JP2003209835A - Monitoring device for surrounding of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring device for surroundings of a vehicle in which the number of cameras mounted on a vehicle is reduced so as to reduce the cost and an imaging range is changed depending on the situation. <P>SOLUTION: The monitoring device for surroundings of a vehicle of this invention includes: an image processing apparatus 11 that receives a video signal of at least a camera 35 installed on the vehicle 1 and imaging the surroundings of the vehicle, processes the video signal to convert it into a perspective image and composites the perspective image with a particular image pattern; a monitor 16 for displaying a composite image composed by the image processing apparatus 11 on its screen; and a rotary drive mechanism that rotates the camera 35 around a particular rotation axis, and the image processing apparatus 11 includes an image rotation processing means 42 that rotates the image picked up by the camera 35 in a direction in which the rotation of the image on the screen attendant on the rotation of the camera 35. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a viewpoint which is different from the viewpoint direction viewed from the camera by inputting a video signal of at least one camera mounted on a vehicle and imaging the surroundings of the vehicle, processing the video signal. An image processing device for converting the bird's-eye view image data when looking around the vehicle from a direction and synthesizing the bird's-eye image and the specific image pattern, and a monitor device for displaying the synthesized image synthesized by the image processing device are provided. The present invention relates to improvement of a vehicle surroundings monitoring device.

[0002]

2. Description of the Related Art Conventionally, a vehicle surroundings monitoring device is shown in FIG.
As shown in Fig. 2, three cameras 3, 4, 5 are fixedly installed on the rear trunk 2 of the vehicle 1, and the images displayed by the cameras 3, 4, 5 are combined, and as shown in Fig. 2, It is known that an overhead image 6 is created. In FIG. 1, reference numeral 7 is a grid line drawn on the ground 8, and in FIG.
Reference numeral 9 indicates a lattice image corresponding to the lattice line 7, and reference numeral 10 indicates a rear portion of the automobile as a specific image pattern.

The vehicle surroundings monitoring device includes an image processing device 11 shown in FIG. The image processing device 11 is A /
D converter 12, image synthesizing unit 13, D / A converter 14, image superimposing device 15, monitor device 16, synthetic pattern memory unit 17, superimposing image memory unit 18, selecting unit 1
It is equipped with 9, 20.

The video signals of the cameras 3, 4, and 5 are converted into analog digital signals and input to the image synthesizing unit 13, which then selects the synthesizing pattern by the selecting unit 19 based on the external switching signal. The synthesis pattern information is fetched from the memory unit 17 to synthesize each video signal, and the bird's-eye view image data is generated. The bird's-eye view image data is digital-analog converted and input to the image superimposing device 15, and the image superimposing device 15 fetches the specific image pattern data from the superimposed image memory unit 18 by the selection of the selecting unit 20 based on the external switching signal. , The specific image pattern is superimposed on the bird's-eye view image and displayed on the screen 16A of the monitor device 16.

FIG. 4 shows a top-down overhead composite image when the vehicle surroundings are looked down from a direction directly above, which is different from the viewpoint direction when the cameras 3, 4 and 5 are looking at the vehicle surroundings. FIG. Fig. 7 shows an oblique overhead view composite image when looking down from a direction. Further, FIG. 6 shows a top-down overhead combined image in which the distance marker 20 is combined and displayed as a specific image pattern,
FIG. 7 shows the expected track 21 of the tire as the specific image pattern.
Fig. 8 shows a synthesized overhead view synthetic image, and Fig. 8 shows synthetically a predicted vehicle position image pattern 22 as a specific image pattern to show the predicted position of the vehicle corresponding to the current steering angle when the steering wheel is stationary. A top-down overhead composite image is shown.

In FIG. 5, reference numeral 10 'indicates another vehicle displayed by the cameras 3, 4, and 5.
In addition, when the predicted tire trajectory 21 shown in FIG. 7 is generated, the steering angle information is calculated in real time based on the steering angle sensor to generate a tire predicted trajectory image, and the predicted vehicle rotation shown in FIG. When it is desired to display the position information, the vehicle rotation image pattern as the specific image pattern is stored in advance in the superimposed image memory unit 18, or
The vehicle rotation position information can be displayed in real time based on the steering angle information.

[0007]

However, the conventional vehicle surroundings monitoring apparatus cannot obtain a wide range of images required to monitor the surroundings with one camera, and thus a plurality of cameras cannot be used for the vehicle surroundings. Since it is necessary to install the camera in the rear part, the camera itself is costly, and the mounting thereof is also costly, so that the conventional vehicle surrounding monitoring device is generally expensive.

Further, since the camera is fixed, there is an inconvenience that the photographing range cannot be changed according to the situation. For example, when the garage is put in a small garage at home while being monitored by the vehicle surroundings monitoring device, it is sufficient if the imaging range corresponding to the parking space is at a constant angle and is displayed on the screen of the monitor device. When parking in a large parking lot, it is easier to find vehicles and obstacles approaching from a distance, so that the camera is facing upward so that the horizon (point at infinity) is displayed on the screen preferable.

It is an object of the present invention to provide a vehicle surroundings monitoring device capable of changing the imaging range according to the situation while reducing the number of cameras mounted on the vehicle to reduce the cost.

[0010]

A vehicle surroundings monitoring apparatus according to claim 1, wherein a video signal of at least one camera mounted on the vehicle and capturing an image of the surroundings of the vehicle is input and the video signal is processed. An image processing apparatus for converting the bird's-eye view image and synthesizing the bird's-eye image and the specific image pattern, a monitor apparatus for displaying the synthesized image synthesized by the image processing apparatus on the screen, and rotating the camera around a particular rotation axis. And an image rotation processing means for rotating the image captured by the camera in a direction in which the rotation of the image on the screen due to the rotation of the camera is offset. It is characterized by

According to a second aspect of the present invention, there is provided the vehicle surroundings monitoring device, wherein the specific rotation axis is an optical axis of the camera.

In the vehicle surroundings monitoring device according to a third aspect of the invention, the specific rotation axis is two axes, one is an optical axis of the camera, and the other is a vertical rotation axis or a horizontal rotation axis of the camera, The image rotation processing means rotates the image captured by the camera in a direction in which the rotation of the image on the screen due to the rotation of the camera around the optical axis of the camera is offset.

According to a fourth aspect of the present invention, there is provided a vehicle surrounding rotation device in which the specific rotation axes are three axes, one is an optical axis of the camera, and the other is a vertical rotation axis of the camera. The other one is a horizontal rotation axis of the camera, and the image rotation processing means captures the image in the direction in which the rotation of the image on the screen due to the rotation of the camera around the optical axis of the camera is offset. It is characterized by rotating the created image.

According to a fifth aspect of the present invention, in the vehicle surroundings monitoring device, the camera has an image pickup unit integrally having a photographing lens and an image pickup element installed inside a casing, and the image pickup unit is integrally formed with the casing. Is rotated.

According to a sixth aspect of the present invention, there is provided a vehicle surroundings monitoring device, wherein the camera has an image pickup unit integrally provided with an image pickup lens and an image pickup element installed inside a housing, and the image pickup unit is provided with the specific rotation axis. A rotation drive mechanism that rotates around is provided inside the housing.

According to a seventh aspect of the present invention, there is provided a vehicle surroundings monitoring device characterized in that the camera is manually rotatable around the specific rotation axis.

According to an eighth aspect of the present invention, there is provided a vehicle surroundings monitoring device characterized in that the rotary drive mechanism includes a drive motor for automatically rotating the camera.

According to a ninth aspect of the present invention, there is provided a vehicle surroundings monitoring device, wherein the camera is capable of capturing an image in a reference direction, and the vehicle is in a specific angle direction around the specific rotation axis with respect to the reference direction around the specific rotation axis. The image rotation processing means is capable of capturing an image of the surroundings, and the image rotation processing unit displays the image in the specific angle direction captured by the camera in a direction in which the rotation of the image on the screen due to the rotation of the camera around the specific rotation axis is offset. It is characterized by performing rotation.

A vehicle surroundings monitoring device according to a tenth aspect is
It is characterized by having a detection switch for detecting the specific angle, and executing the rotation processing of the image based on a detection signal of the detection switch.

The vehicle surroundings monitoring device according to claim 11 is
The camera is capable of imaging in the reference direction,
The image rotation processing unit includes a detection sensor that detects a rotation angle of the camera about a specific rotation axis with respect to the reference direction about the specific rotation axis, and the image rotation processing unit includes the screen according to the rotation of the camera about the specific rotation axis. The processing for rotating the image captured by the camera in the direction in which the rotation of the image is canceled is executed according to the detection angle of the detection sensor.

The vehicle surroundings monitoring device according to claim 12 is
The detection switch is a micro switch.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (Embodiment 1) FIG. 9 shows a rear trunk 2 of a vehicle 1 mounted with a camera device 31 at a predetermined angle (here, a depression angle of 55 degrees) with respect to the horizontal direction. It shows the state of looking down. The camera device 31 has a mounting base 32 as shown in FIG. The camera device 31 is fixed to the vehicle 1 by mounting the mounting base 32 on the rear trunk 2. A drive motor 33, which constitutes a part of a rotation drive mechanism, is attached to the attachment base 30. A housing 36 of a wide-angle camera 35 is attached to the output shaft 34 of the drive motor 33. 37 is a taking lens. The optical axis O1 of the taking lens 37 coincides with the axis of the output shaft 34, and the camera 3
5 is rotated around the optical axis O1.

In FIG. 10, a state in which the camera 35 is rotated about the optical axis O1 as a specific rotation axis in a specific angle direction, here 90 degrees, is shown by a broken line. Commercial camera 3
5 has an aspect ratio of 4: 3, the camera 3
When 5 is rotated 90 degrees, the imaging range changes.

FIG. 11 shows a simulation diagram when the camera 35 is rotated by 90 degrees, and an image pickup range when the camera 35 is placed horizontally is indicated by a reference numeral Q1 and the camera 3
An image pickup range in the case where 5 is set vertically is indicated by reference sign Q2. In FIG. 11, reference numeral Q3 indicates an image of a marker on the ground, and when the camera 35 is placed vertically, the infinity point Q4 is included in the shooting range. Note that the horizontal axis and the vertical axis represent pixels.

As is clear from this simulation result, when the camera 35 is placed vertically, the horizon can be seen, and when the camera 35 is placed horizontally, the horizon cannot be seen. Instead, when the camera 35 is placed horizontally, the camera 35
The horizontal (horizontal direction) situation can be imaged in a wider range than when the display is placed vertically.

Therefore, when it is desired to better confirm the surroundings of the vicinity of the vehicle 1, the camera 35 is placed horizontally and the image is taken. When it is desired to better see the situation far from the vehicle 1, the camera 35 is placed vertically. Like shooting with 1
It is possible to select an appropriate one even with one camera depending on the surrounding situation.

That is, since it is possible to have a sense of security when another vehicle is visible in a large parking lot, when the camera 35 is installed vertically and the vehicle is parked in a narrow garage at home, the left and right directions are wide. Since it is possible to obtain a sense of security, it is possible to properly use the camera 35 such that the camera 35 is placed horizontally.

FIG. 12 shows the installation location of the camera 35 at a height of 1 m from the ground 8 and the shooting range Q5 when the camera 35 is placed horizontally and the shooting range Q6 when the camera 35 is placed vertically. It is a schematic diagram, the horizontal axis shows the distance in the left-right direction from the center of the vehicle body, and the vertical axis shows the distance from the rear portion 2 of the vehicle 1. As is clear from FIG. 12, the photographing range Q5 when the camera 35 is placed vertically is set to the camera 3
Although it is narrower than the shooting range Q6 when 5 is placed horizontally, the range Q from 4m to 6m with the rear part 2 of the vehicle 1 as the origin
It is possible to photograph 7 clearly, that is, to photograph substantially infinity.

By the way, when the camera 35 is rotated, the image pickup element 38 of the camera 35 shown in FIG. 13 rotates, so that the image displayed on the screen 16A of the monitor device 16 shown in FIG. 14 also rotates. In FIG. 13,
The solid line is a reference position when the side 38a of the image sensor 38 is at the bottom and the side 38b is at the top, and the broken line is a state in which the sides 38a and 38b of the image sensor 38 are rotated 90 degrees with respect to the reference position. It is shown.

An image reflected on the image sensor 38 at the reference position is indicated by reference numeral 39, and when the camera 35 is rotated around the optical axis O1 with the reference position being 0 degree, the image sensor 38 is shown.
The image shown in FIG.

The image displayed on the screen 16A at the reference position becomes an upright image 40 with respect to the screen 16A as shown in FIG. 14 (a), and at the 90 ° rotated position as shown in FIG. 14 (b). A horizontal image 40 'is obtained.

Therefore, the screen 16 accompanying the rotation of the camera 35
Images 39 ', 39 "displayed on the image sensor 38 of the camera 35 in a direction canceling the rotation of the images 40', 40" on A.
The image processing apparatus is provided with an image rotation processing means for rotating the.

That is, as shown in FIG.
The switch piece 31a of the micro switch 41 is used as a detection switch for detecting the 90-degree rotation position of the camera 3.
The micro switch 4 is provided so as to face the housing 36 of FIG.
The detection signal of 1 is input to the image rotation processing means 42.

In the image rotation processing means 42, the image 40 'on the screen 16A accompanying the 90-degree rotation of the camera 35 on the basis of the detection signal of the micro switch 41 is rotated in the direction to cancel the 90-degree image rotation. A rotation processing program or rotation processing data for rotating is provided. As a result, the image 40 'shown in FIG. 14 (b) is rotated in the direction of the arrow X and displayed as the upright image 40 on the screen 16A.
There is also a method in which the rotation effect of the image processing means 42 is previously incorporated into the data of the composite pattern 17 and reconstructed.

Although the camera 35 is rotated and driven by the drive motor 33 here, the camera 35 may be manually rotated or a rotation angle detection sensor may be used instead of the micro switch 41. good. (Second Embodiment of the Invention) FIG. 16 shows a configuration in which the camera 35 is rotated about a vertical axis O2 as a specific rotation axis, a horizontal axis O3, and an optical axis O1.

In FIG. 16, 43 is a mounting base. The mounting base 43 is mounted on the rear trunk 2 of the vehicle 1. A drive motor 44 is attached to the attachment base 43. This drive motor 44
A mounting base 46 is attached to the output shaft 45 of the. A drive motor 47 is attached to the attachment base 46. The camera device 31 shown in FIG. 10 is attached to the output shaft 48 of the drive motor 47. Note that, in FIG. 16, the mounting base 32 and the micro switch 41 are not shown.

When the camera 35 is rotated around the vertical axis O2, a bird's-eye view image 48 asymmetric with respect to the vehicle front-rear direction, for example, an asymmetric bird's-eye view image 48 as shown in FIG. 17 is obtained. That is, when it is desired to move the vehicle 1 backward by rotating it to the left side, it is desirable to rotate the camera 35 to the left side so that the situation on the left side can be better understood than on the right side.

When the camera 35 is rotated about the horizontal axis O3, the spatial position of the camera 35 changes as schematically shown in FIG. FIG. 18 shows the side 38a of the image sensor 38.
Is on the lower side and the side 38b is on the upper side, and the side 38a is on the upper side and the side 38b is on the lower side. The time is schematically shown as a 90-degree rotation position.

An image reflected on the image pickup element 38 at the reference position is indicated by reference numeral 39, and the reference position is set to 0 degree and 90 degrees.
The image reflected on the image sensor 38 when the camera 35 is rotated is indicated by reference numeral 39 ', and the reference position is set to 0 degree,
If the position when the 0 degree camera 35 is rotated is indicated by reference numeral 39 ″, the image displayed on the screen 16A at the reference position is an upright image 40 with respect to the screen 16A as shown in FIG. 19A. , The image at the 90 ° rotated position is shown in FIG.
As shown in (b), the image 4 is displayed sideways with respect to the screen 16A.
It becomes 0 ', and the image at the 180 degree rotation position is the image sensor 35.
Since the image 39 ″ shown in FIG. 16 is in the opposite direction to the top and bottom of the image sensor 35, it becomes an inverted image 40 ″ on the screen 16A as shown in FIG. 19C.

Therefore, as in the first embodiment, an erect image can be obtained by performing a process of rotating the image reflected by the camera 35. (Third Embodiment of the Invention) FIG. 20 shows a configuration in which a taking lens 37 and an image pickup element 38 are unitized and provided in a housing 36, and a rotary drive mechanism for rotationally driving the image pickup unit around the optical axis O1 is provided. The rotation drive mechanism having the structure shown in FIG. 10, for example, is used. It is also possible to adopt a configuration in which only the image sensor 38 is rotated.

According to this, since the rotating mechanism is provided inside the housing 36, it is possible to prevent the appearance from being impaired. (Fourth Embodiment of the Invention) FIG. 21 shows a case where a pair of cameras 35 are installed in the rear trunk 2 of the vehicle 1 at intervals in the vehicle width direction so as to eliminate rear blind spots as much as possible.

In the case shown in FIG. 21, when the camera 35 is placed horizontally, an image is taken in a finite area as shown by reference numeral Q8 in FIG. 22, but an image is taken in a wide area in the left-right direction. On the other hand, when the camera 35 is placed vertically and the image is taken, as shown in FIG. 23, as shown in FIG.
9 occurs, but it is possible to shoot up to infinity, and if selected according to the situation, safety is further improved.

As shown in FIG. 24, the cameras 35,
It is also possible to arrange 35 in a concentrated manner.

[0044]

According to the present invention, it is possible to change the imaging range according to the situation while reducing the number of cameras mounted on the vehicle to reduce the cost.

[Brief description of drawings]

FIG. 1 shows a schematic diagram of a vehicle in which three cameras are installed in a rear trunk of the vehicle.

FIG. 2 is a diagram showing a combined image created by combining the images of the cameras shown in FIG.

FIG. 3 is a block circuit diagram showing an example of an image processing device of a vehicle surroundings monitoring device.

4 is a diagram showing a top-down overhead combined image created by combining the images of the cameras shown in FIG. 1. FIG.

5 is a diagram showing an oblique overhead view composite image created by combining the images of the cameras shown in FIG. 1. FIG.

FIG. 6 is a diagram showing an example of a case where distance markers are combined and displayed on the overhead overhead view combined image shown in FIG. 4.

FIG. 7 is a diagram showing an example of a case in which an expected locus of a tire is synthetically displayed on the overhead overhead synthetic image shown in FIG. 4.

FIG. 8 is a diagram showing an example of a case where a predicted rotation position of a vehicle is combined and displayed on the top overhead image shown in FIG. 4.

FIG. 9 is an external view of a vehicle equipped with a vehicle surroundings monitoring device according to the present invention.

FIG. 10 is a perspective view schematically showing an example of the camera device shown in FIG.

FIG. 11 is an explanatory diagram for explaining the difference in the shooting range between the case where the camera device shown in FIG. 10 is placed vertically and the case where it is placed horizontally.

FIG. 12 is an explanatory diagram for explaining a difference in a shooting range between a case where the camera device shown in FIG. 10 is installed vertically and a case where the camera device is installed horizontally.

FIG. 13 is an explanatory diagram schematically showing an image displayed on the image sensor when the camera shown in FIG. 10 is placed horizontally and vertically.

FIG. 14 is an explanatory diagram schematically showing a display state of an image reflected on an image pickup device on a screen of a monitor device,
Shows the display state of the image on the screen when the image is picked up by the camera at the reference position, and (b) shows the display state of the image when the image is picked up by the camera by rotating 90 degrees from the reference position.

FIG. 15 is a block circuit diagram showing an example of an image processing apparatus according to the present invention.

FIG. 16 is an explanatory diagram of the second embodiment of the invention of the vehicle surrounding monitoring device of the present invention, and is an external view showing a state in which the camera is rotated about three axes.

17 is a diagram showing a top-down overhead combined image created using an image obtained by imaging the surroundings of a vehicle by rotating the camera around a vertical axis using the camera device shown in FIG.

FIG. 18 shows an image displayed on the image sensor when the camera device shown in FIG. 16 is used to rotate the camera about a horizontal axis to image the surroundings of the vehicle.

19 is a schematic diagram showing a display state of an image displayed on the image sensor shown in FIG. 18 on a screen of a monitor device,
(A) shows an image displayed on the screen when the camera is at the reference position, (b) shows an image displayed when the camera is at a position rotated 90 degrees from the reference position, and (c).
Shows an image displayed when the camera is rotated 180 degrees from the reference position.

FIG. 20 is a perspective view schematically showing a state in which an image pickup element and a taking lens are unitized and arranged inside a housing.

FIG. 21 is a schematic view of a vehicle showing a state in which two camera devices according to the present invention are installed in a rear trunk with a space therebetween.

22 is a diagram showing a top-down overhead combined image of images taken with the camera device shown in FIG. 21 placed horizontally.

23 is a diagram showing a top-down overhead combined image of images taken by vertically placing the camera device shown in FIG.

FIG. 24 is a schematic view of a vehicle showing a state in which two camera devices according to the present invention are installed close to a rear trunk.

[Explanation of symbols]

11 Image processing device 16 Monitor device 31 camera device 35 camera 42 image rotation processing means

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 628 B60R 21/00 628D G06T 3/00 300 G06T 3/00 300 G08G 1/16 G08G 1 / 16 C H04N 5/222 H04N 5/222 B 5/225 5/225 C 5/262 5/262 (72) Inventor Tokuyuki Sato 5-35-2 Shirayama, Bunkyo-ku, Tokyo Clarion Co., Ltd. (72) Inventor Ryota Kawauchi 5-35-2, Shirayama, Bunkyo-ku, Tokyo C-Clarion Co., Ltd. F-term (reference) 5B057 AA16 BA02 BA26 CA12 CA16 CB12 CB16 CD11 CD16 CE08 5C022 AA04 AB61 AB62 AC01 AC27 AC42 AC74 5C023 AA05 AA11 AA21 AA37 AA37 AA37 AA37 BA11 BA15 DA04 5C054 AA01 CF01 CF05 FE01 FE11 FE23 FF02 HA30 5H180 CC04 EE15 LL02

Claims (12)

[Claims] 1. A video signal of at least one camera mounted on a vehicle and capturing the surroundings of the vehicle is input, the video signal is processed and converted into an overhead image, and the overhead image and a specific image pattern are combined. The image processing apparatus includes: an image processing apparatus; a monitor apparatus that displays a composite image combined by the image processing apparatus on a screen; and a rotation drive mechanism that rotates the camera about a specific rotation axis. A vehicle surroundings monitoring device comprising image rotation processing means for rotating an image captured by the camera in a direction in which the rotation of the image on the screen due to the rotation is offset. 2. The vehicle surroundings monitoring device according to claim 1, wherein the specific rotation axis is an optical axis of the camera. 3. The specific rotation axis is two axes, one is an optical axis of the camera, and the other is a vertical rotation axis or a horizontal rotation axis of the camera, and the image rotation processing means is the camera. The vehicle surroundings monitoring device according to claim 1, wherein the image captured by the camera is rotated in a direction in which the rotation of the image on the screen due to the rotation of the camera around the optical axis is offset. 4. The specific rotation axis is three axes, one is an optical axis of the camera, another one is a vertical rotation axis of the camera, and another one is a horizontal rotation of the camera. The image rotation processing means rotates the image captured by the camera in a direction in which the rotation of the image on the screen due to the rotation of the camera around the optical axis of the camera is offset. The vehicle surrounding rotation device according to claim 1. 5. The camera has an image pickup unit that integrally includes a photographing lens and an image pickup element installed inside a housing,
The vehicle surrounding monitoring device according to claim 1, wherein the imaging unit is rotated integrally with the housing. 6. The camera has an image pickup unit that integrally includes an image pickup lens and an image pickup device installed inside a housing, and a rotation drive mechanism that rotationally drives the image pickup unit around the specific rotation axis. The vehicle surrounding monitoring device according to claim 1, wherein the vehicle surrounding monitoring device is provided inside the housing. 7. The vehicle surrounding monitoring device according to claim 1, wherein the camera is manually rotatable around the specific rotation axis. 8. The vehicle surroundings monitoring device according to claim 1, wherein the rotation drive mechanism includes a drive motor for automatically rotating the camera. 9. The camera is capable of capturing an image in a reference direction, and is also capable of capturing an image of a vehicle periphery in a specific angle direction around the specific rotation axis with respect to the reference direction around the specific rotation axis, and the image rotation is performed. The processing means executes rotation of an image in a specific angle direction captured by the camera in a direction in which rotation of the image on the screen due to rotation of the camera around a specific rotation axis is offset. 1. The vehicle surroundings monitoring device according to 1. 10. The vehicle surroundings monitoring device according to claim 9, further comprising a detection switch for detecting the specific angle direction, and executing the rotation processing of the image based on a detection signal of the detection switch. 11. The camera is capable of imaging in a reference direction, and has a detection sensor for detecting a rotation angle of the camera about a specific rotation axis with respect to the reference direction about the specific rotation axis. The rotation processing means rotates the image captured by the camera in a direction in which the rotation of the image on the screen due to the rotation of the camera around the specific rotation axis is canceled according to the detection angle of the detection sensor. The vehicle surroundings monitoring device according to claim 2, which is executed. 12. The vehicle surrounding monitoring device according to claim 10, wherein the detection switch is a micro switch.