provided on the rear side of the vehicle and on one side end in the vehicle width direction, and the captured images are combined and displayed.
  • a composite image in which the double image area and the blind spot area are suppressed can be displayed.
  • the display control is performed by combining the captured images of the first imaging unit and the second imaging unit with the extension line on the body side as a boundary, thereby generating a composite image in which the double image area and the blind spot area are suppressed. It is possible to display.
  • the second photographing unit includes an optical system having a predetermined wide angle of view, and the control unit generates a virtual screen used when generating a composite image to be displayed on the display unit with respect to a direction orthogonal to the vehicle longitudinal direction.
  • the composite image may be generated by tilting.
  • the second photographing unit may be arranged with the photographing direction inclined in the direction of the other side on both sides of the vehicle with respect to the rear of the vehicle.
  • the optical system of the second photographing unit has an angle of view of 90 degrees or more, and is arranged with the photographing direction inclined by 45 degrees in the direction of the other side with respect to the rear of the vehicle, and the control unit is disposed on the display unit.
  • a third imaging unit that is provided on the other side of the both sides of the vehicle and captures the rear of the vehicle is further provided, and the control unit captures each captured image of the first imaging unit, the second imaging unit, and the third imaging unit. Display control for displaying the combined image on the display unit may be performed.
  • (1) is a figure which shows the example which has arrange
  • (2) is a rear camera.
  • (3) shows a blind spot area between the composite image displayed on the monitor and the image displayed on the side monitor in (1).
  • (4) is a diagram showing a blind spot area between the composite image displayed on the monitor and the image displayed on the side monitor in (2).
  • (1) is a diagram showing an example in which the angle of view of the rear camera is 90 degrees
  • (2) is a diagram showing an example in which the virtual screen is changed in (1)
  • (3) is a composite image in (2). It is a figure which shows the area
  • FIG. 1A is a top view of a vehicle provided with a vehicle visual recognition device according to the present embodiment
  • FIG. 1B is a plan view of a vehicle interior provided with the vehicle visual recognition device viewed from the rear of the vehicle. is there.
  • FIG. 2A is a front view of an inner mirror provided in the vehicle compartment of the vehicle as viewed from the rear side of the vehicle
  • FIG. 2B is a front view of the side monitor as viewed from the rear side of the vehicle.
  • FIG. 3 is a block diagram showing a schematic configuration of the vehicular visual recognition device 10 according to the present embodiment.
  • arrow FR indicates the front side of the vehicle
  • arrow W indicates the vehicle width direction
  • arrow UP indicates the upper side of the vehicle.
  • a right-hand drive vehicle having a right driver's seat will be described as an example.
  • the vehicle visual recognition device 10 is provided with a rear camera 14 and a door camera 16 (16L, 16R).
  • the rear camera 14 is disposed at the rear of the vehicle and at the left end in the vehicle width direction, and can capture the rear of the vehicle 12 at a predetermined angle of view (shooting area).
  • the door camera 16 ⁇ / b> L is provided on the left side of the vehicle 12 and the door camera 16 ⁇ / b> R is provided on the right side of the vehicle 12.
  • the door cameras 16L and 16R can photograph the rear of the vehicle from the side of the vehicle body with a predetermined angle of view (imaging area).
  • the rear camera 14 as the second photographing unit, the door camera 16L as the first photographing unit, and the door camera 16R as the third photographing unit photograph the rear of the vehicle as the periphery of the vehicle. Specifically, a part of the shooting area of the rear camera 14 overlaps a part of the shooting area of the door cameras 16L and 16R, and the rear camera 14 and the door cameras 16L and 16R make the rear of the vehicle diagonally right behind the vehicle body. It is possible to take a picture over a range diagonally from the left to the rear. Thereby, the rear side of the vehicle 12 is photographed at a wide angle.
  • An inner mirror 18 is provided in the vehicle compartment of the vehicle 12, and the base portion of the bracket 20 is attached to the vehicle front side of the vehicle interior ceiling surface and in the center in the vehicle width direction.
  • the bracket 20 is provided with a monitor 22 having a long rectangular shape as a display unit.
  • the monitor 22 has a longitudinal direction that is a vehicle width direction and a display surface that faces the rear of the vehicle. It is attached to the lower end. As a result, the monitor 22 is disposed in the vicinity of the upper portion of the front windshield glass on the front side of the vehicle, and a display surface for displaying an image is made visible to the passenger in the vehicle interior.
  • the display surface of the monitor 22 is provided with a half mirror (wide mirror). When the monitor 22 is not displayed, the rear view through the rear window glass and the door glass is displayed on the half mirror. Is done.
  • the bracket 20 is provided with an inner camera 24, and the inner camera 24 is fixed to the bracket 20 on the upper side of the monitor 22 (the vehicle interior ceiling side).
  • the shooting direction of the inner camera 24 is directed toward the rear of the vehicle, and the inner camera 24 images the vehicle interior and the rear of the vehicle from the front side of the vehicle.
  • the shooting area of the inner camera 24 includes a rear window glass and a door glass of the side door, and the shooting areas of the rear camera 14 and the door cameras 16L and 16R can be shot through the rear window glass and the door glass. Yes.
  • the imaging area of the inner camera 24 includes a center pillar, a rear pillar, a rear side door, a rear seat, a vehicle interior ceiling, and the like that can be seen in the vehicle interior.
  • the imaging area of the inner camera 24 may include a front seat.
  • a side monitor 26 as a photographed image display unit is provided on the right front side of the driver's seat on the right side (the other side) of the monitor 22 in front of the passenger compartment, and the side monitor 26 is photographed by the door camera 16R. The captured image is displayed.
  • the vehicular visual recognition device 10 is provided with a control device 30 as a control unit, to which a rear camera 14, door cameras 16L and 16R, a monitor 22, an inner camera 24, and a side monitor 26 are connected.
  • the control device 30 includes a microcomputer in which a CPU 30A, a ROM 30B, a RAM 30C, a nonvolatile storage medium (for example, EEPROM) 30D, and an I / O (input / output interface) 30E are connected to a bus 30F.
  • Various programs such as a vehicle visual display control program are stored in the ROM 30B and the like.
  • the CPU 30A reads out and executes the program stored in the ROM 30B and the control device 30 causes the monitor 22 to visually recognize the occupant. Display an auxiliary image.
  • the control device 30 generates an outside image by superimposing the outside images taken by the rear camera 14 and the door camera 16L. Further, the control device 30 generates a passenger compartment image from the captured image captured by the inner camera 24. Furthermore, the control device 30 generates a display image by superimposing the outside image and the passenger compartment image, and performs control to display the display image on the monitor 22 as shown in FIG. 2A. In addition, the control device 30 performs control to generate an image to be displayed on the side monitor 26 from a captured image captured by the door camera 16R and display the image on the side monitor 26 as illustrated in FIG. 2B.
  • the monitor 22 and the side monitor 26 are provided on the front side of the passenger compartment from the driver's seat, and the image displayed on the monitor 22 is horizontally reversed with respect to the captured image.
  • the mirror image conversion process for horizontally reversing the image may be omitted.
  • the viewpoint position of the captured image is different among each of the rear camera 14, the door cameras 16L and 16R, and the inner camera 24.
  • the control device 30 performs viewpoint conversion processing for aligning the viewpoint position with each of the captured images of the rear camera 14, the door cameras 16L and 16R, and the inner camera 24.
  • a virtual viewpoint is set in front of the vehicle with respect to the center position of the monitor 22 (intermediate position in the vehicle width direction and the vertical direction), and the rear camera 14, door camera 16L, door camera 16R, and inner camera 24 are set.
  • Each captured image is converted into an image viewed from a virtual viewpoint.
  • a virtual screen is set behind the vehicle together with the virtual viewpoint.
  • the virtual screen is described as a flat surface in order to simplify the description.
  • the virtual screen may be a curved surface that is convex toward the rear of the vehicle (a curved surface that is concave as viewed from the vehicle 12).
  • the viewpoint conversion processing any method for converting each captured image into an image projected on the virtual screen when viewed from the virtual viewpoint is applied.
  • Each shot image appears to overlap the same object shown in different shot images by performing viewpoint conversion processing using the same virtual viewpoint and virtual screen. That is, when it is assumed that the object reflected through the rear window glass and the door glass in the captured image of the inner camera 24 is reflected in the captured images of the rear camera 14 and the door camera 16L, the image of the object is Looks like they overlap.
  • the control device 30 performs a trimming process on each captured image of the rear camera 14 and the door camera 16L that have performed the viewpoint conversion process, and extracts an image of an area to be displayed on the monitor 22.
  • the control device 30 performs a trimming process on the photographed image of the inner camera 24 to extract an image of an area to be displayed on the monitor 22 as a passenger compartment image. Moreover, in the control apparatus 30, the transmittance
  • the vehicle interior image has a higher transmittance, so that the transparency is increased and the transparency is increased, and the image is lighter (looks thinner) than when the transmittance is low.
  • a transmittance that enables recognition of an image outside the vehicle on the composite image is set as the transmittance set in the passenger compartment image.
  • control device 30 transmits, as the transmittance with respect to the passenger compartment image, the rear pillar image, the upper portion of the rear pillar of the passenger compartment ceiling image, and the image of the other vehicle body portion in the lower portion of the rear pillar of the rear seat image. Is set too low (the image looks dark).
  • the transmittance of the images of the rear window glass and the door glass may be 100% (total transmission), or may be the same transmittance as the image of the vehicle body portion excluding the rear pillar.
  • an image of the vehicle interior ceiling at the upper part of the rear pillar, an image of the rear side door at the lower part of the rear pillar, and an image of the rear seat are included as the image of the vehicle body part that sets the transmittance low. It is.
  • the control device 30 performs a trimming process on each captured image of the rear camera 14 and the door camera 16R, and extracts an image of an area to be displayed on the monitor 22.
  • FIG. 4 is a top view plane showing a blind spot area that is closer to the vehicle 12 than the virtual screen and a double image area that is farther from the vehicle than the virtual screen when three captured images are combined.
  • the range indicated by the two-dot chain line is the shooting range of the door camera 16L
  • the range indicated by the one-dot chain line is the shooting range of the door camera 16R
  • the range indicated by the dotted line is the range of the rear camera 14.
  • the shooting range is displayed on the side monitor 26, and the captured images of the door camera 16L and the rear camera 14 are combined and displayed on the monitor 22.
  • the captured images of the door camera 16L and the rear camera 14 are combined, they are combined on the virtual screen 60 as shown in FIG.
  • a photographed image on the outside of the vehicle is extracted from an intersection of the body side extension line and the virtual screen 60 from the photographed image of the door camera 16L, and the body side extension line and the virtual screen are extracted from the photographed image of the rear camera 14.
  • a captured image on the vehicle center direction side is extracted from the intersection with 60 to generate a composite image.
  • a blind spot area is generated in an area closer to the vehicle than the virtual screen 60 (hatched portion in FIG. 4).
  • a double image is generated in a region farther from the vehicle than the virtual screen 60 (the black portion in FIG. 4).
  • the rear camera 14 is disposed at the rear end of the vehicle and at one end in the vehicle width direction (left end in the present embodiment). More preferably, each camera is disposed at a position where there is no parallax between the door camera 16L and the rear camera 14 (the positions in the vehicle width direction are substantially the same) and the body is not covered. Specifically, the cameras are arranged so that the door camera 16L and the rear camera 14 are arranged on the extension line of the body side. The position is not limited to being completely on the extension line, but may be a position close to the extension line.
  • the door camera 16L is arranged on the side of the vehicle, and the rear camera 14 is arranged at the rear side of the vehicle and at one side end in the vehicle width direction, so that the shooting area of the rear camera 14 is an area indicated by a dotted line as shown in FIG.
  • the shooting region of the door camera 16L is a region indicated by a two-dot chain line.
  • the captured images of the door camera 16L and the rear camera 14 are combined as described above. That is, from the captured image of the door camera 16L, a captured image outside the vehicle is extracted from the intersection of the body-side extension line and the virtual screen 60, and from the captured image of the rear camera 14, the body-side extension line and the virtual screen 60 A captured image on the vehicle center direction side is extracted from the intersection of the two, and a composite image is generated with the extension line on the body side as a boundary. As a result, as shown in FIG. 5B, the composite image displayed on the monitor 22 has no blind spot area and no double image is generated. As the rear camera 14 is displaced from the door camera 16L toward the center of the vehicle in the vehicle width direction, the blind spot area and the double image area increase. As described above, the door camera 16L and It is desirable to arrange the rear camera 14 on an extension line on the body side.
  • FIG. 6 is a flowchart illustrating an example of a flow of processing when an image is displayed on the monitor 22 performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment.
  • the process of FIG. 6 is performed by executing the vehicle visual display control program, and starts when an ignition switch (IG) (not shown) is turned on. Further, a switch for switching between display and non-display of the monitor 22 may be provided, and the process may be started when the display is instructed. In this case, when the switch is turned on, the image display on the monitor 22 is started, and when the switch is turned off, the image display on the monitor 22 is finished, and the monitor 22 is moved to the room mirror (half-width). Function as a mirror).
  • IG ignition switch
  • step 100 the CPU 30 ⁇ / b> A captures the vehicle interior with the inner camera 24, so that a captured image in the vehicle interior is read and the process proceeds to step 102.
  • step 102 the CPU 30A performs viewpoint conversion processing (including trimming processing) on the photographed image in the passenger compartment, converts it into a preset transmittance, generates a passenger compartment image, and proceeds to step 104. To do.
  • viewpoint conversion processing including trimming processing
  • Step 104 the CPU 30A performs photographing with each of the rear cameras 14, 14R and the door cameras 16L, 16R, so that a photographed image outside the vehicle is read, and the process proceeds to Step 106.
  • step 106 the CPU 30 ⁇ / b> A performs a viewpoint conversion process on the captured image outside the vehicle, performs a captured image extraction process (trimming process), and the like, and proceeds to step 108. That is, viewpoint conversion processing is performed on each captured image, and images for generating an outside image are extracted from the captured images of the door camera 16L and the rear camera 14. Specifically, an image of the outside of the vehicle is extracted from the intersection of the left extension of the body side and the virtual screen 60 from the captured image of the door camera 16L. Further, an image on the right side of the vehicle is extracted from the intersection between the extension line on the left side of the body side and the virtual screen 60 from the captured image of the door camera 16.
  • step 108 the CPU 30A generates an image outside the vehicle by combining the images extracted by the trimming process, and proceeds to step 110. That is, an image obtained by synthesizing the above-described image captured by the door camera 16L and the image captured by the rear camera 14 is generated as an image outside the vehicle.
  • step 110 the CPU 30A generates a composite image of the outside image and the passenger compartment image, and proceeds to step 112.
  • step 112 the CPU 30A displays the generated composite image on the monitor 22, and proceeds to step 114. Thereby, as shown in FIG. 2A, the rear of the vehicle is displayed on the monitor 22. As a result, as shown in FIG. 5B, an image without a blind spot area in the synthesized image can be displayed on the monitor 22 without generating a double image.
  • step 114 the CPU 30A determines whether or not the display on the monitor 22 is finished. This determination is made as to whether or not the ignition switch has been turned off, or whether or not an instruction for non-display has been given by the switch of the monitor 22. If the determination is negative, the process returns to step 100 and the above processing is repeated. If the determination is affirmative, the series of display processing ends.
  • the door camera 16L is arranged on the side of the vehicle, the rear camera 14 is arranged at the rear side of the vehicle and at one side end in the vehicle width direction, and the respective captured images are synthesized, so that the blind spot area and the double image are obtained. An image in which each occurrence is suppressed can be displayed.
  • FIG. 7 is a flowchart illustrating an example of a processing flow when an image is displayed on the side monitor 26 performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment. 7 is performed by executing the vehicle visual display control program, and starts when an ignition switch (IG) (not shown) is turned on.
  • IG ignition switch
  • FIGS. 6 and 7 are described as separate processes, but may be a single process.
  • step 200 the CPU 30A performs rear photographing with the right door camera 16R, and proceeds to step 202.
  • step 202 the CPU 30A performs a viewpoint conversion process on the captured image captured by the door camera 16R, extracts an image of a predetermined area, and proceeds to step 204.
  • the operation part etc. which perform the change operation of a visual recognition range, and the visual recognition range can be changed by operating the operation part and changing a predetermined area
  • step 204 the CPU 30A displays an image extracted by viewpoint conversion on the side monitor 26, and proceeds to step 206.
  • step 206 the CPU 30A determines whether or not the display on the side monitor 26 is finished. In this determination, it is determined whether or not the ignition switch is turned off. If the determination is negative, the process returns to step 200 and the above processing is repeated. If the determination is affirmative, the series of display processing ends.
  • FIGS. 8A and 8B are diagrams for explaining a first modification of the vehicular visual recognition apparatus according to the present embodiment.
  • the structure itself of the visual recognition apparatus for vehicles is the same as said embodiment, detailed description is abbreviate
  • the hatched area in FIG. 5B exists as a blind spot area between the composite image displayed on the monitor 22 and the image displayed on the side monitor 26.
  • an apparatus having an optical system with a wide angle of view of the rear camera 14 is applied to the above embodiment.
  • the virtual screen 60 used to synthesize the captured images of the door camera 16L and the rear camera 14 is tilted with respect to the direction orthogonal to the vehicle front-rear direction to generate a synthesized image.
  • the rear camera 14 is provided with an optical system having a predetermined wide angle of view close to 180 degrees.
  • the virtual screen 60 was made into the plane orthogonal to the vehicle front-back direction, as shown in FIG. 8A and FIG. 8B, the vehicle right direction of the virtual screen 60 is made into the vehicle front side direction in the 1st modification.
  • the virtual screen 60 is changed so that the angle of view of the rear camera 14 indicated by the dotted line in FIGS. 8A and 8B intersects the virtual screen 60.
  • the blind spot area is added to the combined image displayed on the monitor 22 as in the above embodiment. And the generation of double images is eliminated.
  • the captured image of the door camera 16R may also be displayed on the side monitor 26 after changing the viewpoint so as to be a captured image on the tilted virtual screen 60, as shown in FIG. 8A.
  • the size of the image displayed on each of the monitor 22 and the side monitor 26 can be displayed in the same manner.
  • the range of the composite image displayed on the monitor 22 is set as described above as shown in FIG. 8B.
  • a wider area than in the embodiment can be achieved.
  • FIG. 9 is a diagram for explaining a second modification of the vehicular visual recognition apparatus according to the present embodiment.
  • the structure itself of the visual recognition apparatus for vehicles is the same as said embodiment, detailed description is abbreviate
  • the rear camera 14 having an optical system with a wide angle of view is applied.
  • the angle of view is approximately the same as that of the first embodiment, and the right direction with respect to the rear of the vehicle.
  • the shooting direction of the rear camera 14 is changed by tilting the shooting direction in the direction of the other side.
  • the rear camera 14 is arranged toward the rear of the vehicle.
  • the shooting direction is tilted in the right direction behind the vehicle.
  • the blind spot area is added to the combined image displayed on the monitor 22 as in the above embodiment. And the generation of double images is eliminated.
  • the composite image displayed on the monitor 22 and the side monitor 26 are also displayed.
  • a blind spot area is generated in the hatched area shown in FIG. 9 (3) with the image displayed in FIG. 9B.
  • the blind spot area can be reduced rather than the form.
  • the shooting directions of the door camera 16L and the rear camera 14 are different from each other, the direction of the subject on each shot image is different, and the image is uncomfortable on the composite image. End up. For this reason, in order to suppress the uncomfortable feeling, a process for correcting the orientation of the subject is required.
  • a rear camera 14 having an optical system with an angle of view of 90 degrees or more is applied, and as shown in FIG. 10 (2).
  • the shooting direction of the rear camera 14 may be tilted 45 degrees to the right with respect to the rear of the vehicle, and the virtual screen 60 may be tilted as in the first modification.
  • the image is displayed on the monitor 22 as in the first modification. It is possible to eliminate the blind spot area between the composite image and the image displayed on the side monitor 26.
  • the side monitor 26 may be provided on the left and right sides, and the captured images of the door cameras 16L and 16R may be displayed on the left and right side monitors 26 to function as door mirrors.
  • the case of a right-hand drive vehicle has been described as an example, but in the case of a left-hand drive vehicle, the left and right may be reversed. That is, the rear camera 14 is provided at the vehicle width direction end of the rear part of the vehicle and on the right side of the vehicle, and the side monitor 26 is provided on the left side to display a photographed image of the door camera 16L. Then, the captured images of the door camera 16R and the rear camera 14 may be combined and displayed on the monitor 22.
  • the vehicle compartment image is not limited to this.
  • the passenger compartment image a photographed image obtained by photographing the interior of the vehicle in advance at the time of manufacture or shipment of the vehicle in a factory, or a photographed image taken before the vehicle starts running may be used.
  • the vehicle interior image is not limited to the image captured by the camera, and an illustration of the interior of the vehicle interior may be used.
  • the vehicle compartment image may be omitted and displayed.
  • control apparatus 30 has been described as a software process, it is not limited to this.
  • processing may be performed by hardware, or may be processing that combines both hardware and software.
  • control device 30 in the above embodiment may be stored and distributed as a program in a storage medium.

Abstract

This visual recognition device for a vehicle is provided with: a monitor which is provided at the front of a vehicle interior and displays an image; a door camera (16L) which is provided on the left side of the vehicle and captures an image of an area behind the vehicle; a rear camera (14) which is provided at the rear, left-side end of the vehicle in a vehicle width direction and captures an image of an area behind the vehicle; and a control unit which performs display control for displaying on the monitor a composite image obtained by compositing images captured by the left door camera (16L) and the rear camera (14).

Description

車両用視認装置Vehicle visual recognition device
　本発明は、車両周辺を撮影して撮影画像を表示することにより車両周辺を視認する車両用視認装置に関する。 The present invention relates to a vehicular visual recognition device for visualizing a vehicle periphery by photographing the vehicle periphery and displaying a captured image.
　車両周辺の撮影画像を表示して車両周辺を視認する車両用視認装置を光学ミラーの代わりとして車両に搭載する技術が知られている。 A technique is known in which a vehicle visual device for displaying a photographed image around a vehicle and visually recognizing the vehicle periphery is mounted on the vehicle instead of the optical mirror.
　例えば、特開２００５－３２８１８１号公報には、走行状況検出部により検出された車両の走行状況に応じて、車両の以後の運転に際して注意を喚起する必要性が高い方向を特定する方向特定部を設け、後方カメラ、左側方カメラ及び右側方カメラの映像を表示する表示領域のうち、方向特定部により特定された方向を撮像しているカメラの映像を表示する表示領域を、他のカメラの映像を表示する表示領域よりも拡大して、後方カメラ、左側方カメラ及び右側方カメラの映像を表示することが提案されている。 For example, Japanese Patent Application Laid-Open No. 2005-328181 includes a direction specifying unit that specifies a direction in which it is necessary to call attention in the subsequent driving of the vehicle according to the driving state of the vehicle detected by the driving state detection unit. Among the display areas for displaying the images of the rear camera, the left side camera, and the right side camera, the display area for displaying the video of the camera capturing the direction specified by the direction specifying unit is set as the video of the other camera. It has been proposed to display images of the rear camera, the left camera, and the right camera in an enlarged manner from the display area for displaying the image.
　しかしながら、特開２００５－３２８１８１号公報に記載の技術のように、両サイドと、後方に撮影部を配置する技術を用いて、撮影画像を合成して表示する場合には、撮影部の位置が異なることで合成する画像間に死角が存在するが、全て見えているように誤解される虞がある。また、撮影画像を合成する際には、仮想スクリーン上で合成するが、仮想スクリーンより車両に近い領域に死角が発生し、仮想スクリーンより車両から遠い領域では、２重像が発生してしまう。２重像が発生すると瞬時に物体の位置を認知することが困難となるため、改善の余地がある。 However, when a captured image is synthesized and displayed using a technique in which a photographing unit is arranged on both sides and behind, as in the technique described in Japanese Patent Laid-Open No. 2005-328181, the position of the photographing unit is Although there is a blind spot between the images to be combined due to being different, there is a risk of being misunderstood as if all are visible. Further, when the captured images are combined, they are combined on the virtual screen, but a blind spot is generated in an area closer to the vehicle than the virtual screen, and a double image is generated in an area farther from the vehicle than the virtual screen. When a double image is generated, it is difficult to instantly recognize the position of the object, so there is room for improvement.
　本発明は、上記事実を考慮して成されたもので、複数の撮影画像を合成して表示する場合に、２重像領域及び死角領域をそれぞれ抑制して表示可能な車両用視認装置を提供することを目的とする。 The present invention has been made in consideration of the above-described facts, and provides a vehicular visual recognition device capable of suppressing and displaying a double image area and a blind spot area when a plurality of captured images are combined and displayed. The purpose is to do.
　上記目的を達成するために第１の態様は、車室内前方に設けられ、画像を表示する表示部と、車両両側方の一方側に設けられて車両後方を撮影する第１撮影部と、車両後部かつ車幅方向の一方側端部に設けられて車両後方を撮影する第２撮影部と、前記第１撮影部及び前記第２撮影部の各々の撮影画像を合成した合成画像を前記表示部に表示する表示制御を行う制御部と、を備える。 In order to achieve the above object, a first aspect includes a display unit that is provided in front of the vehicle interior and displays an image, a first imaging unit that is provided on one side of both sides of the vehicle and captures the rear of the vehicle, and a vehicle A display unit configured to combine a captured image of each of the first image capturing unit and the second image capturing unit; A control unit that performs display control to be displayed.
　第１の態様によれば、表示部は車室内前方に設けられ、表示部には画像が表示され、第１撮影部は、車両両側方の一方側に設けられ、第１撮影部によって車両後方が撮影される。 According to the first aspect, the display unit is provided in the front of the vehicle interior, an image is displayed on the display unit, the first imaging unit is provided on one side of both sides of the vehicle, and the first imaging unit is behind the vehicle. Is filmed.
　また、第２撮影部は、車両後部かつ車幅方向の一方側端部に設けられ、第２撮影部によって車両後方が撮影される。 Further, the second photographing unit is provided at the rear portion of the vehicle and at one end portion in the vehicle width direction, and the rear of the vehicle is photographed by the second photographing unit.
　そして、制御部では、第１撮影部及び第２撮影部の各々の撮影画像を合成した合成画像を表示部に表示する表示制御が行われる。 Then, in the control unit, display control is performed in which a combined image obtained by combining the captured images of the first imaging unit and the second imaging unit is displayed on the display unit.
　このように、第１撮影部を車両両側方の一方側に設けて、第２撮影部を車両後部かつ車幅方向の一方側端部に設けて、それぞれの撮影画像を合成して表示することにより、２重像領域及び死角領域を抑制した合成画像を表示することができる。 As described above, the first image capturing unit is provided on one side of the vehicle on both sides, and the second image capturing unit is provided on the rear side of the vehicle and on one side end in the vehicle width direction, and the captured images are combined and displayed. Thus, a composite image in which the double image area and the blind spot area are suppressed can be displayed.
　なお、第１撮影部及び第２撮影部は、ボディーサイドの延長線上に配置することが好ましい。 In addition, it is preferable to arrange | position a 1st imaging | photography part and a 2nd imaging | photography part on the extension line of a body side.
　また、表示制御は、ボディーサイドの延長線を境界として、前記第１撮影部及び前記第２撮影部の各々の撮影画像を合成することで、２重像領域及び死角領域を抑制した合成画像を表示することが可能となる。 Further, the display control is performed by combining the captured images of the first imaging unit and the second imaging unit with the extension line on the body side as a boundary, thereby generating a composite image in which the double image area and the blind spot area are suppressed. It is possible to display.
　また、第２撮影部は、予め定めた広画角の光学系を備え、制御部が、表示部に表示する合成画像を生成する際に使用する仮想スクリーンを車両前後方向と直交する方向に対して傾けて合成画像を生成してもよい。 The second photographing unit includes an optical system having a predetermined wide angle of view, and the control unit generates a virtual screen used when generating a composite image to be displayed on the display unit with respect to a direction orthogonal to the vehicle longitudinal direction. The composite image may be generated by tilting.
　また、第２撮影部は、車両後方に対して、車両両側方の他方側の方向に撮影方向を傾けて配置してもよい。この場合、第２撮影部の光学系は、９０度以上の画角とされて、車両後方に対して、他方側の方向に撮影方向を４５度傾けて配置し、制御部が、表示部に表示する合成画像を生成する際に使用する仮想スクリーンを車両前後方向と直交する方向に対して傾けて合成画像を生成してもよい。これにより、車両後方の表示範囲を拡大して広範囲にすることが可能となる Further, the second photographing unit may be arranged with the photographing direction inclined in the direction of the other side on both sides of the vehicle with respect to the rear of the vehicle. In this case, the optical system of the second photographing unit has an angle of view of 90 degrees or more, and is arranged with the photographing direction inclined by 45 degrees in the direction of the other side with respect to the rear of the vehicle, and the control unit is disposed on the display unit. You may produce | generate a synthesized image by inclining the virtual screen used when producing | generating the synthesized image to display with respect to the direction orthogonal to the vehicle front-back direction. As a result, the display range behind the vehicle can be expanded to a wide range.
　また、車両両側方の他方側に設けられて車両後方を撮影する第３撮影部を更に備え、制御部が、第１撮影部、第２撮影部、及び第３撮影部の各々の撮影画像を合成した合成画像を表示部に表示する表示制御を行ってもよい。 In addition, a third imaging unit that is provided on the other side of the both sides of the vehicle and captures the rear of the vehicle is further provided, and the control unit captures each captured image of the first imaging unit, the second imaging unit, and the third imaging unit. Display control for displaying the combined image on the display unit may be performed.
　以上説明したように本発明によれば、複数の撮影画像を合成して表示する場合に、２重像領域及び死角領域をそれぞれ抑制して表示可能な車両用視認装置を提供すること可能となる、という効果がある。 As described above, according to the present invention, when a plurality of captured images are combined and displayed, it is possible to provide a vehicular visual recognition device that can display while suppressing the double image area and the blind spot area. There is an effect that.
本実施形態に係る車両用視認装置が設けられた車両を示す上方視の平面図である。It is a top view of the upper view which shows the vehicle provided with the visual recognition apparatus for vehicles which concerns on this embodiment. 本実施形態に係る車両用視認装置が設けられた車室内を車両後方から見た平面図である。It is the top view which looked at the vehicle interior provided with the visual recognition device for vehicles concerning this embodiment from the vehicles back. 車両の車室内に設けたインナーミラーを車両後方側から見た正面図である。It is the front view which looked at the inner mirror provided in the vehicle interior of the vehicle from the vehicle rear side. サイドモニタを車両後方側から見た正面図である。It is the front view which looked at the side monitor from the vehicle rear side. 本実施形態に係る車両用視認装置の概略構成を示すブロック図である。It is a block diagram which shows schematic structure of the visual recognition apparatus for vehicles which concerns on this embodiment. ドアカメラと車幅方向中央に配置した後方カメラの各々の撮影画像を合成した場合の死角領域及び２重像の領域を示す図である。It is a figure which shows the blind spot area | region and area | region of a double image at the time of combining each picked-up image of a door camera and the rear camera arrange | positioned in the vehicle width direction center. 本実施形態に係る車両用視認装置のドアカメラ及び後方カメラの各々の撮影範囲の一例を示す図である。It is a figure which shows an example of each imaging | photography range of the door camera and back camera of the visual recognition apparatus for vehicles which concerns on this embodiment. 本実施形態に係る車両用視認装置のモニタに表示する合成画像、及びサイドモニタに表示する撮影画像を示す図である。It is a figure which shows the synthesized image displayed on the monitor of the visual recognition apparatus for vehicles which concerns on this embodiment, and the picked-up image displayed on a side monitor. 本実施形態に係る車両用視認装置の制御装置で行われるモニタに画像を表示する際の処理流れの一例を示すフローチャートである。It is a flowchart which shows an example of the processing flow at the time of displaying an image on the monitor performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment. 本実施形態に係る車両用視認装置の制御装置で行われるサイドモニタに画像を表示する際の処理の流れの一例を示すフローチャートである。It is a flowchart which shows an example of the flow of a process at the time of displaying an image on the side monitor performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment. 本実施形態に係る車両用視認装置の第１変形例を説明するための図である。It is a figure for demonstrating the 1st modification of the visual recognition apparatus for vehicles which concerns on this embodiment. 本実施形態に係る車両用視認装置の第１変形例を説明するための図である。It is a figure for demonstrating the 1st modification of the visual recognition apparatus for vehicles which concerns on this embodiment. 本実施形態に係る車両用視認装置の第２変形例を説明するための図であり、（１）は後方カメラを車両後方に向けて配置した例を示す図であり、（２）は後方カメラを車両後方の右側方向に撮影方向を傾けて配置した例を示す図であり、（３）は（１）においてモニタに表示する合成画像とサイドモニタに表示する画像との間の死角領域を示す図であり、（４）は（２）においてモニタに表示する合成画像とサイドモニタに表示する画像との間の死角領域を示す図である。It is a figure for demonstrating the 2nd modification of the visual recognition apparatus for vehicles which concerns on this embodiment, (1) is a figure which shows the example which has arrange | positioned a rear camera toward the vehicle back, (2) is a rear camera. (3) shows a blind spot area between the composite image displayed on the monitor and the image displayed on the side monitor in (1). (4) is a diagram showing a blind spot area between the composite image displayed on the monitor and the image displayed on the side monitor in (2). （１）は後方カメラの画角を９０度とした例を示す図あり、（２）は（１）において仮想スクリーンを変更した例を示す図であり、（３）は（２）における合成画像の領域を示す図である。(1) is a diagram showing an example in which the angle of view of the rear camera is 90 degrees, (2) is a diagram showing an example in which the virtual screen is changed in (1), and (3) is a composite image in (2). It is a figure which shows the area | region.
　以下、図面を参照して本発明の実施の形態について詳細に説明する。図１Ａは、本実施形態に係る車両用視認装置が設けられた車両を示す上方視の平面図であり、図１Ｂは車両用視認装置が設けられた車室内を車両後方から見た平面図である。また、図２Ａは、車両の車室内に設けたインナーミラーを車両後方側から見た正面図であり、図２Ｂはサイドモニタを車両後方側から見た正面図である。また、図３は、本実施形態に係る車両用視認装置１０の概略構成を示すブロック図である。なお、各図において、矢印ＦＲは車両前側を示し、矢印Ｗは車幅方向を示し、矢印ＵＰは車両上方を示す。また、以下では、運転席が右側の右ハンドル車を一例として説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1A is a top view of a vehicle provided with a vehicle visual recognition device according to the present embodiment, and FIG. 1B is a plan view of a vehicle interior provided with the vehicle visual recognition device viewed from the rear of the vehicle. is there. FIG. 2A is a front view of an inner mirror provided in the vehicle compartment of the vehicle as viewed from the rear side of the vehicle, and FIG. 2B is a front view of the side monitor as viewed from the rear side of the vehicle. FIG. 3 is a block diagram showing a schematic configuration of the vehicular visual recognition device 10 according to the present embodiment. In each figure, arrow FR indicates the front side of the vehicle, arrow W indicates the vehicle width direction, and arrow UP indicates the upper side of the vehicle. In the following, a right-hand drive vehicle having a right driver's seat will be described as an example.
　車両用視認装置１０には、後方カメラ１４、及びドアカメラ１６（１６Ｌ、１６Ｒ）が設けられている。後方カメラ１４は、車両後部かつ車幅方向左端部に配置され、車両１２の後方を所定の画角（撮影領域）で撮影可能とされている。また、ドアカメラ１６Ｌは、車両１２の車幅左側に設けられ、ドアカメラ１６Ｒは、車両１２の車幅右側に設けられている。ドアカメラ１６Ｌ、１６Ｒは、車体側方から車両後方を所定の画角（撮影領域）で撮影可能とされている。 The vehicle visual recognition device 10 is provided with a rear camera 14 and a door camera 16 (16L, 16R). The rear camera 14 is disposed at the rear of the vehicle and at the left end in the vehicle width direction, and can capture the rear of the vehicle 12 at a predetermined angle of view (shooting area). The door camera 16 </ b> L is provided on the left side of the vehicle 12 and the door camera 16 </ b> R is provided on the right side of the vehicle 12. The door cameras 16L and 16R can photograph the rear of the vehicle from the side of the vehicle body with a predetermined angle of view (imaging area).
　第２撮影部としての後方カメラ１４、第１撮影部としてのドアカメラ１６Ｌ、及び第３撮影部としてのドアカメラ１６Ｒは、車両周辺としての車両後方を撮影する。詳細には、後方カメラ１４の撮影領域の一部は、ドアカメラ１６Ｌ、１６Ｒの撮影領域の一部と重複し、後方カメラ１４、及びドアカメラ１６Ｌ、１６Ｒにより、車両後方を車体の右斜め後方から左斜め後方の範囲に渡って撮影可能とされている。これにより、車両１２の後方側が広角に撮影される。 The rear camera 14 as the second photographing unit, the door camera 16L as the first photographing unit, and the door camera 16R as the third photographing unit photograph the rear of the vehicle as the periphery of the vehicle. Specifically, a part of the shooting area of the rear camera 14 overlaps a part of the shooting area of the door cameras 16L and 16R, and the rear camera 14 and the door cameras 16L and 16R make the rear of the vehicle diagonally right behind the vehicle body. It is possible to take a picture over a range diagonally from the left to the rear. Thereby, the rear side of the vehicle 12 is photographed at a wide angle.
　車両１２の車室内には、インナーミラー１８が設けられており、インナーミラー１８は、ブラケット２０の基部が車室内天井面の車両前側かつ車幅方向中央部に取付けられている。ブラケット２０には、表示部としての長尺矩形状とされたモニタ２２が設けられており、モニタ２２は、長手方向が車幅方向とされ、かつ表示面が車両後方に向けられてブラケット２０の下端部に取付けられている。これにより、モニタ２２は、車両前側のフロントウインドシールドガラスの上部付近に配置されて、画像を表示する表示面が車室内の乗員に視認可能にされている。 An inner mirror 18 is provided in the vehicle compartment of the vehicle 12, and the base portion of the bracket 20 is attached to the vehicle front side of the vehicle interior ceiling surface and in the center in the vehicle width direction. The bracket 20 is provided with a monitor 22 having a long rectangular shape as a display unit. The monitor 22 has a longitudinal direction that is a vehicle width direction and a display surface that faces the rear of the vehicle. It is attached to the lower end. As a result, the monitor 22 is disposed in the vicinity of the upper portion of the front windshield glass on the front side of the vehicle, and a display surface for displaying an image is made visible to the passenger in the vehicle interior.
　モニタ２２の表示面には、ハーフミラー（ワイドミラー）が設けられており、モニタ２２が非表示の場合に、ハーフミラーには、車室内と共にリアウインドガラス及びドアガラスを通した後方視界が写される。 The display surface of the monitor 22 is provided with a half mirror (wide mirror). When the monitor 22 is not displayed, the rear view through the rear window glass and the door glass is displayed on the half mirror. Is done.
　ブラケット２０には、インナーカメラ２４が設けられており、インナーカメラ２４がモニタ２２の上側（車室内天井側）においてブラケット２０に固定されている。インナーカメラ２４は、撮影方向が車両後方に向けられており、インナーカメラ２４が車両前側から車室内及び車両後方を撮影する。 The bracket 20 is provided with an inner camera 24, and the inner camera 24 is fixed to the bracket 20 on the upper side of the monitor 22 (the vehicle interior ceiling side). The shooting direction of the inner camera 24 is directed toward the rear of the vehicle, and the inner camera 24 images the vehicle interior and the rear of the vehicle from the front side of the vehicle.
　インナーカメラ２４の撮影領域には、リアウインドガラス、サイドドアのドアガラスが含まれており、リアウインドガラス及びドアガラスを通して後方カメラ１４及びドアカメラ１６Ｌ、１６Ｒの撮影領域の撮影が可能とされている。また、インナーカメラ２４の撮影領域には、車室内に見えるセンターピラー、リアピラー、リアサイドドア、後席、及び車室内天井等が含まれる。なお、インナーカメラ２４の撮影領域には、前席が含まれてもよい。 The shooting area of the inner camera 24 includes a rear window glass and a door glass of the side door, and the shooting areas of the rear camera 14 and the door cameras 16L and 16R can be shot through the rear window glass and the door glass. Yes. The imaging area of the inner camera 24 includes a center pillar, a rear pillar, a rear side door, a rear seat, a vehicle interior ceiling, and the like that can be seen in the vehicle interior. The imaging area of the inner camera 24 may include a front seat.
　また、車室内前方のモニタ２２より右側（他方側）である運転席の前方右側には、撮影画像表示部としてのサイドモニタ２６が設けられており、サイドモニタ２６には、ドアカメラ１６Ｒによって撮影された撮影画像が表示される。 Further, a side monitor 26 as a photographed image display unit is provided on the right front side of the driver's seat on the right side (the other side) of the monitor 22 in front of the passenger compartment, and the side monitor 26 is photographed by the door camera 16R. The captured image is displayed.
　一方、車両用視認装置１０には、制御部としての制御装置３０が設けられており、制御装置３０に後方カメラ１４、ドアカメラ１６Ｌ、１６Ｒ、モニタ２２、インナーカメラ２４、及びサイドモニタ２６が接続されている。制御装置３０には、ＣＰＵ３０Ａ、ＲＯＭ３０Ｂ、ＲＡＭ３０Ｃ、不揮発性記憶媒体（例えば、ＥＥＰＲＯＭ）３０Ｄ、及びＩ／Ｏ（入出力インタフェース）３０Ｅがそれぞれバス３０Ｆに接続されたマイクロコンピュータが含まれている。ＲＯＭ３０Ｂ等には、車両用視認表示制御プログラム等の各種のプログラムが記憶されており、ＣＰＵ３０ＡがＲＯＭ３０Ｂ等に記憶されるプログラムを読み出して実行することで、制御装置３０がモニタ２２に乗員の視認を補助する画像を表示する。 On the other hand, the vehicular visual recognition device 10 is provided with a control device 30 as a control unit, to which a rear camera 14, door cameras 16L and 16R, a monitor 22, an inner camera 24, and a side monitor 26 are connected. Has been. The control device 30 includes a microcomputer in which a CPU 30A, a ROM 30B, a RAM 30C, a nonvolatile storage medium (for example, EEPROM) 30D, and an I / O (input / output interface) 30E are connected to a bus 30F. Various programs such as a vehicle visual display control program are stored in the ROM 30B and the like. The CPU 30A reads out and executes the program stored in the ROM 30B and the control device 30 causes the monitor 22 to visually recognize the occupant. Display an auxiliary image.
　制御装置３０は、後方カメラ１４、及びドアカメラ１６Ｌの各々により撮影された車外の撮影画像を重ねて車外画像を生成する。また、制御装置３０は、インナーカメラ２４により撮影された撮影画像から車室画像を生成する。さらに、制御装置３０は、車外画像と車室画像とを重ねて表示用画像を生成し、図２Ａに示すように、表示用画像をモニタ２２に表示す制御を行う。また、制御装置３０は、ドアカメラ１６Ｒにより撮影された撮影画像からサイドモニタ２６に表示するための画像を生成して、図２Ｂに示すように、サイドモニタ２６に表示する制御を行う。なお、モニタ２２及びサイドモニタ２６は、運転席より車室内前側に設けられており、撮影画像に対してモニタ２２に表示される画像が左右反転される。また、以下では、画像を左右反転する鏡像変換処理を省略して説明する場合がある。 The control device 30 generates an outside image by superimposing the outside images taken by the rear camera 14 and the door camera 16L. Further, the control device 30 generates a passenger compartment image from the captured image captured by the inner camera 24. Furthermore, the control device 30 generates a display image by superimposing the outside image and the passenger compartment image, and performs control to display the display image on the monitor 22 as shown in FIG. 2A. In addition, the control device 30 performs control to generate an image to be displayed on the side monitor 26 from a captured image captured by the door camera 16R and display the image on the side monitor 26 as illustrated in FIG. 2B. The monitor 22 and the side monitor 26 are provided on the front side of the passenger compartment from the driver's seat, and the image displayed on the monitor 22 is horizontally reversed with respect to the captured image. In the following description, the mirror image conversion process for horizontally reversing the image may be omitted.
　ここで、後方カメラ１４、ドアカメラ１６Ｌ、１６Ｒ及びインナーカメラ２４の各々の間では、撮影画像の視点位置が異なっている。ここから、制御装置３０は、後方カメラ１４、ドアカメラ１６Ｌ、１６Ｒ及びインナーカメラ２４の各々の撮影画像に対して視点位置を合わせる視点変換処理を行う。視点変換処理では、例えば、モニタ２２の中心位置（車幅方向及び上下方向の中間位置）よりも車両前側に仮想視点が設定され、後方カメラ１４、ドアカメラ１６Ｌ、ドアカメラ１６Ｒ、及びインナーカメラ２４の各々の撮影画像が、仮想視点から見た画像に変換される。視点変換処理を行う場合、仮想視点と共に、車両後方に仮想スクリーンが設定される。仮想スクリーンは、本実施形態では説明を簡略化するために平面として説明するが、車両後方に凸状とされた湾曲面（車両１２から見て凹状とされた湾曲面）としてもよい。視点変換処理は、撮影画像の各々を仮想視点から見て仮想スクリーン上に投影された画像に変換する任意の手法が適用される。 Here, the viewpoint position of the captured image is different among each of the rear camera 14, the door cameras 16L and 16R, and the inner camera 24. From here, the control device 30 performs viewpoint conversion processing for aligning the viewpoint position with each of the captured images of the rear camera 14, the door cameras 16L and 16R, and the inner camera 24. In the viewpoint conversion processing, for example, a virtual viewpoint is set in front of the vehicle with respect to the center position of the monitor 22 (intermediate position in the vehicle width direction and the vertical direction), and the rear camera 14, door camera 16L, door camera 16R, and inner camera 24 are set. Each captured image is converted into an image viewed from a virtual viewpoint. When performing viewpoint conversion processing, a virtual screen is set behind the vehicle together with the virtual viewpoint. In the present embodiment, the virtual screen is described as a flat surface in order to simplify the description. However, the virtual screen may be a curved surface that is convex toward the rear of the vehicle (a curved surface that is concave as viewed from the vehicle 12). As the viewpoint conversion processing, any method for converting each captured image into an image projected on the virtual screen when viewed from the virtual viewpoint is applied.
　各撮影画像は、同一の仮想視点及び仮想スクリーンを用いて視点変換処理を行うことで、異なる撮影画像に映っている同一の対象物が重なって見える。すなわち、インナーカメラ２４の撮影画像においてリアウインドガラス及びドアガラス越しに映っている対象物が、後方カメラ１４及びドアカメラ１６Ｌの撮影画像に映っていると仮定したときに、その対象物の画像が重なるように見える。制御装置３０は、視点変換処理を行った後方カメラ１４、及びドアカメラ１６Ｌの各々の撮影画像に対してトリミング処理を行って、モニタ２２に表示する領域の画像を抽出する。 Each shot image appears to overlap the same object shown in different shot images by performing viewpoint conversion processing using the same virtual viewpoint and virtual screen. That is, when it is assumed that the object reflected through the rear window glass and the door glass in the captured image of the inner camera 24 is reflected in the captured images of the rear camera 14 and the door camera 16L, the image of the object is Looks like they overlap. The control device 30 performs a trimming process on each captured image of the rear camera 14 and the door camera 16L that have performed the viewpoint conversion process, and extracts an image of an area to be displayed on the monitor 22.
　制御装置３０は、インナーカメラ２４の撮影画像に対してトリミング処理を行うことで、モニタ２２に車室画像として表示する領域の画像を抽出する。また、制御装置３０では、車室画像に対して透過率が設定されており、車室画像が設定された透過率となるように画像変換が行われる。車室画像は、透過率が高くなることで、透明度が増して透過性が高くなり、透過率が低い場合に比べて画像が淡くなる（薄く見える）。制御装置３０には、車室画像に設定される透過率として、合成画像上で車外画像が認識可能となる透過率が設定されている。また、制御装置３０には、車室画像に対する透過率として、リアピラーの画像、車室内天井の画像のリアピラーの上側部分、及び後席の画像のリアピラーの下側部分において他の車体部分の画像よりも低く設定されている（画像が濃く見える）。 The control device 30 performs a trimming process on the photographed image of the inner camera 24 to extract an image of an area to be displayed on the monitor 22 as a passenger compartment image. Moreover, in the control apparatus 30, the transmittance | permeability is set with respect to the passenger compartment image, and image conversion is performed so that it may become the transmittance | permeability which the passenger compartment image was set. The vehicle interior image has a higher transmittance, so that the transparency is increased and the transparency is increased, and the image is lighter (looks thinner) than when the transmittance is low. In the control device 30, a transmittance that enables recognition of an image outside the vehicle on the composite image is set as the transmittance set in the passenger compartment image. Further, the control device 30 transmits, as the transmittance with respect to the passenger compartment image, the rear pillar image, the upper portion of the rear pillar of the passenger compartment ceiling image, and the image of the other vehicle body portion in the lower portion of the rear pillar of the rear seat image. Is set too low (the image looks dark).
　なお、リアウインドガラス及びドアガラスの画像の透過率は、１００％（全透過）であってもよいし、リアピラーを除く車体部分の画像と同様の透過率であってもよい。また、本実施の形態では、透過率を低く設定する車体部品の画像としてリアピラーに加え、リアピラーの上側部分の車室内天井の画像、及びリアピラーの下側部分のリアサイドドア、後席の画像が含まれる。 Note that the transmittance of the images of the rear window glass and the door glass may be 100% (total transmission), or may be the same transmittance as the image of the vehicle body portion excluding the rear pillar. Further, in the present embodiment, in addition to the rear pillar, an image of the vehicle interior ceiling at the upper part of the rear pillar, an image of the rear side door at the lower part of the rear pillar, and an image of the rear seat are included as the image of the vehicle body part that sets the transmittance low. It is.
　制御装置３０は、後方カメラ１４及びドアカメラ１６Ｒの各々の撮影画像に対してトリミング処理を行って、モニタ２２に表示する領域の画像を抽出する。 The control device 30 performs a trimming process on each captured image of the rear camera 14 and the door camera 16R, and extracts an image of an area to be displayed on the monitor 22.
　ところで、特開２００５－３２８１８１号公報に記載の技術のように、３つのカメラを備える技術を用いて、撮影画像を合成して表示する場合、広範囲を視認することができる。しかしながら、後方に配置するカメラを車両中心位置に配置すると、合成する際の仮想スクリーンよりも車両１２に近い位置に死角が発生し、仮想スクリーンよりも車両１２から遠い位置に２重像が発生する。図４は、３つの撮影画像を合成した場合の仮想スクリーンよりも車両１２に近い位置に存在する死角領域、及び仮想スクリーンよりも車両から遠い位置に存在する２重像領域を示す上方視の平面図である。 By the way, when a photographed image is synthesized and displayed using a technique including three cameras, such as the technique described in Japanese Patent Laid-Open No. 2005-328181, a wide range can be visually recognized. However, if the rear camera is placed at the center of the vehicle, a blind spot is generated at a position closer to the vehicle 12 than the virtual screen at the time of composition, and a double image is generated at a position farther from the vehicle 12 than the virtual screen. . FIG. 4 is a top view plane showing a blind spot area that is closer to the vehicle 12 than the virtual screen and a double image area that is farther from the vehicle than the virtual screen when three captured images are combined. FIG.
　具体的には、図４に示すように、二点鎖線で示す範囲をドアカメラ１６Ｌの撮影範囲とし、一点鎖線で示す範囲をドアカメラ１６Ｒの撮影範囲とし、点線で示す範囲を後方カメラ１４の撮影範囲とする。ここで、ドアカメラ１６Ｒの撮影画像は、サイドモニタ２６に表示し、ドアカメラ１６Ｌと後方カメラ１４の撮影画像を合成してモニタ２２に表示するものとする。ドアカメラ１６Ｌと後方カメラ１４の各々の撮影画像を合成する場合、図４に示すように、仮想スクリーン６０上で合成する。詳細には、ドアカメラ１６Ｌの撮影画像から、ボディーサイドの延長線と仮想スクリーン６０との交点から車両外側の撮影画像を抽出し、後方カメラ１４の撮影画像から、ボディーサイドの延長線と仮想スクリーン６０との交点から車両中心方向側の撮影画像を抽出して合成画像を生成する。このとき、仮想スクリーン６０より車両に近い領域（図４のハッチング部分）に死角領域が発生する。また、仮想スクリーン６０より車両から遠い領域（図４の黒塗り部分）に２重像が発生する。 Specifically, as shown in FIG. 4, the range indicated by the two-dot chain line is the shooting range of the door camera 16L, the range indicated by the one-dot chain line is the shooting range of the door camera 16R, and the range indicated by the dotted line is the range of the rear camera 14. The shooting range. Here, the captured image of the door camera 16R is displayed on the side monitor 26, and the captured images of the door camera 16L and the rear camera 14 are combined and displayed on the monitor 22. When the captured images of the door camera 16L and the rear camera 14 are combined, they are combined on the virtual screen 60 as shown in FIG. Specifically, a photographed image on the outside of the vehicle is extracted from an intersection of the body side extension line and the virtual screen 60 from the photographed image of the door camera 16L, and the body side extension line and the virtual screen are extracted from the photographed image of the rear camera 14. A captured image on the vehicle center direction side is extracted from the intersection with 60 to generate a composite image. At this time, a blind spot area is generated in an area closer to the vehicle than the virtual screen 60 (hatched portion in FIG. 4). In addition, a double image is generated in a region farther from the vehicle than the virtual screen 60 (the black portion in FIG. 4).
　そこで、本実施形態では、上述したように、後方カメラ１４の配置を車両後部かつ車幅方向の一方側端部（本実施形態では左側端部）に配置する。より好ましくは、ドアカメラ１６Ｌと後方カメラ１４との視差がなく（車幅方向位置が略同一）、かつボディーが被らない位置にそれぞれのカメラを配置する。具体的には、ドアカメラ１６Ｌ及び後方カメラ１４の配置がボディーサイドの延長線上となるようにそれぞれのカメラを配置する。なお、完全に延長線上に限るものではなく、延長線上に近い位置でもよい。 Therefore, in the present embodiment, as described above, the rear camera 14 is disposed at the rear end of the vehicle and at one end in the vehicle width direction (left end in the present embodiment). More preferably, each camera is disposed at a position where there is no parallax between the door camera 16L and the rear camera 14 (the positions in the vehicle width direction are substantially the same) and the body is not covered. Specifically, the cameras are arranged so that the door camera 16L and the rear camera 14 are arranged on the extension line of the body side. The position is not limited to being completely on the extension line, but may be a position close to the extension line.
　車両側方にドアカメラ１６Ｌを配置し、車両後部かつ車幅方向の一方側端部に後方カメラ１４を配置することにより、図５Ａに示すように、後方カメラ１４の撮影領域は点線で示す領域となり、ドアカメラ１６Ｌの撮影領域は二点鎖線で示す領域となる。 The door camera 16L is arranged on the side of the vehicle, and the rear camera 14 is arranged at the rear side of the vehicle and at one side end in the vehicle width direction, so that the shooting area of the rear camera 14 is an area indicated by a dotted line as shown in FIG. Thus, the shooting region of the door camera 16L is a region indicated by a two-dot chain line.
　ここで、ドアカメラ１６Ｌと後方カメラ１４の各々の撮影画像を上記のように合成する。すなわち、ドアカメラ１６Ｌの撮影画像から、ボディーサイドの延長線と仮想スクリーン６０との交点から車両外側の撮影画像を抽出し、後方カメラ１４の撮影画像から、ボディーサイドの延長線と仮想スクリーン６０との交点から車両中心方向側の撮影画像を抽出して、ボディーサイドの延長線を境界として合成画像を生成する。これにより、図５Ｂに示すように、モニタ２２に表示する合成画像に死角領域がなくなると共に、２重像の発生がなくなる。なお、後方カメラ１４がドアカメラ１６Ｌよりも車幅方向車両中央側へのずれ量が大きくなるに従って、死角領域及び２重像の領域が増加してしまうので、上述したように、ドアカメラ１６Ｌ及び後方カメラ１４は、ボディーサイドの延長線上に配置することが望ましい。 Here, the captured images of the door camera 16L and the rear camera 14 are combined as described above. That is, from the captured image of the door camera 16L, a captured image outside the vehicle is extracted from the intersection of the body-side extension line and the virtual screen 60, and from the captured image of the rear camera 14, the body-side extension line and the virtual screen 60 A captured image on the vehicle center direction side is extracted from the intersection of the two, and a composite image is generated with the extension line on the body side as a boundary. As a result, as shown in FIG. 5B, the composite image displayed on the monitor 22 has no blind spot area and no double image is generated. As the rear camera 14 is displaced from the door camera 16L toward the center of the vehicle in the vehicle width direction, the blind spot area and the double image area increase. As described above, the door camera 16L and It is desirable to arrange the rear camera 14 on an extension line on the body side.
　次に、上述のように構成された本実施形態に係る車両用視認装置１０の制御装置３０で行われる具体的な処理について説明する。 Next, a specific process performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment configured as described above will be described.
　まず、モニタ２２への表示制御について説明する。図６は、本実施形態に係る車両用視認装置１０の制御装置３０で行われるモニタ２２に画像を表示する際の処理の流れの一例を示すフローチャートである。なお、図６の処理は、車両用視認表示制御プログラムを実行することにより行われ、図示しないイグニッションスイッチ（ＩＧ）がオンされた場合に開始する。また、モニタ２２の表示または非表示を切り替えるスイッチが設けられて、表示が指示された場合に開始してもよい。この場合は、スイッチがオン操作されることで、モニタ２２への画像表示が開始され、スイッチがオフ操作されることで、モニタ２２への画像表示が終了されて、モニタ２２がルームミラー（ハーフミラー）として機能する。 First, display control on the monitor 22 will be described. FIG. 6 is a flowchart illustrating an example of a flow of processing when an image is displayed on the monitor 22 performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment. The process of FIG. 6 is performed by executing the vehicle visual display control program, and starts when an ignition switch (IG) (not shown) is turned on. Further, a switch for switching between display and non-display of the monitor 22 may be provided, and the process may be started when the display is instructed. In this case, when the switch is turned on, the image display on the monitor 22 is started, and when the switch is turned off, the image display on the monitor 22 is finished, and the monitor 22 is moved to the room mirror (half-width). Function as a mirror).
　ステップ１００では、ＣＰＵ３０Ａが、インナーカメラ２４により車室内の撮影を行うことで、車室内の撮影画像が読み込まれてステップ１０２へ移行する。 In step 100, the CPU 30 </ b> A captures the vehicle interior with the inner camera 24, so that a captured image in the vehicle interior is read and the process proceeds to step 102.
　ステップ１０２では、ＣＰＵ３０Ａが、車室内の撮影画像に対して、視点変換処理（トリミング処理を含む）を行うと共に、予め設定された透過率に変換し、車室画像を生成してステップ１０４へ移行する。 In step 102, the CPU 30A performs viewpoint conversion processing (including trimming processing) on the photographed image in the passenger compartment, converts it into a preset transmittance, generates a passenger compartment image, and proceeds to step 104. To do.
　ステップ１０４では、ＣＰＵ３０Ａが、後方カメラ１４、１４Ｒ及びドアカメラ１６Ｌ、１６Ｒの各々により撮影を行うことで、車外の撮影画像が読み込まれてステップ１０６へ移行する。 In Step 104, the CPU 30A performs photographing with each of the rear cameras 14, 14R and the door cameras 16L, 16R, so that a photographed image outside the vehicle is read, and the process proceeds to Step 106.
　ステップ１０６では、ＣＰＵ３０Ａが、車外の撮影画像に対して視点変換処理を行うと共に、撮画像抽出処理（トリミング処理）等を行ってステップ１０８へ移行する。すなわち、各撮影画像に対して視点変換処理を行って、車外画像を生成するための画像を、ドアカメラ１６Ｌ及び後方カメラ１４の各々の撮影画像から抽出する。具体的には、ドアカメラ１６Ｌの撮影画像から、ボディーサイド左側の延長線と仮想スクリーン６０との交点から車両外側の画像を抽出する。また、ドアカメラ１６の撮影画像から、ボディーサイド左側の延長線と仮想スクリーン６０との交点から車両右側の画像を抽出する。 In step 106, the CPU 30 </ b> A performs a viewpoint conversion process on the captured image outside the vehicle, performs a captured image extraction process (trimming process), and the like, and proceeds to step 108. That is, viewpoint conversion processing is performed on each captured image, and images for generating an outside image are extracted from the captured images of the door camera 16L and the rear camera 14. Specifically, an image of the outside of the vehicle is extracted from the intersection of the left extension of the body side and the virtual screen 60 from the captured image of the door camera 16L. Further, an image on the right side of the vehicle is extracted from the intersection between the extension line on the left side of the body side and the virtual screen 60 from the captured image of the door camera 16.
　ステップ１０８では、ＣＰＵ３０Ａが、トリミング処理によって抽出された画像を合成して車外画像を生成してステップ１１０へ移行する。すなわち、車外画像として上述したドアカメラ１６Ｌの撮影画像と後方カメラ１４の撮影画像を合成した画像を生成する。 In step 108, the CPU 30A generates an image outside the vehicle by combining the images extracted by the trimming process, and proceeds to step 110. That is, an image obtained by synthesizing the above-described image captured by the door camera 16L and the image captured by the rear camera 14 is generated as an image outside the vehicle.
　ステップ１１０では、ＣＰＵ３０Ａが、車外画像と車室画像の合成画像を生成してステップ１１２へ移行する。 In step 110, the CPU 30A generates a composite image of the outside image and the passenger compartment image, and proceeds to step 112.
　ステップ１１２では、ＣＰＵ３０Ａが、生成した合成画像をモニタ２２に表示してステップ１１４へ移行する。これにより、図２Ａに示すように、車両の後方がモニタ２２に表示される。これにより、図５Ｂに示すように、合成画像に死角領域がなくなると共に、２重像の発生がない画像をモニタ２２に表示することができる。 In step 112, the CPU 30A displays the generated composite image on the monitor 22, and proceeds to step 114. Thereby, as shown in FIG. 2A, the rear of the vehicle is displayed on the monitor 22. As a result, as shown in FIG. 5B, an image without a blind spot area in the synthesized image can be displayed on the monitor 22 without generating a double image.
　ステップ１１４では、ＣＰＵ３０Ａが、モニタ２２への表示終了であるか否かを判定する。該判定は、イグニッションスイッチがオフされたか否か、或いは、モニタ２２のスイッチにより非表示にする指示が行われたか否かを判定する。該判定が否定された場合にはステップ１００に戻って上述の処理を繰り返し、判定が肯定された場合には一連の表示処理を終了する。 In step 114, the CPU 30A determines whether or not the display on the monitor 22 is finished. This determination is made as to whether or not the ignition switch has been turned off, or whether or not an instruction for non-display has been given by the switch of the monitor 22. If the determination is negative, the process returns to step 100 and the above processing is repeated. If the determination is affirmative, the series of display processing ends.
　このように、車両側方にドアカメラ１６Ｌを配置し、車両後部かつ車幅方向一方側端部に後方カメラ１４を配置してそれぞれの撮影画像を合成することで、死角領域及び２重像のそれぞれの発生を抑制した画像を表示することができる。 In this way, the door camera 16L is arranged on the side of the vehicle, the rear camera 14 is arranged at the rear side of the vehicle and at one side end in the vehicle width direction, and the respective captured images are synthesized, so that the blind spot area and the double image are obtained. An image in which each occurrence is suppressed can be displayed.
　続いて、サイドモニタ２６への表示制御について説明する。図７は、本実施形態に係る車両用視認装置１０の制御装置３０で行われるサイドモニタ２６に画像を表示する際の処理の流れの一例を示すフローチャートである。なお、図７の処理は、車両用視認表示制御プログラムを実行することにより行われ、図示しないイグニッションスイッチ（ＩＧ）がオンされた場合に開始する。また、本実施形態では、図６及び図７を別の処理として説明するが、１つの処理としてもよい。 Subsequently, display control on the side monitor 26 will be described. FIG. 7 is a flowchart illustrating an example of a processing flow when an image is displayed on the side monitor 26 performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment. 7 is performed by executing the vehicle visual display control program, and starts when an ignition switch (IG) (not shown) is turned on. In the present embodiment, FIGS. 6 and 7 are described as separate processes, but may be a single process.
　ステップ２００では、ＣＰＵ３０Ａが、右側のドアカメラ１６Ｒにより後方撮影を行ってステップ２０２へ移行する。 In step 200, the CPU 30A performs rear photographing with the right door camera 16R, and proceeds to step 202.
　ステップ２０２では、ＣＰＵ３０Ａが、ドアカメラ１６Ｒによって撮影された撮影画像に対して視点変換処理を行うと共に、予め定めた領域の画像を抽出してステップ２０４へ移行する。なお、視認範囲の変更操作を行う操作部等を更に備える形態とし、操作部を操作して予め定めた領域を変更することにより、視認範囲を変更可能な形態としてもよい。 In step 202, the CPU 30A performs a viewpoint conversion process on the captured image captured by the door camera 16R, extracts an image of a predetermined area, and proceeds to step 204. In addition, it is good also as a form further provided with the operation part etc. which perform the change operation of a visual recognition range, and the visual recognition range can be changed by operating the operation part and changing a predetermined area | region.
　ステップ２０４では、ＣＰＵ３０Ａが、視点変換して抽出された画像をサイドモニタ２６に表示してステップ２０６へ移行する。 In step 204, the CPU 30A displays an image extracted by viewpoint conversion on the side monitor 26, and proceeds to step 206.
　ステップ２０６では、ＣＰＵ３０Ａが、サイドモニタ２６への表示終了であるか否かを判定する。該判定は、イグニッションスイッチがオフされたか否かを判定する。該判定が否定された場合にはステップ２００に戻って上述の処理を繰り返し、判定が肯定された場合には一連の表示処理を終了する。 In step 206, the CPU 30A determines whether or not the display on the side monitor 26 is finished. In this determination, it is determined whether or not the ignition switch is turned off. If the determination is negative, the process returns to step 200 and the above processing is repeated. If the determination is affirmative, the series of display processing ends.
　続いて、第１変形例の車両用視認装置について説明する。図８Ａ、図８Ｂは、本実施形態に係る車両用視認装置の第１変形例を説明するための図である。なお、車両用視認装置の構成自体は上記の実施形態と同一であるため詳細な説明を省略する。 Subsequently, the vehicular visual recognition device of the first modification will be described. 8A and 8B are diagrams for explaining a first modification of the vehicular visual recognition apparatus according to the present embodiment. In addition, since the structure itself of the visual recognition apparatus for vehicles is the same as said embodiment, detailed description is abbreviate | omitted.
　上記の実施形態では、モニタ２２に表示する合成画像と、サイドモニタ２６に表示する画像との間に、図５Ｂのハッチングで示す領域が死角領域として存在する。 In the above embodiment, the hatched area in FIG. 5B exists as a blind spot area between the composite image displayed on the monitor 22 and the image displayed on the side monitor 26.
　そこで、変形例では、この死角領域を更に低減するために、上記の実施形態に対して、後方カメラ１４の画角が広い光学系を備えたものを適用する。また、ドアカメラ１６Ｌと後方カメラ１４の各々の撮影画像を合成するために使用する仮想スクリーン６０を車両前後方向と直交する方向に対して傾けて合成画像を生成する。 Therefore, in the modification, in order to further reduce this blind spot area, an apparatus having an optical system with a wide angle of view of the rear camera 14 is applied to the above embodiment. In addition, the virtual screen 60 used to synthesize the captured images of the door camera 16L and the rear camera 14 is tilted with respect to the direction orthogonal to the vehicle front-rear direction to generate a synthesized image.
　具体的には、後方カメラ１４は、図８Ａ、図８Ｂの点線で示すように、例えば、１８０度近くの予め定めた広画角の光学系を備えたものを適用する。そして、上記の実施形態では、仮想スクリーン６０を車両前後方向と直交する平面としたが、第１変形例では、図８Ａ、図８Ｂに示すように、仮想スクリーン６０の車両右側方向を車両前側方向に傾け、図８Ａ、図８Ｂの点線で示す後方カメラ１４の画角線と、仮想スクリーン６０とが交わるように仮想スクリーン６０を変更する。 Specifically, as shown by the dotted lines in FIGS. 8A and 8B, for example, the rear camera 14 is provided with an optical system having a predetermined wide angle of view close to 180 degrees. And in said embodiment, although the virtual screen 60 was made into the plane orthogonal to the vehicle front-back direction, as shown in FIG. 8A and FIG. 8B, the vehicle right direction of the virtual screen 60 is made into the vehicle front side direction in the 1st modification. The virtual screen 60 is changed so that the angle of view of the rear camera 14 indicated by the dotted line in FIGS. 8A and 8B intersects the virtual screen 60.
　これにより、ドアカメラ１６Ｌと後方カメラ１４の各々の撮影画像を上記の実施形態と同様に仮想スクリーン６０上で合成した場合、上記の実施形態と同様に、モニタ２２に表示する合成画像に死角領域がなくなると共に、２重像の発生がなくなる。 Thus, when the captured images of the door camera 16L and the rear camera 14 are combined on the virtual screen 60 in the same manner as in the above embodiment, the blind spot area is added to the combined image displayed on the monitor 22 as in the above embodiment. And the generation of double images is eliminated.
　なお、ドアカメラ１６Ｒの撮影画像についても、図８Ａに示すように、傾けた仮想スクリーン６０上の撮影画像となるように視点変更してサイドモニタ２６に表示してもよい。これにより、モニタ２２とサイドモニタ２６の各々に表示された画像の大きさ等を同じように表示できる。 Note that the captured image of the door camera 16R may also be displayed on the side monitor 26 after changing the viewpoint so as to be a captured image on the tilted virtual screen 60, as shown in FIG. 8A. Thereby, the size of the image displayed on each of the monitor 22 and the side monitor 26 can be displayed in the same manner.
　また、上記の実施形態に対して、後方カメラ１４を広画角として仮想スクリーン６０を傾けて合成画像を生成した場合、図８Ｂに示すように、モニタ２２に表示する合成画像の範囲を上記の実施形態よりも広域とすることが可能となる。さらに、モニタ２２に表示する合成画像と、サイドモニタ２６に表示する画像との間における死角も無くすことができる。 Further, in the above embodiment, when a composite image is generated by tilting the virtual screen 60 with the rear camera 14 as a wide angle of view, the range of the composite image displayed on the monitor 22 is set as described above as shown in FIG. 8B. A wider area than in the embodiment can be achieved. Further, it is possible to eliminate a blind spot between the composite image displayed on the monitor 22 and the image displayed on the side monitor 26.
　次に、第２変形例の車両用視認装置について説明する。図９は、本実施形態に係る車両用視認装置の第２変形例を説明するための図である。なお、車両用視認装置の構成自体は上記の実施形態と同一であるため詳細な説明を省略する。 Next, a vehicular visual recognition device according to a second modification will be described. FIG. 9 is a diagram for explaining a second modification of the vehicular visual recognition apparatus according to the present embodiment. In addition, since the structure itself of the visual recognition apparatus for vehicles is the same as said embodiment, detailed description is abbreviate | omitted.
　第１変形例では、後方カメラ１４の画角が広い光学系を備えたものを適用したが、第２変形例では、画角は第１実施形態と同程度とし、車両後方に対して右側方向（他方側方向）に撮影方向を傾けて配置することにより、後方カメラ１４の撮影方向を変更したものである。 In the first modification, the rear camera 14 having an optical system with a wide angle of view is applied. However, in the second modification, the angle of view is approximately the same as that of the first embodiment, and the right direction with respect to the rear of the vehicle. The shooting direction of the rear camera 14 is changed by tilting the shooting direction in the direction of the other side.
　具体的には、上記の実施形態では、図９（１）に示すように、後方カメラ１４を車両後方に向けて配置したが、第２変形例では、図９（２）に示すように、車両後方の右側方向に撮影方向を傾けて配置する。 Specifically, in the above embodiment, as shown in FIG. 9 (1), the rear camera 14 is arranged toward the rear of the vehicle. However, in the second modified example, as shown in FIG. 9 (2), The shooting direction is tilted in the right direction behind the vehicle.
　これにより、ドアカメラ１６Ｌと後方カメラ１４の各々の撮影画像を上記の実施形態と同様に仮想スクリーン６０上で合成した場合、上記の実施形態と同様に、モニタ２２に表示する合成画像に死角領域がなくなると共に、２重像の発生がなくなる。 Thus, when the captured images of the door camera 16L and the rear camera 14 are combined on the virtual screen 60 in the same manner as in the above embodiment, the blind spot area is added to the combined image displayed on the monitor 22 as in the above embodiment. And the generation of double images is eliminated.
　また、上記の実施形態では、モニタ２２に表示された合成画像と、サイドモニタ２６ In the above embodiment, the composite image displayed on the monitor 22 and the side monitor 26 are also displayed.
に表示された画像との間で、図９（３）に示すハッチング領域に死角領域が発生するが、第２変形例では、図９（４）に示すハッチング領域が死角領域となり、上記の実施形態よりも死角領域を減少することができる。 A blind spot area is generated in the hatched area shown in FIG. 9 (3) with the image displayed in FIG. 9B. In the second modified example, the hatched area shown in FIG. The blind spot area can be reduced rather than the form.
　但し、第２変形例では、ドアカメラ１６Ｌと後方カメラ１４の各々の撮影方向が異なるため、各々の撮影画像上の被写体の向きが異なることになり、合成画像上で違和感のある画像となってしまう。そのため、違和感を抑制するためには被写体の向きを補正する処理等が必要となる。 However, in the second modified example, since the shooting directions of the door camera 16L and the rear camera 14 are different from each other, the direction of the subject on each shot image is different, and the image is uncomfortable on the composite image. End up. For this reason, in order to suppress the uncomfortable feeling, a process for correcting the orientation of the subject is required.
　また、第２変形例は、図１０（１）に示すように、例えば、後方カメラ１４として画角が９０度以上の光学系を備えたものを適用し、図１０（２）に示すように、後方カメラ１４の撮影方向を車両の後方に対して右側に４５度傾け、かつ第１変形例のように仮想スクリーン６０を傾けてもよい。これにより、傾けた仮想スクリーン６０上でドアカメラ１６Ｌと後方カメラ１４の各々の撮影画像を合成した場合、図１０（３）に示すように、第１変形例と同様に、モニタ２２に表示する合成画像と、サイドモニタ２６に表示する画像との間の死角領域を無くすることが可能となる。 In the second modification, as shown in FIG. 10 (1), for example, a rear camera 14 having an optical system with an angle of view of 90 degrees or more is applied, and as shown in FIG. 10 (2). The shooting direction of the rear camera 14 may be tilted 45 degrees to the right with respect to the rear of the vehicle, and the virtual screen 60 may be tilted as in the first modification. Thus, when the captured images of the door camera 16L and the rear camera 14 are synthesized on the tilted virtual screen 60, as shown in FIG. 10 (3), the image is displayed on the monitor 22 as in the first modification. It is possible to eliminate the blind spot area between the composite image and the image displayed on the side monitor 26.
　なお、上記の実施形態では、ドアカメラ１６Ｌと後方カメラ１４の２つの撮影画像を合成してモニタ２２に表示し、ドアカメラ１６Ｒの撮影画像はサイドモニタ２６に表示する例を説明したが、これに限るものではない。例えば、ドアカメラ１６Ｌ、１６Ｒと後方カメラ１４の３つの撮影画像を合成してモニタ２２に表示してもよい。また、この場合、サイドモニタ２６を左右のそれぞれに設けて、ドアカメラ１６Ｌ、１６Ｒの各々撮影画像を左右それぞれのサイドモニタ２６に表示してドアミラーとして機能させてもよい。 In the above embodiment, an example in which two captured images of the door camera 16L and the rear camera 14 are combined and displayed on the monitor 22 and the captured image of the door camera 16R is displayed on the side monitor 26 has been described. It is not limited to. For example, three captured images of the door cameras 16L and 16R and the rear camera 14 may be combined and displayed on the monitor 22. In this case, the side monitors 26 may be provided on the left and right sides, and the captured images of the door cameras 16L and 16R may be displayed on the left and right side monitors 26 to function as door mirrors.
　また、上記の実施形態では、右ハンドル車の場合を一例として説明したが、左ハンドル車の場合は、左右を逆にすればよい。すなわち、後方カメラ１４は、車両後部かつ車両右側の車幅方向端部に設け、サイドモニタ２６は左側に設けてドアカメラ１６Ｌの撮影画像を表示する。そして、ドアカメラ１６Ｒと後方カメラ１４の各々の撮影画像を合成してモニタ２２に表示すればよい。 In the above embodiment, the case of a right-hand drive vehicle has been described as an example, but in the case of a left-hand drive vehicle, the left and right may be reversed. That is, the rear camera 14 is provided at the vehicle width direction end of the rear part of the vehicle and on the right side of the vehicle, and the side monitor 26 is provided on the left side to display a photographed image of the door camera 16L. Then, the captured images of the door camera 16R and the rear camera 14 may be combined and displayed on the monitor 22.
　また、上記の実施形態では、車室画像としてインナーカメラ２４の撮影画像（動画像）を用いる例を説明したが、車室画像はこれに限るものではない。例えば、車室画像としては、工場における車両の製造時や出荷時等において予め車室内を撮影した撮影画像や、車両の走行開始前に撮影した撮影画像を用いてもよい。また、車室画像としては、カメラの撮影画像に限らず、車室内を描画したイラストなどを用いてもよい。或いは、車室画像を省略して表示してもよい。 In the above embodiment, the example in which the captured image (moving image) of the inner camera 24 is used as the vehicle compartment image has been described, but the vehicle compartment image is not limited to this. For example, as the passenger compartment image, a photographed image obtained by photographing the interior of the vehicle in advance at the time of manufacture or shipment of the vehicle in a factory, or a photographed image taken before the vehicle starts running may be used. Further, the vehicle interior image is not limited to the image captured by the camera, and an illustration of the interior of the vehicle interior may be used. Alternatively, the vehicle compartment image may be omitted and displayed.
　また、上記の実施形態における制御装置３０で行われる処理は、ソフトウエアの処理として説明したが、これに限るものではない。例えば、ハードウエアで行う処理としてもよいし、ハードウエアとソフトウエアの双方を組み合わせた処理としてもよい。 Moreover, although the process performed by the control apparatus 30 in the above embodiment has been described as a software process, it is not limited to this. For example, the processing may be performed by hardware, or may be processing that combines both hardware and software.
　また、上記の実施形態における制御装置３０で行われる処理は、プログラムとして記憶媒体に記憶して流通させるようにしてもよい。 Further, the processing performed by the control device 30 in the above embodiment may be stored and distributed as a program in a storage medium.
　さらに、本発明は、上記に限定されるものでなく、上記以外にも、その主旨を逸脱しない範囲内において種々変形して実施可能であることは勿論である。 Furthermore, the present invention is not limited to the above, and it is needless to say that various modifications can be made without departing from the gist of the present invention.
　２０１８年２月７日に出願された日本国特許出願２０１８－０２０５０４号の開示は、その全体が参照により本明細書に取り込まれる。 The entire disclosure of Japanese Patent Application No. 2018-020504 filed on February 7, 2018 is incorporated herein by reference.

Claims (7)

  1. 　車室内前方に設けられ、画像を表示する表示部と、
    　車両両側方の一方側に設けられて車両後方を撮影する第１撮影部と、
    　車両後部かつ車幅方向の一方側端部に設けられて車両後方を撮影する第２撮影部と、
    　前記第１撮影部及び前記第２撮影部の各々の撮影画像を合成した合成画像を前記表示部に表示する表示制御を行う制御部と、
    　を備えた車両用視認装置。     A display unit provided in front of the passenger compartment and displaying an image;
    A first photographing unit that is provided on one side of both sides of the vehicle and photographs the rear of the vehicle;
    A second imaging unit that is provided at one end in the vehicle rear direction and in the vehicle width direction and images the rear of the vehicle;
    A control unit that performs display control to display a combined image obtained by combining the captured images of the first imaging unit and the second imaging unit on the display unit;
    A vehicular visual recognition device.
  2. 　前記第１撮影部及び前記第２撮影部をボディーサイドの延長線上に配置した請求項１に記載の車両用視認装置。 The vehicular visual recognition device according to claim 1, wherein the first photographing unit and the second photographing unit are arranged on an extension line on a body side.
  3. 　前記表示制御は、ボディーサイドの延長線を境界として、前記第１撮影部及び前記第２撮影部の各々の撮影画像を合成する請求項１又は請求項２に記載の車両用視認装置。 3. The vehicular visual recognition device according to claim 1, wherein the display control synthesizes the captured images of the first imaging unit and the second imaging unit with a body-side extension line as a boundary.
  4. 　前記第２撮影部は、予め定めた広画角の光学系を備え、
    　前記制御部が、前記表示部に表示する合成画像を生成する際に使用する仮想スクリーンを車両前後方向と直交する方向に対して傾けて合成画像を生成する請求項１～３の何れか１項に記載の車両用視認装置。     The second photographing unit includes a predetermined wide-angle optical system,
    4. The control unit according to claim 1, wherein the control unit generates a composite image by tilting a virtual screen used when generating a composite image to be displayed on the display unit with respect to a direction orthogonal to the vehicle front-rear direction. The vehicular visual recognition device according to claim 1.
  5. 　前記第２撮影部は、車両後方に対して、前記車両両側方の他方側の方向に撮影方向を傾けて配置した請求項１～３の何れか１項に記載の車両用視認装置。 The vehicular visual recognition device according to any one of claims 1 to 3, wherein the second photographing unit is arranged with a photographing direction inclined toward the other side of the both sides of the vehicle with respect to the rear of the vehicle.
  6. 　前記第２撮影部の光学系は、９０度以上の画角とされて、車両後方に対して、前記他方側の方向に撮影方向を４５度傾けて配置し、
    　前記制御部が、前記表示部に表示する合成画像を生成する際に使用する仮想スクリーンを車両前後方向と直交する方向に対して傾けて合成画像を生成する請求項５に記載の車両用視認装置。     The optical system of the second photographing unit has an angle of view of 90 degrees or more, and is disposed with a photographing direction inclined by 45 degrees in the direction of the other side with respect to the rear of the vehicle,
    The vehicular visual recognition device according to claim 5, wherein the control unit generates a composite image by tilting a virtual screen used when generating a composite image to be displayed on the display unit with respect to a direction orthogonal to the vehicle front-rear direction. .
  7. 　前記車両両側方の他方側に設けられて車両後方を撮影する第３撮影部を更に備え、
    　前記制御部が、前記第１撮影部、前記第２撮影部、及び前記第３撮影部の各々の撮影画像を合成した合成画像を前記表示部に表示する表示制御を行う請求項１～６の何れか１項に記載の車両用視認装置。     A third photographing unit that is provided on the other side of the vehicle on both sides and photographs the rear of the vehicle;
    7. The display control according to claim 1, wherein the control unit performs display control for displaying on the display unit a composite image obtained by combining the captured images of the first imaging unit, the second imaging unit, and the third imaging unit. The vehicle visual recognition device according to any one of the preceding claims.
PCT/JP2019/002875 2018-02-07 2019-01-29 Visual recognition device for vehicle WO2019155936A1 (en)

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