JP2006248384A - Vehicle periphery monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To visualize scenes in a dead angle area without gazing round and without a feeling of incongruity in a vehicle periphery monitoring device. <P>SOLUTION: This device comprises a camera 10 installed near a front end of a vehicle 200, mainly picking up scenes W2 in a dead angle area by a bonnet and directed to a front bottom, an image processing device 20 converting (converting visual points of) images P2 of the scenes W2 obtained by the camera 10 into a virtual image P2' from a position 210 corresponding to a visual point of an occupant of the vehicle 200, and a video projector 30 and a windshield 90 (screen 40) as display means for displaying the virtual image P2' in a manner to be overlaid on a direct image P1 estimated as visualized by the occupant from the estimated position 210. A half mirror 91 with reflectance larger than that of other areas is in a bottom area, in which the virtual image P2' is projected. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicle surrounding monitoring apparatus, and more particularly to an improvement in monitoring a blind spot area of a vehicle.

  When an occupant seated in an occupant's seat such as a driver of a vehicle looks outside the vehicle, a so-called blind spot area is generated by a vehicle structure such as a vehicle body or an equipment part such as a mirror, and the situation behind them can be directly visually recognized. Can not.

  In recent years, with the miniaturization of cameras and the spread of monitor equipment, images of these blind spot areas are captured by the camera, and the obtained scenery is displayed on the monitor, so that the driver can visually recognize the scenery of the blind spot area. Vehicle surrounding monitoring devices such as the back monitor device as described above have been put into practical use.

  As such a practically used monitoring apparatus, an apparatus that displays an image captured from the viewpoint of a camera as it is on a monitor fixed in the passenger compartment is generally used.

  However, for example, when driving backwards for garage handling, the driver steers while looking at the back through the rear windshield glass, so even if an image is displayed on a monitor fixed to the instrument panel etc. It is necessary to compare with the monitor alternately, and improvement in usability is desired.

  Therefore, by detecting the shift operation of the transmission to the reverse stage by the driver, the reflectance of the rear windshield glass is increased, and the image of the scenery captured by the back camera is projected on the rear windshield glass by the projector device. By projecting, the driver who is facing backwards can simultaneously view the direct image with the naked eye that has passed through the rear windshield glass and the image projected by the camera (reflected image) projected on the rear windshield glass. A back monitor device that has been made possible has been proposed to prevent movement of the line of sight (Patent Document 1).

  Also, side mirrors for viewing the side of the vehicle and the rear side of the vehicle, such as fender mirrors and door mirrors, a rearview mirror for viewing the rear of the vehicle, a rear under mirror for viewing the rear of the vehicle, etc. In order to enlarge the indirect viewing range by various reflectors, the rear side of the vehicle and the rear side of the vehicle are imaged by a camera, and the image obtained by this camera is used as a hologram outside the outline of the reflector to create a front windshield. There has been proposed a vehicle display device that projects onto glass adjacent to each reflector such as glass, side glass, or rear windshield glass (Patent Document 2).

Note that the technique proposed in Patent Document 2 performs viewpoint conversion processing so that the hologram image becomes an image based on the driver's viewpoint, and ensures continuity with the reflection image by the reflecting mirror. Prevents movement.
JP 2000-272417 A JP 2000-71877 A

  However, since the technique according to Patent Document 1 projects the image from the camera viewpoint directly onto the rear windshield glass, it is difficult to correspond to the transmitted direct image directly to the naked eye, resulting in a delay in instantaneous judgment and erroneous vehicle operation. There is a fear.

  Further, the technique according to Patent Document 2 expands the visible range (the size of the reflected image) by the reflecting mirror without increasing the size of the reflecting mirror, that is, the adverse effect of increasing the size of the reflecting mirror, that is, Although the enlargement of the blind spot area due to the enlargement of the size of the reflector is prevented, it does not eliminate the blind spot area generated behind the reflector itself.

  In addition to the hologram image (reflected image) that can be seen from the outer space of the reflecting mirror to the outer area, a direct image by the naked eye is also visually recognized. And the reflected image are superimposed on each other, and the driver may be recognized as an unnatural scenery. In particular, while traveling, the direct image flows so as to approach, whereas the reflected image (hologram image) flows away from each other. If these two images overlap, there is a possibility that the recognition of the scenery may be confused.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a vehicle periphery monitoring device that can visually recognize the scenery of the blind spot area without performing a large line-of-sight movement and without a sense of incongruity.

  The vehicle periphery monitoring device according to the present invention performs image processing (viewpoint conversion) on the captured image so that the blind spot image captured by the camera becomes a landscape image viewed from the occupant's viewpoint. Image processing is performed on the window glass that transmits the direct image in correspondence with the positional relationship between the direct image directly viewed with the occupant's naked eye through the window and the image processed image. By projecting the image, the occupant is allowed to visually recognize the scenery of the blind spot area through the translucent vehicle body.

  That is, the vehicle periphery monitoring device according to the present invention provides at least one imaging unit that captures a landscape of a blind spot area of a vehicle, and an image of the landscape of the blind spot area obtained by the imaging unit, from the viewpoint of a passenger of the vehicle. And a display means for displaying the virtual image so as to be superimposed on a direct image assumed to be visually recognized by the occupant from the assumed position. It is characterized by comprising.

  Here, the scenery of the blind spot area captured by the imaging unit may not be the entire blind spot area, and may be at least a part of the scenery of the blind spot area.

  The virtual image is assumed to be visually recognized by the occupant from that position when it is assumed that the vehicle body and the vehicle body accessories that cause the blind spot area are removed, or when the vehicle body is assumed to be transparent. It is a statue of the scenery to be done.

  According to the vehicle periphery monitoring apparatus configured as described above, the image of the blind spot area obtained by the imaging unit is converted into a virtual image from the viewpoint of the passenger by the image processing unit. The display means displays the image superimposed on a direct image assumed to be visually recognized by the occupant's naked eye.

  According to the vehicle periphery monitoring apparatus according to the present invention, the occupant visually recognizes an image in which a virtual image is superimposed on a direct image that is actually visually recognized, but the virtual image is formed as an image from the viewpoint of the occupant. Therefore, the positional relationship between the virtual image and the direct image is almost completely the same, so that the occupant can perceive the vehicle body or the like causing the blind spot area as a direct image while Perceived as if the scenery image of the blind spot area that has been transmitted through is visible as a virtual image at the same time, and through a semi-transparent car body, etc. Can do.

  Therefore, the occupant can perceive the scenery image of the blind spot area and the direct image by the naked eye as a composite image in which the positional relationship is substantially completely associated with each other, which is excellent in usability.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, a preferred embodiment of a vehicle periphery monitoring device according to the invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a system configuration of a vehicle surroundings monitoring apparatus 100 according to an embodiment of the present invention, and FIG. 2 is a driver seated in a driver's seat of a vehicle 200 on which the vehicle surroundings monitoring apparatus 100 shown in FIG. 1 is mounted. From the position 210 corresponding to this viewpoint, the visual field is viewed by the visual recognition region Z1 and the vehicle body 201 in the visual field range when the front of the vehicle 200 is viewed through the windshield 90 (hereinafter simply referred to as the windshield). FIG. 3 is a diagram schematically showing the blind spot area Z2 to be obstructed. FIG. 3 is a visual recognition area Z1 visually recognized when the driver looks at the front of the vehicle 200 through the windshield 90 in the state of FIG. FIG. 6 is a schematic diagram schematically showing a direct image P1 corresponding to.

  Here, the vehicle surroundings monitoring device 100 is provided in the vicinity of the front end of the vehicle 200, and includes a camera 10 including an imaging element such as a CCD that is directed forward and downward so as to mainly capture the scenery W2 in the blind spot area Z2. An image processing device 20 for converting the image P2 of the scenery W2 of the blind spot area Z2 obtained by the camera 10 into a virtual image P2 ′ from the position 210 corresponding to the viewpoint of the passenger of the vehicle 200 (viewpoint conversion processing); This is a configuration provided with a video projector 30 and a screen 40 as display means for displaying the image P2 ′ so as to be superimposed on the direct image P1 assumed to be visually recognized by the occupant from the assumed position 210.

  Here, the screen 40 is configured by a windshield 90 provided in advance in the vehicle 200.

  The image P2 of the scenery W2 of the blind spot area Z2 captured by the camera 10 does not have to cover the entire area of the blind spot area Z2, and corresponds to at least a part of the scenery W2 of the blind spot area Z2. Also good.

  In addition, the virtual image P2 ′ is displayed at the position when it is assumed that the vehicle body (bonnet hood 201, etc.) and the vehicle body accessory that cause the blind spot area Z2 are removed, or when the vehicle body is assumed to be transparent. 210 is an image of a scenery W2 that is assumed to be visually recognized by a passenger from 210. In the present embodiment, as shown in FIG. 2, at the position 210 corresponding to the occupant (driver) viewpoint, the bonnet 201 causes the area behind it to become a blind spot area Z2.

  Further, the windshield 90 is set so that the reflectance of the lower region on which the virtual image P <b> 2 ′ is projected is larger than that of other region portions, and is, for example, a half mirror 91.

  Next, the operation of the vehicle periphery monitoring device 100 of this embodiment will be described.

  First, in the arrangement state of the vehicle 200 shown in FIG. 2, the driver viewed the front of the vehicle through the windshield 90 from the position 210 corresponding to the viewpoint of the driver who got on the vehicle 200 on which the vehicle surrounding monitoring device 100 is mounted. At this time, an image (direct image) P1 of the scenery W1 obtained from the visual recognition area Z1 visually recognized by the naked eye is as shown in FIG.

  Here, in the blind spot area Z2 that cannot be visually recognized by the bonnet 201 existing in front of the windshield 90, the obstacle 300 exists as shown in FIG. 2, but the obstacle 300 appears at all in the direct image P1. There is no or only a slight upper part appears. Note that the other vehicle 400 present in the visual recognition area Z1 appears directly in the image P1 and is sufficiently visible.

  In this state, the camera 10 captures the scenery W2 of the blind spot area Z2 including the obstacle 300, and the captured image P2 is sent to the image processing device 20, and the image processing device 20 receives the input image P2. Is subjected to a viewpoint conversion process to obtain a virtual image P2 ′.

  Next, the virtual image P2 ′ is sent to the video projector 30, and the video projector 30 superimposes the input virtual image P2 ′ on the direct image P1 that is assumed to be viewed by the occupant from the position 210. Projection is performed on the half mirror 91 in the lower region of the windshield 90 set in advance.

  As a result, the scenery viewed from the position 210 corresponding to the passenger's viewpoint is an image in which the virtual image P2 ′ is superimposed on the direct image P1, as shown in FIG.

  Here, since the virtual image P2 ′ is formed as an image from the position 210 corresponding to the occupant's viewpoint, the positional relationship between the virtual image P2 ′ and the direct image P1 is substantially completely matched. Thus, the occupant recognizes the bonnet 201 causing the blind spot area Z2 as the direct image P1, and simultaneously views the image P2 of the scenery W2 of the blind spot area Z2 that has passed through the bonnet 201 as the virtual image P2 ′. As if the scenery W2 in the blind spot area Z2 that is not originally visible is viewed through the translucent bonnet 201.

  As described above, according to the vehicle surrounding monitoring apparatus 100 of the present embodiment, the image P2 of the scenery W2 in the blind spot area Z2 and the direct image P1 by the naked eye are substantially completely associated with each other as a composite image. It can be perceived by the driver and is excellent in usability.

  Further, since the existing windshield 90 is used in the vehicle 200 as the display means, it is not necessary to newly provide a display screen 40, and the product cost can be reduced by reducing the number of components.

  Furthermore, since the windshield 90 has an area portion on which the virtual image P2 ′ is projected as the half mirror 91 and has a higher reflectance than the other area portions, the virtual image projected by the video projector 30 is used. P2 'can be clearly perceived by the passenger as a reflected image.

  As the transmittance decreases (the reflectance increases), the clarity of the virtual image P2 ′ increases. However, the clarity of the direct image P1, which is a transmission image, decreases on the contrary. The transmittance is preferably 50%, for example.

  Next, the viewpoint conversion process described above will be described in detail.

  As described above, the viewpoint conversion processing performs geometric calculation on the image P2 obtained from the viewpoint of the camera 10 to obtain a position 210 (virtual driver) corresponding to the assumed driver viewpoint. The point Xw on the ground and the point Xc on the imaging plane of the camera 10 at an arbitrary viewpoint are given by the following equation (1). .

式（１）において、ｒは任意視点のカメラ１０と地面までの光軸に沿った長さ、Ｒ（ψ，φ，θ）は座標系の回転行列、ｆは任意視点のカメラ１０の焦点距離、ｅ_zはＺ軸方向の単位ベクトルを表す。

In equation (1), r is the length along the optical axis to the camera 10 at an arbitrary viewpoint and the ground, R (ψ, φ, θ) is a rotation matrix of the coordinate system, and f is the focal length of the camera 10 at the arbitrary viewpoint. , e _z represents the unit vector in the Z-axis direction.

  Using equation (1), a point Xc on the coordinate system corresponding to the imaging surface of the camera 10 attached to the vehicle and a point Xc ′ on the coordinate system corresponding to the image plane of the driver viewpoint are connected via Xw. Corresponding images can be converted between different viewpoints.

  Further, the correspondence between the image plane of the driver viewpoint and the projector 30 and the correspondence (point) on the windshield 90 that becomes the projection screen of the projector 30 can be obtained by the same geometric calculation.

  In the above-described embodiment, the half mirror 91 having a higher reflectance than the other region portions is formed in the lower region of the windshield 90. However, in order to use the half mirror having such a fixed reflectance. Instead, it is also possible to apply the windshield 90 whose reflectance is variable for the lower region where the virtual image P2 ′ is projected.

  For example, as shown in FIG. 5, a liquid crystal shutter with a liquid crystal shutter 92 embedded therein can be used as a variable reflectance. In the case where such a liquid crystal shutter 92 is embedded, the amount of light transmitted through the liquid crystal shutter 92, that is, the transmission intensity of the direct image P1 can be changed by applying a voltage, and the reflectance is changed by changing the transmittance. Let

  In addition, the windshield 90 in which the reflectance of the lower region is made variable in this way includes a reflectance control unit 50 (reflectance control means) that performs control to change the reflectance of the lower region according to a predetermined condition. It has more.

  Further, the predetermined condition may be an instruction content (ON instruction signal or OFF instruction signal input to the ON / OFF button 60 or the like) input by the driver, or a vehicle speed provided in the vehicle 200. The vehicle speed obtained from the sensor 70 may be used.

  When the ON / OFF button 60 or the like responds to an instruction input by the driver, the reflectance control unit 50 controls the liquid crystal shutter 92 in response to the input when the driver desires. The intention of the driver can be reliably reflected by increasing the reflectivity (use state) or decreasing the reflectivity (non-use state).

  On the other hand, when the vehicle speed is determined according to the vehicle speed or the like, the detection result by the vehicle speed sensor 70 or a gear position detection sensor (not shown) is input to the reflectance control unit 50, for example, during steering such as turning right or left When the vehicle speed is low, such as in a garage or parallel parking maneuver, the reflectivity can be increased automatically, so even in situations where manual instruction input by the driver is not in time, it is automatically switched to the use state. It is possible to improve usability.

  In addition, the predetermined condition may be the condition that the amount of ambient light such as whether it is daytime or nighttime. When the amount of ambient light is large, the visibility of the reflected image (virtual image) is lower than when the amount of ambient light is small. Therefore, when the amount of ambient light is large, the reflectance is increased, When the amount of light is small, the reflectance may be reduced.

  Further, the reflectance control unit 50 may link the control of the reflectance change with respect to the liquid crystal shutter 92 and the control of the projection operation by the video projector 30 as indicated by a broken line.

  In the embodiment described above, the windshield 90 provided in advance in the vehicle 200 is used as a projection plane (a superimposition (composite) plane with the direct image P1) on which the virtual image P2 ′ is projected by the projector 30. However, the present invention is not limited to such a form.

  That is, as shown in FIG. 6, the display means directly transmits the image P <b> 1, and projects a virtual image P <b> 2 ′ so that the reflectance is higher than that of the windshield 90 and the screen 42. A video projector 30 that projects the virtual image P2 ′ may be provided.

  According to the vehicle surrounding monitoring apparatus of such an embodiment, the virtual image P2 ′ projected on the screen 42 by the video projector 30 is visually recognized by the driver as a reflected image. The higher the reflectivity of the screen 42), the clearer the driver can visually recognize the image. Since the reflectivity of the screen 42 is higher than the reflectivity of the windshield 90, the virtual image P2 'becomes clearer. It can be visually recognized. The reflectance is preferably 50%, for example.

  Further, as shown in FIG. 6, the screen 42 described above may not always be installed in the used state in front of the windshield 90. For example, as shown in FIG. Between a use position (standing position indicated by a two-dot chain line) installed in a range where ′ is projected and a retreat position (falling position indicated by a solid line) where the virtual image P2 ′ is retracted outside the range projected Further, it is configured to be rotatable, and further includes a drive control unit 51 (drive control means) that performs control to move the screen 42 to a use position or a retracted position according to a predetermined condition.

  The predetermined condition may be an instruction content (ON instruction signal or OFF instruction signal input to the ON / OFF button 60 or the like) input by the driver, or a vehicle speed provided in advance in the vehicle 200. The vehicle speed detected by the sensor 70 or the like may be used.

  In response to an instruction input by the driver, the driver receives the input when desired and is moved to the use position (use state) or moved to the retracted position (non-use state). The driver's intention can be surely reflected.

  On the other hand, when it corresponds to the vehicle speed or the like, the detection result by the vehicle speed sensor 70 or a gear position detection sensor (not shown) or the like is input to the drive control unit 51, for example, at the time of steering such as a right or left turn, When the vehicle speed is low, such as garage handling and parallel parking maneuvering, the reflectance can be increased automatically, so even in situations where manual instruction input by the driver is not in time, it can be automatically switched to the use state. It is possible to improve usability.

  In addition, the predetermined condition may be the condition that the amount of ambient light such as whether it is daytime or nighttime.

  Further, the drive control unit 51 may link the control of the reflectance change with respect to the liquid crystal shutter 92 and the control of the projection operation by the video projector 30 as indicated by a broken line.

  In each of the above-described embodiments, the position 210 corresponding to the driver's viewpoint is described as being set in advance. However, the position corresponding to the driver's viewpoint may vary depending on individual differences between drivers.

  Nevertheless, if the viewpoint conversion process is always performed with the single position 210 as a reference, the virtual image P2 ′ and the direct image P1 may not be accurately superimposed and perceived depending on the viewpoint position of the driver. sell.

  Therefore, as shown in FIG. 8, a joystick 80 (parameter adjusting means) that changes the parameters of the viewpoint conversion process that defines the shape of the virtual image P2 ′ so as to change the shape of the virtual image P2 ′ by trial and error is further provided. The image processing unit 20 may be configured to form the virtual image P2 ′ based on the parameters after being adjusted by the joystick 80.

  The parameter adjusting means may be any means for manually inputting a signal for changing the parameter, and may be other input interfaces such as buttons and knobs as well as the joystick 80.

  Then, the driver perceives the virtual image P2 ′ projected on the half mirror 91 and the direct image P1, and the virtual image P2 ′ is a viewpoint conversion image from the driver viewpoint equivalent position 210 in the blind spot area Z2 of the direct image P1. Then, the viewpoint conversion processing parameters are sequentially changed and inputted by the joystick 80, and the image processing unit 20 sequentially generates virtual images P2 ′ having shapes corresponding to the parameters and projects them onto the half mirror 91. .

  Thus, even if there is an individual difference in the viewpoint position of the driver, the virtual image P2 ′ can be visually recognized by being superimposed on the image P1, and the virtual image P2 ′ is changed by trial and error. The optimum shape of the virtual image P2 ′ suitable for the above is obtained.

  Although each embodiment mentioned above was explained for the blind spot area Z2 by the bonnet 201 in the front part of the vehicle 200, the vehicle periphery monitoring device 100 of the present invention is targeted only for the blind spot area Z2 of the front part of the vehicle 200. Not what you want.

  That is, for example, the vehicle surrounding monitoring apparatus 100 ′ shown in FIG. 9 is intended for a blind spot area formed by a gate body portion other than a rear windshield glass (hereinafter simply referred to as rear glass) 93 of a rear hatch gate. 1, which is provided in the vicinity of the rear end portion of the vehicle 200 and is mainly directed rearward and downward so as to capture the scenery W3 in the blind spot area. A camera 10 ′ composed of an image sensor such as a CCD, and an image P3 of a blind spot area W3 obtained by the camera 10 ′ are converted into a virtual image P3 ′ from a position 210 corresponding to the viewpoint of the occupant of the vehicle 200 ( Direct image R1 that is assumed to be visually recognized by the driver from the assumed position 210 of the image processing device 20 ′ that performs viewpoint conversion processing) and the virtual image P3 ′. Although the video projector 30 ′ and the screen 40 ′ are provided as display means for displaying in a superimposed manner, the vehicle surroundings monitoring device 100 ′ having this configuration is the same as the vehicle surroundings monitoring device 100 shown in FIG. Thus, an embodiment of the vehicle periphery monitoring device according to the present invention can be obtained.

  9 also applies the reflectivity control unit 50 and the drive control unit 51 in the embodiment shown in FIGS. 5 and 7 to realize a variable reflectivity screen. In this case, as a trigger for starting the drive of the reflectance control unit 50 or the drive control unit 51, a gear stage detection sensor (not shown) is provided, and when it is detected that a shift change to the reverse gear is detected, the reflectance control unit 50 increases the reflectance of the lower region of the rear glass 93, and causes the driver to perceive the image P3 of the scenery W3 in the blind spot region and the direct image R1 by the naked eye as a composite image in which the positional relationship is substantially completely associated. Can be used, and it is easy to use.

  Moreover, not only the blind spot area in front and rear of the vehicle 200 but also a blind spot area generated by the first pillar counted from the front side called a so-called A pillar, and a blind spot area generated by the vehicle body floor. What is to be performed can also be an embodiment of the vehicle periphery monitoring device according to the present invention.

  Although the vehicle surroundings monitoring devices 100 and 100 ′ of the above-described embodiments have been described assuming that the position 210 corresponding to the driver's viewpoint is fixed, the driver's viewpoint is displaced while the vehicle is running. Alternatively, the driver's viewpoint and line of sight may be measured. As such a measuring method, for example, one disclosed in Japanese Patent Laid-Open No. 6-323832 (that is, provided in the image input means with different positions from each other). A plurality of light sources are individually turned on to illuminate the eyeball portion, and the reflected image is captured to obtain a plurality of image data. After calculating the difference between the two image data by the difference calculation means, the shift amount is measured. Means for measuring a positional deviation amount of the reflected image, and the cornea reflected image extracting means extracts a pair of reflected images having a positional deviation amount equal to or less than a predetermined value as a corneal reflected image. The attention direction calculation means calculates the attention direction, and the difference calculation makes it easy to discriminate the pair, and the attention direction can be calculated with high accuracy even when a reflection image such as a spectacle frame is mixed in free space. To transmit information to the vehicle and perform switch operation, etc.).

It is a block diagram showing the system configuration | structure of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. FIG. 1 schematically shows a visual recognition area and a blind spot area when a vehicle front is viewed through a windshield from a position corresponding to a viewpoint of a driver seated in a driver's seat of the vehicle on which the vehicle periphery monitoring device shown in FIG. 1 is mounted. FIG. FIG. 3 is a schematic diagram schematically showing a direct image corresponding to a visual recognition region visually recognized when the driver looks at the front of the vehicle through the windshield in the state of FIG. 2. FIG. 4 is a schematic diagram corresponding to FIG. 3 showing a state in which a virtual image is superimposed on a direct image. It is a figure which shows embodiment which applied what made the reflectance variable about the lower area | region where a virtual image is projected among windshields. It is a figure which shows embodiment which replaced the front surface with the display surface and used the screen. It is a figure which shows embodiment which enabled the screen to rotate between a use position and a retracted position. It is a figure which shows embodiment provided with the joystick which changes the parameter of a viewpoint conversion process so that a virtual image may be changed by trial and error. It is a figure which shows embodiment applied regarding the blind spot area | region in the back of a vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Camera 20 Image processing apparatus 30 Video projector 90 Front glass 91 Half mirror 200 Vehicle P1 Direct image (Glass transmission image by visual observation)
P2 'virtual image (image captured by camera and processed for viewpoint conversion)

Claims (7)

  At least one imaging unit that captures the scenery of the blind spot area of the vehicle, and the image of the landscape of the blind spot area obtained by the imaging means is converted into a virtual image from a position corresponding to the viewpoint of the passenger of the vehicle Vehicle surrounding monitoring comprising image processing means and display means for displaying the virtual image so as to be superimposed on a direct image assumed to be visually recognized by the occupant from the assumed position apparatus.   2. The display unit according to claim 1, further comprising: a windshield glass provided in advance in the vehicle that transmits the direct image; and a video projector that projects the virtual image onto the windshield glass. The vehicle surrounding monitoring apparatus as described.   The vehicle surroundings monitoring apparatus according to claim 2, wherein the windshield glass is configured such that a reflectance of an area portion on which the virtual image is projected is set larger than that of other area portions. The windshield glass is one in which the reflectance of the region portion on which the virtual image is projected is variable.
The vehicle surroundings monitoring device according to claim 2, further comprising reflectance control means for performing control to change the reflectance in accordance with a predetermined condition.   The display means transmits the direct image, and at least a region where the virtual image is projected has a higher reflectance than a windshield glass provided in advance in the vehicle, and the screen includes the screen The vehicle surroundings monitoring apparatus according to claim 1, further comprising a video projector that projects a virtual image. The screen is movable between a use position installed in a range where the virtual image is projected and a retreat position where the virtual image is retreated outside the range where the virtual image is projected,
6. The vehicle surrounding monitoring apparatus according to claim 5, further comprising drive control means for performing control to move the screen to the use position or the retreat position according to a predetermined condition. In order to change the shape of the virtual image on a trial and error basis, it further comprises parameter adjustment means for changing a parameter of conversion processing that defines the shape of the virtual image,
7. The vehicle surrounding monitoring apparatus according to claim 1, wherein the image processing unit forms the virtual image based on a parameter after being adjusted by the parameter adjusting unit. .

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