JP2008068675A - Apparatus for visually confirming vehicle periphery - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for visually confirming a vehicle periphery which can image the vehicle periphery by an imaging means mounted to the vehicle, display the image picked up on a display means mounted in the vehicle, and allow a driver to visually confirm a moving object such as a person around the vehicle or other vehicles or the like. <P>SOLUTION: Whether the vehicle is in a startable state or not is determined according to a vehicle speed detected by a vehicle speed sensor 31, the state of a shift lever 32, the state of a side brake 33, and the state of a foot brake 34. Whether the moving object is imaged or not in the images is determined from a plurality of images imaged by a camera at different times. When the vehicle is in the startable state and the moving object is imaged in the image to be imaged, the moving object is enclosed by a frame and displayed on a liquid crystal display 20. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle periphery visualizing device that can capture the periphery of a vehicle with a camera mounted on the vehicle and display the captured image on a display provided in the vehicle.

  Conventionally, a camera is mounted on the front side, rear side, or left and right sides of a vehicle to capture the outside world of the vehicle, and various images are provided to the driver by displaying an image acquired by the imaging on a display provided in the vehicle. A vehicle periphery visual recognition device has been put into practical use. For example, by installing a camera that captures a blind spot from the driver's seat of the vehicle, a portion that cannot be directly seen by the driver can be displayed on the display, so that an accident can be prevented.

  The display provided in the vehicle is used not only to display the image acquired by imaging the surroundings of the vehicle as described above, but also to display a map for the car navigation system to notify the current position, for example, In addition, it is often used for various purposes, such as when a television program received by a tuner mounted on a vehicle is displayed. Therefore, it is necessary to switch the image displayed on the display. In the conventional case, the driver switches the image directly by operating a switch or a button, or vehicle information such as the vehicle speed and the state of the shift lever. Automatically switch images based on.

In patent document 1, it displays based on various signals which show vehicle states, such as an imaging device which picturizes a plurality of imaging ranges around vehicles, a display device which displays the picked-up image, a touch panel, and a touch panel and a shift position signal. There has been proposed a vehicle periphery visual recognition device including a control unit that switches an imaging range to be performed. The vehicle periphery visual recognition device can switch the display state of a plurality of imaging ranges displayed on the display device with respect to the driver's intention, and easily performs an operation input for switching the display state. It is possible to easily recognize which imaging range is displayed.
JP 2003-116125 A

  However, in the case of a configuration in which the driver switches the image displayed on the display inside the vehicle by operating a switch or a button, there is a problem that the operation is troublesome because the driver needs to perform the operation. For this reason, the driver may not be able to display a necessary image without performing a switching operation. In addition, in the case of a configuration that automatically switches an image to be displayed based on vehicle information, image switching is forcibly performed, so an unnecessary image is displayed on the display, and a map display of a car navigation system or a TV program There was a problem that viewing and the like may be unnecessarily hindered.

  The present invention has been made in view of such circumstances, and an object of the present invention is to acquire information related to traveling of the vehicle and determine whether or not the vehicle is ready to start and a camera. The change in the image of the object captured in the image is acquired from a plurality of images acquired by the image pickup means at different time points, and whether or not the moving object is picked up by the image pickup means is determined from this change. When the vehicle is ready to start and a moving object is picked up by the image pickup means, it is necessary to safely drive the vehicle by displaying the image acquired by picking up the image. An object of the present invention is to provide a vehicle periphery visual recognition device that can switch an image to be displayed only in a case and allow a driver to visually recognize an image around the vehicle.

  Another object of the present invention is to determine whether or not the vehicle is ready to start, such as vehicle speed information of the vehicle, information about the state of the shift lever, information about the state of the side brake, or the state of the foot brake. By determining the information based on the information related to the vehicle, it is possible to accurately determine whether or not the vehicle is ready to start, and to view the surroundings of the vehicle, which can display an image acquired by imaging only when necessary. To provide an apparatus.

  Another object of the present invention is that the vehicle speed is 0 km / h, the shift lever is in a state other than the neutral position or the park position, the side brake is in the released state, and the foot brake is in an effective state. In such a case, by determining that the vehicle is ready to start, it is possible to accurately determine whether or not the vehicle is ready to start and display an image acquired by capturing only when necessary. It is in providing the vehicle periphery visual recognition apparatus which can do.

  Another object of the present invention is that, when it is determined that the vehicle is not ready to start, the imaging means does not acquire changes from a plurality of images captured at different times. An object of the present invention is to provide a vehicle periphery visual recognition device capable of reducing the processing load without acquiring a change accompanying complicated image processing when it is clear that an image need not be displayed.

  Another object of the present invention is a configuration for determining whether or not a moving object has been imaged based on a change within a predetermined determination area of an image acquired by imaging means. Accordingly, an object of the present invention is to provide a vehicle periphery visual recognition device that can set only a moving object in the vicinity of a vehicle in an acquired image as a determination target.

  Another object of the present invention is to determine whether or not a moving object has been imaged by acquiring pixel value differences of a plurality of images acquired by imaging means at different times. Thus, an object of the present invention is to provide a vehicle periphery visual recognition device that can determine whether or not a moving object has been imaged by a simple calculation and display it on a display means such as a display.

  Another object of the present invention is a configuration in which an imaging unit extracts edges of a plurality of images acquired by imaging at different time points, and determines whether or not a moving object has been imaged based on a difference between the edges. Thus, it is an object of the present invention to provide a vehicle periphery visual recognition device that can more accurately determine whether a moving object has been imaged and display the moving object on a display unit such as a display.

  Another object of the present invention is to investigate whether or not there is a change in the captured object for each of a plurality of determination areas in an image acquired by imaging, and all the determination areas are changed. If it has occurred, it is determined that the moving object has not been imaged, and if a change has occurred in some of the determination areas, it is determined that the moving object has been imaged in the determination area where the change has occurred By providing the configuration, it is an object of the present invention to provide a vehicle periphery visual recognition device that can accurately determine even when the vehicle moves at an extremely low speed.

  Another object of the present invention is to acquire a motion vector of an object captured in an image from a plurality of images acquired by imaging means at different time points, and the motion vector is radial from a predetermined position. When the object diffuses or converges to a predetermined position, it is determined that the moving object is not imaged, and when the motion vector is other than this pattern, the object related to the motion vector is determined as the moving object. Thus, even when the vehicle moves at an extremely low speed, it is possible to provide a vehicle periphery visual recognition device that can more accurately determine whether a moving object has been imaged and display it on a display unit such as a display. is there.

  Another object of the present invention is to convert a plurality of images captured and acquired at different time points by the imaging means into images in the bird's-eye view direction, and to obtain a motion vector of the object that is imaged in the image in the bird's-eye view direction. If the direction of the motion vector of the predetermined number or more is uniform in the traveling direction or the backward direction of the vehicle, it is determined that the moving object is not imaged, and the motion vector of the predetermined number or more is not this pattern By configuring the object related to the motion vector as a moving object, even if the vehicle moves at an extremely low speed, it is possible to more accurately determine whether the moving object has been imaged and display on a display or the like. An object of the present invention is to provide a vehicle periphery visual recognition device that can be displayed on the means.

  Another object of the present invention is to make the driver surely recognize a moving object around the vehicle by emphasizing the moving object picked up by the image pickup means and displaying it on the display means. It is in providing the vehicle periphery visual recognition apparatus which can be performed.

  Another object of the present invention is to make the driver surely recognize a moving object around the vehicle by adopting a configuration in which the moving object imaged by the imaging means is surrounded by a frame and displayed on the display means. It is in providing the vehicle periphery visual recognition apparatus which can do.

  Another object of the present invention is to provide a warning sound or a sound notification when the vehicle is ready to start and a moving object is imaged by the imaging means. It is an object of the present invention to provide a vehicle periphery visual recognition device that allows a driver to reliably recognize the presence of a moving object.

  Another object of the present invention is to mount a plurality of imaging means on a vehicle, and when a moving object is imaged by the plurality of imaging means, select one or a plurality of imaging means from these. Another object of the present invention is to provide a vehicle periphery visual recognition device capable of capturing and displaying a wider range around the vehicle by adopting a configuration that displays an image captured by a selected imaging means.

  A vehicle periphery visual recognition apparatus according to a first aspect of the present invention includes an imaging unit that is mounted on a vehicle and captures an image of the periphery of the vehicle to acquire an image, and a display unit that displays an image captured by the imaging unit. In a vehicle periphery visual recognition device, a start of determining whether or not the vehicle is ready to start based on travel information acquisition means for acquiring information related to the travel of the vehicle and information acquired by the travel information acquisition means Based on a plurality of images captured and acquired by the imaging unit at different time points, a change acquisition unit that acquires a change in the image of the object captured in the image, and the change acquisition unit Based on the acquired change, the moving object determining means for determining whether or not the moving object has been imaged by the imaging means, the startability determining means determining that the vehicle is ready to start, and the moving Object judgment means If more moving object is determined to have been captured, the imaging means is characterized by comprising a display control means for displaying on the display means an image obtained by imaging.

  In the present invention, information related to the traveling of the vehicle is acquired using various sensors mounted on the vehicle, and it is determined whether or not the vehicle is ready to start based on the information. The driver needs to visually recognize the periphery of the vehicle when the vehicle can start, and when the vehicle does not start, it is not necessary to visually recognize the periphery of the vehicle. In addition, a change in the object captured in the image is acquired from a plurality of images captured and acquired at different times by the imaging unit, and it is determined based on this whether or not the moving object has been imaged. When a moving object is not imaged, that is, when there are no people or other vehicles around the vehicle, there is no need to display an image around the vehicle. Therefore, by performing these two determinations, it is possible to display an image captured and acquired only when the driver needs it.

  Further, in the vehicle periphery visual recognition device according to the second aspect of the invention, the travel information acquisition means includes the vehicle speed information of the vehicle, the information related to the state of the shift lever of the vehicle, the information related to the state of the side brake of the vehicle, or the Information regarding the state of the foot brake of the vehicle is obtained.

  In the present invention, vehicle speed information of the vehicle, information related to the state of the shift lever, information related to the state of the side brake, information related to the state of the foot brake, and the like are acquired as information related to the traveling of the vehicle. For example, when the vehicle speed by the vehicle speed sensor is not 0 km / h, the vehicle is in a traveling state, and when it is 0 km / h, it can be determined that the vehicle is in a stopped state, that is, a startable state. Further, when the shift lever is in the neutral position or the park position, the vehicle cannot start, and in other cases, it can be determined that the vehicle is ready to start because the vehicle can be started by operating the accelerator. Further, when the side brake is not released, it can be determined that the vehicle cannot start, and when the side brake is released, the vehicle can start. Further, the state where the foot brake is effective is a stopped state, that is, a startable state, and the vehicle may be in a traveling state when the foot brake is released. Therefore, it is possible to determine whether or not the vehicle is ready to start by acquiring these pieces of information.

  Further, in the vehicle periphery visual confirmation device according to the third aspect of the invention, the travel information acquisition means includes the vehicle speed information of the vehicle, the information related to the state of the shift lever of the vehicle, the information related to the state of the side brake of the vehicle, and the Information relating to the state of the foot brake of the vehicle is obtained, the start possibility determining means is configured such that the vehicle speed of the vehicle is 0 km / h and the shift lever of the vehicle is in a state other than the neutral position or the park position. Yes, when the side brake of the vehicle is in a released state and the foot brake of the vehicle is in an effective state, it is determined that the vehicle is ready to start.

  In the present invention, the vehicle can start when the vehicle speed is 0 km / h, the shift lever is in a position other than the neutral position or the parking position, the side brake is in a released state, and the foot brake is in an effective state. It is determined that it is in a state. Whether or not the vehicle is ready to start can be reliably determined by making a determination based on the four types of information: vehicle speed, shift lever state, side brake state, and foot brake state.

  Further, the vehicle periphery visual recognition device according to the fourth invention is characterized in that the change acquisition means does not acquire the change when it is determined that the start possibility determination means is not in a startable state. To do.

  In the present invention, when it is determined that the vehicle is not ready to start, the imaging means does not acquire changes from a plurality of images captured at different times. When the vehicle is not ready to start, it is clear that it is not necessary to display an image captured and acquired by the imaging means. Therefore, processing performed by the vehicle periphery visual recognition device without performing high-load image processing Can be reduced.

  According to a fifth aspect of the present invention, there is provided the vehicle periphery visual recognition device, wherein the moving object determination unit is moved by the imaging unit based on a change in a predetermined determination area in an image acquired by the imaging unit. It is characterized in that it is determined whether or not an image is captured.

  In the present invention, it is determined whether or not a moving object has been imaged based on a change in a predetermined determination area of an image acquired by the imaging means. Many of the imaging devices mounted on the vehicle are equipped with a wide-angle lens or a fish-eye lens, etc., and can perform imaging over a wide range, but there is a need to display a moving object located far from the vehicle on the display means. Low. Therefore, the determination area is limited only to the periphery of the vehicle, and only the moving object existing around the vehicle is displayed. Further, by limiting the determination region, the processing load can be reduced.

  In the vehicle periphery visual recognition apparatus according to the sixth aspect of the invention, the change acquisition unit compares pixel values of a plurality of images acquired by the imaging unit and acquires a difference between the pixel values as a change. It is characterized by being.

  In the present invention, a plurality of images captured and acquired at different points in time by the imaging unit are compared, and a difference between pixel values is calculated. When the calculated difference exceeds, for example, a predetermined value, it can be determined that a moving object is imaged at this portion of the image. Since it is only necessary to calculate the difference between the pixel values, the calculation is simple, and the load on the processing of the vehicle periphery visual recognition device can be reduced.

  In the vehicle periphery viewing device according to a seventh aspect of the invention, the change acquisition unit extracts an edge from a plurality of images acquired by the imaging unit and acquires the difference between the extracted edges as a change. It is characterized by being.

  In the present invention, an edge is extracted from a plurality of images obtained by imaging at different time points by the imaging means, and an edge difference is calculated. When the calculated difference exceeds, for example, a predetermined value, it can be determined that a moving object is imaged at this portion of the image. If the difference between pixel values is simply calculated, an erroneous determination may occur when the brightness of the entire image changes. However, since the determination is based on a change in the edge, such an erroneous determination occurs. Can be reduced.

  Further, in the vehicle periphery visual recognition apparatus according to the eighth invention, the moving object determination unit examines the change acquired by the change acquisition unit for each of a plurality of determination areas in the image acquired by the imaging unit. When the change occurs in all the determination areas, it is determined that the moving object is not imaged by the imaging unit, and the change occurs in some of the determination areas. If the moving object is captured, it is determined that the moving object is imaged in the determination area where the change has occurred.

  In the present invention, in the configuration in which the change in the image is acquired by calculating the difference, for example, when the vehicle travels, the image may change and an erroneous determination may occur. The determined image is divided into a plurality of determination areas. A vehicle speed sensor mounted on a vehicle may not be able to detect the vehicle speed in an extremely low speed region (for example, 3 km / h or less). When the vehicle travels, changes occur in all areas of the image even at extremely low speeds at that time, so when the determination is made by dividing into a plurality of determination areas, the image changes in all the determination areas. Arise. On the other hand, if there is a moving object around the parked vehicle, a change occurs only in the determination area where the moving object is imaged. Therefore, it is determined that there is a moving object in this determination area. it can.

  Further, in the vehicle periphery visual recognition apparatus according to the ninth aspect of the invention, the change acquisition unit acquires a change in the image of the object captured in the image as a motion vector, and the moving object determination unit includes: When the motion vector acquired by the change acquisition means diffuses radially from a predetermined position or converges to a predetermined position, it is determined that the moving object is not imaged by the imaging means, and the change acquisition is performed. When the motion vector acquired by the means does not diffuse radially from the predetermined position and does not converge to the predetermined position, it is determined that the object related to the motion vector is imaged as a moving object. .

  In the present invention, the motion vector of the object captured in the image is acquired from a plurality of images captured and acquired at different times by the imaging means. For example, in an imaging means for imaging the front of a vehicle, when the vehicle moves forward, the motion vector diffuses radially around a predetermined position, a so-called vanishing point, and when the vehicle moves backward, the motion vector converges to the vanishing point. Are known. Therefore, when the acquired motion vector is this pattern, the vehicle is moving, and when it is not this pattern, the vehicle is stopped and it can be determined that a moving object exists around the vehicle.

  Further, in the vehicle periphery visual recognition device according to the tenth aspect of the invention, the change acquisition unit converts the image captured and acquired by the imaging unit into an image in the bird's-eye view direction, and an image of the object captured in the image in the bird's-eye view direction. When the moving object determination means has a uniform direction of a predetermined number or more of the plurality of motion vectors acquired by the change acquisition means. In addition, when it is determined that the moving object is not imaged by the imaging unit, and a predetermined number or more of the motion vectors acquired by the change acquisition unit are not in a uniform direction, It is determined that the object related to the motion vector is captured as a moving object.

  In the present invention, a plurality of images captured and acquired by the imaging means at different times are converted into images in the bird's-eye view direction by so-called Topview conversion, and the motion vectors of the objects captured in the plurality of converted images are acquired. . For example, in a bird's-eye view image obtained from an imaging means that images the front of the vehicle, when the vehicle moves forward, the motion vector becomes a uniform vector in the vehicle traveling direction (from the bottom to the top of the image), and the vehicle moves backward. In this case, the motion vector becomes a uniform vector in the backward direction of the vehicle (from the top to the bottom of the image). Therefore, if a predetermined number or more of the acquired motion vectors are in this pattern, the vehicle is moving. If not, the vehicle is stopped and there is a moving object around the vehicle. Can be judged.

  In the vehicle periphery visually recognizing device according to the eleventh aspect of the invention, the display control means emphasizes the moving object and causes the display means to display it.

  In the present invention, when a moving object around the vehicle is imaged by the imaging means, the moving object is emphasized and displayed on the display means. As a result, the driver can easily and reliably recognize the moving object from the displayed image.

  The vehicle periphery visual recognition device according to a twelfth aspect of the invention is characterized in that the display control means surrounds the moving object with a frame and displays the moving object on the display means.

  In the present invention, when a moving object around the vehicle is imaged by the imaging means, the moving object is surrounded by a frame and displayed on the display means. Accordingly, since the moving object is emphasized, the driver can easily and reliably recognize the moving object from the displayed image.

  The vehicle periphery visual recognition device according to the thirteenth aspect of the present invention is the case where the start possibility determining means determines that the vehicle is ready to start and the moving object determination means determines that a moving object has been imaged. And a notification means for performing notification by a warning sound or voice.

  In the present invention, when the vehicle is ready to start and a moving object is imaged by the imaging means, the driver is notified by a warning sound or voice. Thereby, even when the driver overlooks the image displayed on the display means, it can be surely recognized that a moving object exists around the vehicle.

  In the vehicle periphery visual recognition device according to the fourteenth aspect of the present invention, there are a plurality of the imaging means, and the moving object determination means determines whether or not a moving object has been imaged for each imaging means. When the object determination unit determines that the moving object is imaged by the plurality of imaging units, the object determination unit includes a selection unit that selects one or a plurality of imaging units from the imaging unit, and the display control unit is selected by the selection unit The image picked up by the picked-up image pickup means is displayed on the display means.

  In the present invention, a plurality of imaging means are mounted on the vehicle to image the periphery of the vehicle over a wider range. It is determined whether or not a moving object is imaged for each imaging unit, and when a moving object is imaged by a plurality of imaging units, one or a plurality of imaging units are selected from these, and the selected imaging unit is Display the captured image. It is possible to select and display an image most required by the driver from images captured by a plurality of imaging means.

  In the case of the first invention, it is determined whether or not the vehicle is ready to start, and whether or not the moving object is imaged by the imaging unit is determined, and the vehicle is ready to start and the imaging unit. When a moving object is picked up by the vehicle, the display means displays the image obtained by picking up the image so that it can be displayed only when the image needs to be displayed to the driver. It is possible to improve the convenience of the vehicle periphery visual recognition device without hindering the display means from performing display of a map of the navigation system or viewing of a television program by the display means. Moreover, since an image can be reliably displayed when necessary, the safety of traveling of the vehicle can be improved.

  Further, in the case of the second invention, whether or not the vehicle is ready to start is determined based on the vehicle speed information of the vehicle, information on the state of the shift lever, information on the state of the side brake, or information on the state of the foot brake. By determining the vehicle based on the vehicle, it is possible to accurately determine whether or not the vehicle is ready to start, and to display an image acquired by capturing only when necessary. Can improve convenience.

  According to the third invention, when the vehicle speed is 0 km / h, the shift lever is in a state other than the neutral position or the park position, the side brake is in the released state, and the foot brake is in an effective state. By determining that the vehicle is ready to start, the vehicle is ready to start because the determination is based on four types of information: vehicle speed, shift lever state, side brake state, and foot brake state. Whether or not the image can be accurately determined, and the image can be displayed on the display means only when necessary. Therefore, the convenience of the vehicle periphery visual recognition apparatus can be improved reliably.

  According to the fourth aspect of the invention, when it is determined that the vehicle is not ready to start, an image is displayed by adopting a configuration in which the imaging unit does not acquire changes from a plurality of images captured at different times. When it is clear that there is no need to do this, high-load image processing is not performed, so that the processing load of the vehicle periphery visual recognition device can be reduced.

  Further, in the case of the fifth invention, by determining whether or not the moving object has been imaged based on a change in a predetermined determination area of the image acquired by the imaging unit. Since the determination area is limited only to the periphery of the vehicle and only the moving object existing around the vehicle can be displayed, the convenience of the vehicle periphery visual recognition device can be further improved. Moreover, since the processing load can be reduced by limiting the determination region, it is possible to suppress an increase in the cost of the vehicle periphery visual recognition device due to the provision of this function.

  According to the sixth aspect of the invention, the imaging means obtains the difference between the pixel values of a plurality of images obtained by imaging at different times, and determines whether or not the moving object has been imaged. Since it is possible to determine whether or not a moving object has been imaged by a simple calculation, it is possible to reduce the processing load of the vehicle periphery visual recognition device and to provide a vehicle periphery visual recognition device having a function for performing this determination. An increase in cost can be suppressed.

  Further, in the case of the seventh invention, the configuration is such that the imaging means extracts the edges of a plurality of images captured and acquired at different times, and determines whether or not the moving object has been imaged based on the difference between the edges. Therefore, it is possible to reduce the occurrence of erroneous determination, and more accurately determine whether or not a moving object has been imaged and display it on the display means, thereby allowing the driver to visually recognize the moving object present around the vehicle. It is possible to improve the safety of vehicle travel.

  Further, in the case of the eighth invention, the determination is made by dividing the image obtained by taking an image into a plurality of determination areas, and if changes have occurred in all the determination areas, the vehicle is running. If the vehicle is traveling at an extremely low speed that cannot be detected by the vehicle speed sensor, it is determined that there is a moving object in the determination region. In this case, the moving object can be displayed on the display means more accurately and can be visually recognized by the driver, so that the safety of traveling of the vehicle can be further improved.

  Further, in the case of the ninth invention, whether the motion vector of the object captured in the image is acquired from a plurality of images captured and acquired at different times by the imaging means, and the motion vector diffuses radially from a predetermined position. Or when it is converged to a predetermined position, it is determined that the moving object is not imaged, and when the motion vector is other than this pattern, the object related to the motion vector is determined as the moving object. When traveling at an extremely low speed that cannot be detected by the vehicle speed sensor, there is no misjudgment, and the moving object can be displayed more accurately on the display means and made visible to the driver. Can be further enhanced.

  Further, in the case of the tenth invention, the plurality of images captured and acquired at different time points by the imaging means are converted into images in the bird's-eye view direction, and the motion vector of the object copied in the image in the bird's-eye view direction is acquired, When the direction of a predetermined number or more of the plurality of motion vectors is uniform in the traveling direction or the backward direction of the vehicle, it is determined that the moving object is not imaged, and the predetermined number or more of the motion vectors are in this pattern. If the vehicle is traveling at an extremely low speed that cannot be detected by the vehicle speed sensor, it is possible to move more accurately without making a false determination. Since the object can be displayed on the display means and visually recognized by the driver, the safety of traveling of the vehicle can be further improved.

  In the eleventh aspect of the invention, the moving object picked up by the image pickup means is emphasized and displayed on the display means, so that the driver can easily and reliably move the moving object from the displayed image. Since it can recognize, the safety | security of driving | running | working of a vehicle can be improved more.

  In the case of the twelfth invention, the moving object picked up by the image pickup means is displayed on the display means surrounded by a frame so that the moving object is highlighted and the driver can display the displayed image. Since the moving object can be easily and reliably recognized from the inside, the traveling safety of the vehicle can be further improved.

  According to the thirteenth aspect of the invention, when the vehicle is ready to start and a moving object is picked up by the image pickup means, a warning sound or sound is used to notify the driver, so that the driver can display the display means. Even when the image displayed on the screen is overlooked, it can be surely recognized that there is a moving object around the vehicle, so that the safety of traveling of the vehicle can be further improved.

  According to the fourteenth aspect of the present invention, when a plurality of imaging means are mounted on the vehicle and a moving object is imaged by the plurality of imaging means, one or a plurality of imaging means are selected and selected. By adopting a configuration that displays the image captured by the imaging means, it is possible to capture a wider range around the vehicle, and select and display the image that the driver needs most from the images captured by the plurality of imaging means. Therefore, it is possible to make the driver recognize the presence of a moving object in a wider range, and to further improve the safety of traveling of the vehicle.

(Embodiment 1)
Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof. FIG. 1 is a block diagram showing the configuration of the vehicle periphery visual recognition apparatus according to Embodiment 1 of the present invention. In the figure, reference numeral 1 denotes an in-vehicle camera that is attached to a front bumper of a vehicle (not shown) and captures an image of the front of the vehicle to acquire an image. An image acquired by imaging by the camera 1 is subjected to appropriate image processing by an ECU (Electronic Control Unit) 10 so that the image can be displayed on the liquid crystal display 20 disposed in the vicinity of the driver's seat in the vehicle. It is. The camera 1 and the ECU 10 are connected to the ECU 10 and the liquid crystal display 20 by a connection cable or a network cable, respectively.

  The camera 1 has an image sensor such as a CCD or CMOS, and one or a plurality of lenses that condense light onto the image sensor. When the image sensor detects light collected by the lens, the camera 1 It is an apparatus that performs imaging at a frequency of about 30 times per second. As the lens of the camera 1, a lens having a wide angle of view such as a wide-angle lens or a fish-eye lens is used so that an image can be captured over a wide range of 180 ° or more mainly in the horizontal direction in front of the vehicle. is there. The camera 1 is configured to provide the ECU 10 with an image acquired by imaging.

  The ECU 10 controls various devices mounted on the vehicle and performs processing for converting an image provided from the camera 1 into a display image. The ECU 10 temporarily stores various images such as an image processing unit 11 that performs various image processing on a given image, and an image given from the camera 1 and an image processed by the image processing unit 11. And a table memory 13 in which a table for performing correction processing, conversion processing, and the like on the image given from the camera 1 is stored. The image memory 12 is constituted by a rewritable memory element such as SRAM or DRAM, and the table memory 13 is constituted by a non-volatile memory element such as mask ROM or EEPROM. In addition, a liquid crystal display 20 is connected to the image processing unit 11, so that an image process can be performed on an image given from the camera 1 and displayed on the liquid crystal display 20.

  Since the camera 1 captures an image using a lens such as a wide-angle lens or a fisheye lens, the degree of curvature of the obtained image gradually increases from the center toward the end. Therefore, the image processing unit 11 can correct the curved portion of the image given from the camera 1 and display the corrected image on the liquid crystal display 20. The curved portion is corrected using a correction table stored in advance in the table memory 13. The image processing unit 11 corrects the curved portion of the image by moving each pixel of the image given from the camera 1 to a position determined by the correction table. The destination is memorized.

  In addition, the image processing unit 11 performs Topview conversion that converts an image captured and acquired by the camera 1 into an image in the bird's-eye view, and displays an image of the road surface on which the vehicle travels viewed from above on the liquid crystal display 20. It is made to be able to. Topview conversion is performed using a conversion table stored in advance in the table memory 13. The image processing unit 11 is configured to convert an image captured from the front into an image in the bird's-eye view direction by moving each pixel of the image given from the camera 1 to a position determined by the conversion table. The table stores the movement destination of each pixel.

  In addition, when a car navigation device (not shown) or a tuner that receives a TV program is mounted on the vehicle, a map showing the current position of the vehicle or a TV program can be displayed on the liquid crystal display 20. is there. At this time, in accordance with an instruction given from the CPU 15 of the ECU 10, the image processing unit 11 selects and switches between an image captured by the camera 1, a map by the car navigation device, a television program received by the tuner, and the like, and a liquid crystal display 20 is displayed.

  The vehicle periphery visual recognition apparatus according to the present embodiment includes a vehicle speed sensor 31, a shift lever 32, a side brake 33, a foot brake 34, an acceleration sensor (not shown), and a steering angle sensor (not shown) mounted on the vehicle. ) Etc., a vehicle information acquisition unit 30 for acquiring information related to the traveling of the vehicle is provided. The CPU 15 of the ECU 10 controls the electronic device mounted on the vehicle, the image processing unit 11 and the like based on the information given from the vehicle information acquisition unit 30 and the processing result of the image processing unit 11. A ROM 14 and a RAM 16 are connected to the CPU 15. The ROM 14 stores various control programs executed by the CPU 15 in advance, and is configured by a nonvolatile memory element such as a mask ROM, an EEPROM, or a flash memory. The RAM 16 stores temporary data generated when the CPU 15 performs control processing, arithmetic processing, or the like, and includes a rewritable memory element such as SRAM, DRAM, or flash memory. The CPU 15 reads out a control program from the ROM 14 and executes it to perform electrical control of the vehicle such as ABS (Antirock Bracket System) or TCS (Traction Control System).

  In addition, the vehicle periphery visual recognition device includes a speaker 25 that outputs voice guidance of the car navigation device, a voice when viewing a TV program, or a warning sound and a voice message related to driving of the vehicle, and is output from the CPU 15. Audio output can be performed in response to an instruction.

  The vehicle periphery visual recognition apparatus according to the present invention determines whether or not the vehicle is ready to start based on information obtained from the vehicle information acquisition unit 30, and a person or other vehicle around the vehicle by the camera 1. And a function of automatically switching an image to be displayed on the liquid crystal display 20 based on the determination result.

  When the vehicle is an AT (automatic transmission) system, the vehicle is ready to start when the vehicle speed detected by the vehicle speed sensor 31 is 0 km / h and the shift lever 32 is set to “P” (parking position) or “N ”(Neutral position) (for example,“ D ”(drive position) and“ R ”(reverse position)), the side brake 33 is released, and the foot brake 34 is operated by the driver. It is in a state where it has been activated (stepped on). This state is a state in which traveling can be started by releasing the foot brake 34.

  When the vehicle is an MT (manual transmission) system, the vehicle is ready to start, the vehicle speed detected by the vehicle speed sensor is 0 km / h, the shift lever is in a position other than the neutral position, and the side brake is released. In other words, it may be in a state in which traveling can be started by connecting the clutch and stepping on the accelerator. However, in the present embodiment, the case where the vehicle is the AT system is described, and the description is omitted for the case of the MT system.

  The image processing unit 11 determines whether or not there is a moving object around the vehicle by the camera 1. 2 and 3 are explanatory diagrams illustrating an example of image processing performed by the image processing unit 11 of the vehicle periphery visual recognition apparatus according to Embodiment 1 of the present invention. The camera 1 images the periphery of the vehicle at a frequency of about 30 times per second, and an image acquired by the imaging is stored in the image memory 12 of the ECU 10. The image processing unit 11 reads two images captured at predetermined time intervals from the image memory 12, and when there is a change by comparing the two images, a moving object is imaged by the camera 1, and around the vehicle It is determined that there is a moving object. FIG. 2 shows an example of two images read out from the image memory 12 by the image processing unit 11, (a) shows an image taken at time t, and (b) shows a time interval after a predetermined time interval Δt. An image taken at time t + Δt is shown.

  The image processing unit 11 calculates the difference by comparing the luminance value of each pixel of the image in order to check whether there is a change in the two images read from the image memory 12, and the calculated difference is a predetermined value. Whether or not there is a change is determined according to whether or not the threshold value is equal to or greater than the threshold value. FIG. 3C illustrates an example of a difference calculation result, in which pixels whose difference is equal to or greater than a predetermined threshold are shown in white, and other pixels are shown in black.

  Also, the determination of whether or not there is a change between the two images is performed only within a predetermined determination area 50, not the entire area of the image. In FIG. 2A, FIG. 2B, and FIG. 3C, a determination area 50 is illustrated as an area surrounded by a broken line. Since the camera 1 captures a wide range with a wide-angle lens or a fish-eye lens or the like, when the determination is made in the entire area of the acquired image, the two images change due to an object moving far away from the vehicle, and an error occurs. Judgment may occur. For this reason, by making the determination region 50 a substantially trapezoidal region provided below the center of the image as shown in the drawing, only an object moving in the vicinity of the vehicle can be determined. In this example, as shown in FIG. 3C, since there is a pixel whose difference is equal to or greater than the threshold in the determination area 50, the image processing unit 11 determines that a change has occurred between the two images. It can be determined that there is a moving object around the vehicle.

  When the image processing unit 11 determines that there is a change between the two images, the image processing unit 11 displays the image at the time t + Δt on the liquid crystal display 20, and an emphasis frame 51 that surrounds the entire pixel whose difference is equal to or greater than the threshold value, A warning message “Warning!” Is displayed in an overlapping manner to notify the driver that there is a moving object around the vehicle (see FIG. 3D). At this time, the CPU 15 outputs a beep sound or a voice message from the speaker 25 for notification.

  The above-described processing of the image processing unit 11 is repeatedly performed at predetermined time intervals Δt so that images are continuously displayed on the liquid crystal display 20 while a moving object exists around the vehicle. It is. When the image processing unit 11 determines that the moving object has moved away from the vehicle periphery and no change has occurred in the determination region 50, the display of the image captured by the camera 1 on the liquid crystal display 20 is stopped. The car navigation device displays a map or a television program.

  FIG. 4 is a flowchart showing a procedure of image display processing performed by the vehicle periphery visual recognition apparatus according to Embodiment 1 of the present invention, and is processing performed by the ECU 10. In the image display process, first, the surroundings of the vehicle are imaged by the camera 1 (step S1), and the image acquired by the imaging is stored in the image memory 12 (step S2) and temporarily accumulated. Next, a start possibility determination process for determining whether or not the vehicle is in a startable state is performed based on information relating to the travel of the vehicle provided from the vehicle information acquisition unit 30 (step S3).

  FIG. 5 is a flowchart showing the procedure of the start possibility determination process performed by the vehicle periphery visual recognition apparatus according to Embodiment 1 of the present invention, and is the process performed in step S3 of FIG. In the start possibility determination process, first, vehicle speed information as a detection result of the vehicle speed sensor 31 is acquired from the vehicle information acquisition unit 30 (step S21), and it is checked whether or not the vehicle speed is 0 km / h (step S22). When the vehicle speed is 0 km / h (S22: YES), the state of the shift lever 32 is acquired from the vehicle information acquisition unit 30 (step S23), and the state of the shift lever 32 is “N” or “P”. This is checked (step S24). When the state of the shift lever 32 is not “N” or “P” (S24: NO), the state of the side brake 33 is acquired from the vehicle information acquisition unit 30 (step S25), and whether or not the side brake 33 is released. (Step S26). When the side brake 33 is released (S26: YES), the state of the foot brake 34 is acquired from the vehicle information acquisition unit 30 (step S27), and it is checked whether the foot brake 34 is effective (step S28). .

  When the foot brake 34 is effective in step S28 (S28: YES), that is, in this case, the vehicle speed is 0 km / h, the shift lever 32 is not “N” or “P”, and the side brake 33 is released. In addition, since the foot brake 34 is valid, it is determined that the vehicle is ready to start (step S29), the start determination process is terminated, and the process returns to the image display process shown in FIG. Further, when the vehicle speed is not 0 km / h at step S22 (S22: NO), when the shift lever 32 is “N” or “P” at step S24 (S24: YES), the side brake 33 is set at step S26. Is not released (S26: NO), or if the foot brake 34 is not effective in step S28 (S28: NO), that is, if it is released, the vehicle is running or is not ready to start. (Step S30), the start possibility determination process is terminated, and the process returns to the image display process shown in FIG.

  After the start possibility determination process is completed, it is checked whether or not the determination result indicates that the vehicle can start (step S4). If it is determined that the vehicle is ready to start (S4: YES), the camera 1 picks up an image. Based on the acquired image, a moving object determination process is performed to determine whether a moving object is captured in the image captured by the camera 1, that is, whether there is a moving object around the vehicle (step S5). ).

  FIG. 6 is a flowchart showing the procedure of the moving object determination process performed by the vehicle periphery visual recognition apparatus according to Embodiment 1 of the present invention, and is the process performed in step S5 of FIG. In the moving object determination process, first, the latest image is read from the image stored in the image memory 12 (step S41), the image before the time interval Δt is read from this image (step S42), and two images are acquired. . Next, the luminance value of each pixel of the two images is compared to calculate a difference (step S43), and the calculated difference is compared with a predetermined threshold (step S44). It is checked whether or not a change has occurred in the determination region 50 by checking whether or not a pixel whose difference exceeds the threshold value exists in the determination region 50 (step S45). If it is determined (S45: YES), it is determined that there is a moving object around the vehicle (step S46). If there is no change in the determination area 50 (S45: NO), there is a moving object around the vehicle. It is determined that it does not exist (step S47). After the determination is confirmed in step S46 or S47, the moving object determination process is terminated and the process returns to the image display process shown in FIG.

  After the moving object determination processing is completed, it is determined whether or not there is a moving object from the determination result (step S6). If there is a moving object (S6: YES), the latest image is highlighted to enclose the moving object. A frame 51 is added (step S7), and this image is displayed on the liquid crystal display 20 (step S8). A warning sound such as a beep sound or a voice message is output from the speaker 25 (step S9), and notification is performed. If the vehicle is not ready to start in step S4 (S4: NO), or if there is no moving object in step S6 (S6: NO), the display of the image captured by the camera 1 by the liquid crystal display 20 is not displayed. (Step S10). At this time, a map display by the car navigation device or a TV program received by the tuner is displayed on the liquid crystal display 20. After the process of step S9 or S10 is completed, it is checked whether or not the driver has given an instruction to end the display of the image captured by the camera 1 by performing a button operation (not shown) or menu selection (step 1). S11) If the instruction to end is not given (S11: NO), the process returns to step S1, and the display processing of the image acquired by the camera 1 is repeatedly performed. If an instruction to end is given (S11: YES), the image display process is ended.

  In the vehicle periphery visual recognition device configured as described above, it is determined whether or not the vehicle is ready to start based on information given from the vehicle information acquisition unit 30, and a moving object is captured in the image captured by the camera 1. Whether or not there is a moving object around the vehicle, and an image captured and acquired by the camera 1 based on the two determination results is displayed on the liquid crystal display 20. Since the driver can surely recognize the moving object such as the person or other vehicle immediately before departure, it is possible to prevent an accident such as contact with the moving object after departure of the vehicle.

  Further, the vehicle speed detected by the vehicle speed sensor 31 is 0 km / h, the shift lever 32 is in a state other than “P” or “N”, the side brake 33 is released, and the foot brake 34 is When the vehicle is in an effective state, it is determined that the vehicle is ready to start, and in this state, the vehicle starts running by releasing the foot brake 34 in this state. The state can be reliably determined, and an image captured by the camera 1 can be displayed only when necessary.

  In addition, by calculating the difference between the luminance values of each pixel from the two images captured and acquired by the camera 1 at time t and time t + Δt, it is determined whether or not the image has changed from the calculated difference. Whether or not the moving object is imaged can be determined only by a simple calculation. Further, by limiting the determination range to the determination region 50 in the image, only a moving object that moves in the vicinity of the vehicle can be determined. Further, when the vehicle is not ready to start, the processing load can be reduced by not performing the moving object determination process.

  Further, when a moving object is present in the image captured by the camera 1, the moving object is surrounded by an emphasis frame 51 and displayed on the liquid crystal display 20 so that the driver can reliably recognize the moving object around the vehicle. be able to. Further, when there is a moving object, a warning sound such as a beep sound or a voice message is output from the speaker 25, so that the driver can be surely recognized that the moving object exists. Therefore, the safety of traveling of the vehicle can be improved.

  In the present embodiment, the camera 1 is mounted on the front part of the vehicle and the front of the vehicle is imaged. However, the present invention is not limited to this, and the camera 1 is mounted on the rear part of the vehicle. It is good also as a structure which images the back of this, and it is good also as a structure which mounts the camera 1 on the left and right of a vehicle, and images the left and right sides of a vehicle. The vehicle speed sensor 31 detects the vehicle speed, the shift lever 32 state, the side brake 33 state, and the foot brake 34 state to determine whether or not the vehicle is ready to start. However, the present invention is not limited to this, and the configuration may be such that the determination is made from three or less of these pieces of information, or the determination may be made including information other than these four pieces of information. Further, although the determination region 50 is a substantially trapezoidal region provided below the center of the image, the determination region 50 is not limited to this and may have other shapes. Further, when displaying an image on the liquid crystal display 20, the moving object is surrounded and highlighted by the highlight frame 51. However, the present invention is not limited to this, and may be configured to perform highlighting by other methods. A configuration in which highlighting is not performed may be employed.

(Modification 1)
In the vehicle periphery visual recognition apparatus according to the first embodiment described above, the difference between the luminance values of the pixels of the two images at time t and time t + Δt is calculated and the change in the image is acquired. The vehicle periphery visual recognition device according to 1 performs edge extraction processing using a Sobel filter or a Previt filter on each of the two images to acquire an image from which an edge has been extracted, and calculates a difference between the images from which the edge has been extracted. In this configuration, a change in the image is obtained by calculation.

  FIG. 7 is a flowchart showing the procedure of the moving object determination process performed by the vehicle periphery visual recognition apparatus according to Modification 1 of Embodiment 1 of the present invention. In the moving object determination process of the vehicle periphery visual recognition apparatus according to the first modification, first, the latest image is read from the image stored in the image memory 12 (step S61), and edge extraction of this image is performed (step S62). Next, an image before the time interval Δt is read from the image memory 12 (step S63), and edge extraction of this image is performed (step S64). A difference is calculated by comparing the luminance values of the respective pixels of the two images from which the edges obtained in steps S62 and S64 are extracted (step S65), and the calculated difference is compared with a predetermined threshold value (step S66). ). It is checked whether or not a change has occurred in the determination area 50 by checking whether or not there is a pixel whose difference exceeds the threshold in the determination area 50 (step S67), and a change has occurred in the determination area 50. If there is a moving object (S67: YES), it is determined that there is a moving object around the vehicle (step S68). If there is no change in the determination area 50 (S67: NO), there is a moving object around the vehicle. It is determined that it does not exist (step S69).

  Since the vehicle periphery visual recognition apparatus according to Modification 1 having the above-described configuration calculates the difference after performing edge extraction on the image captured and acquired by the camera 1, the change occurring in the two images is more reliably acquired. There is an advantage that you can.

(Modification 2)
In the vehicle periphery visually recognizing device according to the first embodiment described above, when it is determined whether or not a moving object is imaged based on whether or not there are changes in the two images at time t and time t + Δt, However, the vehicle periphery visual recognition apparatus according to the second modification is configured to perform determination by providing a plurality of determination areas in the image.

  8 and 9 are explanatory diagrams illustrating an example of image processing performed by the image processing unit 11 of the vehicle periphery visual recognition apparatus according to the second modification of the first embodiment of the present invention. 8A shows an image taken at time t, FIG. 8B shows an image taken at time t + Δt, and FIG. 9C shows FIGS. A pixel in which the difference between the luminance values of the pixels of the two images in b) is larger than a predetermined threshold is shown in white. In addition, this example shows an image when a moving object does not exist around the vehicle and a vehicle equipped with the camera 1 moves forward.

  In the vehicle periphery visual recognition device according to the second modified example, the three determination regions of the first determination region 50a, the second determination region 50b, and the third determination region 50c are provided in the image acquired by capturing by the camera 1. It is determined whether or not there is a change in the image for each determination area. In the figure, each determination area is indicated by a broken line, the first determination area 50a is provided in the upper left part of the image, the second determination area 50b is provided in the upper right part of the image, and the third determination area 50c. Is about half the size of the image.

  For example, as shown in FIGS. 2 and 3, when there is one determination area, a change in the image occurs in the determination area 50 when there is a moving object around the vehicle. An image change occurs in the image. Whether or not the vehicle is traveling can be determined by the vehicle speed sensor 31 mounted on the vehicle. When the vehicle is traveling at an extremely low speed (for example, 3 km / h or less), the vehicle speed sensor 31 detects the speed. There is a case where the vehicle information acquisition unit 30 determines that 0 km / h cannot be detected. Therefore, an erroneous determination may occur when determining whether or not there is a moving object around the vehicle.

  Therefore, three determination areas 50a, 50b, and 50c are provided, and the image processing unit 11 determines whether or not an image change has occurred for each determination area. From the three determination results for each determination area, the vehicle periphery Finally, it is determined whether or not there is a moving object. That is, when image changes have occurred in all of the three determination areas 50a, 50b, and 50c (see FIG. 9C), it is determined that the vehicle is traveling and there are no moving objects around the vehicle. can do. Although illustration is omitted, when an image change occurs in one or two determination areas, it is determined that a moving object is copied in the determination area and that there is a moving object around the vehicle. be able to. If no change in the image has occurred in all the determination areas 50a, 50b, and 50c, it can be determined that the vehicle is not traveling and that there is no moving object around the vehicle.

  FIG. 10 is a flowchart showing the procedure of the moving object determination process performed by the vehicle periphery visual recognition apparatus according to Modification 2 of Embodiment 1 of the present invention. In the moving object determination process of the vehicle periphery visual recognition apparatus according to the modified example 2, first, the latest image is read from the image stored in the image memory 12 (step S81), and the image before the time interval Δt is read (step S82). Two images are acquired. Next, the luminance value of each pixel of the two images is compared to calculate a difference (step S83), and the calculated difference is compared with a predetermined threshold (step S84).

  It is checked whether or not there is a change in all the determination areas by checking whether or not there is a pixel in which the calculated difference exceeds the threshold in the first determination area 50a, the second determination area 50b, and the third determination area 50c. (Step S85). If there is a change in all the determination areas (S85: YES), since the vehicle is running, no moving object is shown in the image, and there is no moving object around the vehicle. (Step S88). If no change has occurred in all the determination areas (S85: NO), it is further checked whether or not an image change has occurred in at least one determination area (step S86). If there is a change in the image in at least one determination area (S86: YES), the vehicle is not running and a moving object is imaged in this determination area. Is determined to exist (step S87). If no image change has occurred in at least one determination area in step S86 (S86: NO), the vehicle is not running and a moving object is not captured in the image. It is determined that there is no moving object (step S88).

  The vehicle periphery visual recognition apparatus according to the second modification having the above-described configuration is configured to determine whether or not changes have occurred in the two images at time t and time t + Δt, the first determination area 50a, the second determination area 50b, and the third determination area. A determination is made in each of the three determination areas 50c, and it is determined whether there is a moving object around the vehicle based on the three determination results, so that an erroneous determination occurs when the vehicle travels at an extremely low speed. Can be prevented.

(Embodiment 2)
Whether the vehicle periphery visual recognition apparatus according to Embodiment 1 acquires two images captured at time t and time t + Δt, calculates a difference in luminance value of each pixel, and is a moving object captured in the image? Determine whether or not. However, as shown in FIGS. 2 and 3, when it is determined whether there is a moving object from the difference in luminance value, an image change occurs in the determination region 50 when there is a moving object around the vehicle. Even when the vehicle travels, the image changes in the determination region 50. Whether or not the vehicle is traveling can be determined by the vehicle speed sensor 31 mounted on the vehicle, but the vehicle speed sensor 31 determines the speed when the vehicle is traveling at an extremely low speed (for example, 3 km or less). Since it may not be detected, there is a possibility that an erroneous determination may occur when determining whether or not there is a moving object around the vehicle. Therefore, the vehicle periphery visual recognition device according to Embodiment 2 acquires the movement direction and movement amount of the object shown in the two images as a motion vector, and determines whether the vehicle is traveling from the motion vector. At the same time, it is determined whether or not a moving object is imaged in the image, thereby preventing erroneous determination.

  FIGS. 11 and 12 are explanatory diagrams illustrating an example of image processing performed by the image processing unit 11 of the vehicle periphery visual recognition apparatus according to Embodiment 2 of the present invention. FIG. 11A illustrates imaging at time t. FIG. 11B shows an image captured at time t + Δt, and FIG. 12C overlays the motion vectors acquired from the two images of FIGS. 11A and 11B. The image illustrated in FIG. In this example, an image is shown as an example when there is no moving object around the vehicle and the vehicle equipped with the camera 1 moves forward.

  Further, since the camera 1 performs imaging using a lens such as a wide-angle lens or a fish-eye lens, the obtained image is an image having a greatly curved end portion (see, for example, FIG. 8). Since it is difficult to obtain the image, the image processing unit 11 performs a correction process to remove the distortion of the curved portion of the image. FIGS. 11 and 12 show the corrected image. The correction process is performed by the image processing unit 11 reading out a correction table stored in advance in the table memory 13 and moving each pixel of the image to a predetermined position. The destination is memorized.

  The image processing unit 11 searches the movement destination and the movement amount of the object in the image at the time t + Δt of the object copied in the image at the time t based on the two images whose distortion is corrected. Is obtained as a motion vector. The motion vector may be acquired for all the pixels in the image, but some target pixels may be extracted from the image at time t, and the motion vector may be acquired only for the extracted target pixel. A plurality of motion vectors can be acquired from the two images at time t and time t + Δt, and this motion vector is a so-called optical flow. Note that the method for searching for the destination of the object captured in the image is a known technique, and the details thereof will be omitted. However, a pixel of interest is extracted from the image at time t, and a predetermined centered on this pixel of interest is extracted. This is done by extracting an image area of a size and examining the identity of the image area for each image area of the same size in the image at time t + Δt. The identity of the image area can be checked, for example, by calculating the sum of the differences between the luminance values of the pixels included in the image area.

  After acquiring the motion vector based on the image at time t and the image at time t + Δt, the image processing unit 11 determines whether the vehicle has moved by examining the motion vector pattern. When the vehicle moves forward, all the objects captured in the image approach the vehicle in the camera 1, so that the motion vector of the entire image is centered on one point (disappearance point) of the image as shown in FIG. The pattern diffuses radially. On the other hand, for example, when a person moves in front of the vehicle (not shown), a motion vector exists in the moving direction of the person only in the part where the person is imaged in the image, and in other parts. There is no motion vector. Therefore, in the image processing apparatus according to the present invention, it is determined that the vehicle has moved (moved forward) when the acquired motion vector diffuses radially around the vanishing point. Although illustration is omitted, when the vehicle moves backward, the motion vector converges toward the vanishing point, so this can be determined.

  Therefore, the image processing unit 11 determines that a moving object such as a person or another vehicle does not exist in the vicinity of the vehicle when the motion vector is the above-described pattern, and does not display the image captured by the camera 1. It is. When the motion vector is not the above-described pattern, it is determined that there is a moving object around the vehicle because the motion vector is based on a moving object around the vehicle, and an image captured by the camera 1 is displayed on the liquid crystal display 20. I have to do it. In addition, when the two images are not changed and the size of the motion vector is 0 (or when the motion vector cannot be acquired), the vehicle is stopped and there is no moving object around the vehicle. The image picked up by the camera 1 is not displayed.

  FIG. 13 is a flowchart showing a procedure of moving object determination processing performed by the vehicle periphery visual recognition apparatus according to Embodiment 2 of the present invention. In the moving object determination process of the vehicle periphery visual recognition apparatus according to the second embodiment, first, the latest image is read from the image stored in the image memory 12 (step S101), and the correction table stored in the table memory 13 is used. Then, the curved portion of the read image is corrected (step S102). Further, the image before the time interval Δt is read from the image memory 12 (step S103), the curved portion of the read image is corrected (step S104), and two images with the curved portion corrected are acquired.

  Next, a motion vector is obtained by searching for a corresponding position in the image at the time t + Δt of the object copied in the image at the time t, that is, a corresponding position in the image at the time t + Δt of each pixel of the image at the time t ( Step S105). By checking whether or not the magnitudes of the acquired motion vectors are all 0, it is checked whether or not there is a motion in the object copied in the image at time t (step S106). (S106: NO), it is determined that the moving object is not imaged by the camera 1 and there is no moving object around the vehicle (step S109).

  When there is a motion in the object captured in the image at time t (S106: YES), it is checked whether the acquired motion vector is a predetermined pattern that diffuses radially from the vanishing point or converges to the vanishing point. (Step S107). When the motion vector is a predetermined pattern (S107: YES), it is determined that there is no moving object around the vehicle because the acquired motion vector is due to the traveling of the vehicle (step S109). If the motion vector is not a predetermined pattern (S107: NO), it is determined that there is a moving object around the vehicle because the vehicle has stopped and the acquired motion vector is due to the moving object (step S108).

  Although not shown because it is the same as the flowchart shown in FIG. 4, the image processing unit 11 displays an image at time t + Δt on the liquid crystal display 20 when a moving object exists around the vehicle. At this time, the moving object is displayed surrounded by the emphasis frame 51. At this time, the emphasis frame 51 may be displayed so as to surround all motion vectors having a vector size larger than a predetermined threshold, for example.

  The vehicle periphery visual recognition apparatus according to Embodiment 2 having the above configuration determines whether or not there is a moving object around the vehicle, acquires a motion vector from two images at time t and time t + Δt, and uses this as a basis. Therefore, even if the vehicle travels at an extremely low speed that cannot be detected by the vehicle speed sensor 31, no erroneous determination is made. In the second embodiment, when the acquired motion vector is a pattern that diffuses radially around the vanishing point or converges to the vanishing point, the vehicle is traveling and there is no moving object around the vehicle. However, this is a case where the camera 1 images the front of the vehicle. When the camera 1 images the other direction, for example, the side of the vehicle, a pattern suitable for this is used. Good.

  In addition, since the other structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 2 is the same as that of the structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 1, the same code | symbol is attached | subjected to a corresponding location and detailed description is given. Is omitted.

(Embodiment 3)
The vehicle periphery visual recognition device according to the second embodiment is configured to correct the curved portion of the image captured by the camera 1 and acquire the motion vector from the two corrected images. The apparatus is configured to perform Topview conversion that converts an image captured by the camera 1 into an image in a bird's-eye view direction (a direction viewed from above), and obtains a motion vector from two images in the bird's-eye view direction.

  14 and 15 are explanatory diagrams illustrating an example of image processing performed by the image processing unit 11 of the vehicle periphery visual recognition apparatus according to Embodiment 3 of the present invention. FIG. 14A shows an image obtained by Topview conversion of an image taken at time t, and FIG. 14B shows an image obtained by Topview conversion of an image taken at time t + Δt. In addition, since the image before performing Topview conversion is the same as the image shown in FIG. FIG. 15C illustrates the motion vector acquired from the two images in FIGS. 14A and 14B superimposed on the image in FIG. 14B. In this example, an image when a moving object does not exist around the vehicle and a vehicle equipped with the camera 1 moves forward is shown as an example.

  Topview conversion is performed by the image processing unit 11 reading a conversion table stored in advance in the table memory 13 and moving each pixel of the image to a predetermined position. The destination is memorized. By performing Topview conversion, an image of the road surface around the vehicle viewed from above can be acquired. In the vehicle peripheral vision device according to Embodiment 2, as shown in FIG. 12, when the vehicle moves forward, the motion vector is a pattern that spreads radially around the vanishing point, but the acquired motion vector pattern is It is slightly difficult to determine whether this pattern is present. On the other hand, when a motion vector is acquired by performing Topview conversion on an image captured by the camera 1, as shown in FIG. 15, when the vehicle moves forward, a plurality of motion vectors are uniformly parallel from the top to the bottom of the image. Pattern. Since it is easier to determine whether or not a plurality of motion vectors are uniformly parallel patterns than to determine whether or not they are patterns that diffuse or converge radially, There is an advantage that the load can be reduced.

  Therefore, the image processing unit 11 determines that the vehicle is running when the motion vector is a uniform parallel pattern, and that a moving object such as a person or another vehicle does not exist around the vehicle. The image picked up at is not displayed. If the motion vector is not a uniform parallel pattern, it is determined that there is a moving object around the vehicle because the motion vector is due to the moving object around the vehicle, and the image captured by the camera 1 is displayed on the liquid crystal display. 20 is displayed. In addition, when the two images are not changed and the size of the motion vector is 0 (or when the motion vector cannot be acquired), the vehicle is stopped and there is no moving object around the vehicle. The image picked up by the camera 1 is not displayed.

  Note that whether or not the motion vectors are uniformly parallel patterns is determined by determining whether or not a predetermined number or more (for example, 80% or more) of motion vectors are substantially the same (for example, ± 5). It can be determined by checking whether it is within the range of ° or the like.

  FIG. 16 is a flowchart showing the procedure of the moving object determination process performed by the vehicle periphery visual confirmation apparatus according to Embodiment 3 of the present invention. In the moving object determination process of the vehicle periphery visual recognition apparatus according to the third embodiment, first, the latest image is read from the image stored in the image memory 12 (step S121), and the conversion table stored in the table memory 13 is used. Then, the read image is subjected to Topview conversion (step S122), and an image in the overhead view direction is acquired. Further, an image before the time interval Δt is read from the image memory 12 (step S123), and the read image is subjected to Topview conversion (step S124) to obtain an image in the overhead view direction.

  Next, in which position of the image in the bird's-eye view at time t + Δt the object imaged in the bird's-eye view image at time t, that is, each pixel of the image in the bird's-eye view at time t is the bird's-eye view at time t + Δt. A motion vector is acquired by searching for which position of the image corresponds to (step S125). By checking whether or not the magnitudes of the acquired motion vectors are all 0, it is checked whether or not there is a motion in the object imaged in the overhead view image at time t (step S126), and there is no motion. In this case (S126: NO), it is determined that the moving object is not captured by the camera 1 and there is no moving object around the vehicle (step S129).

  When there is a motion in the object captured in the image in the bird's-eye view direction (S126: YES), it is checked whether or not the motion vector is a pattern that is uniformly parallel from the top to the bottom or from the bottom to the top ( Step S127). If the motion vector is a uniformly parallel pattern (S127: YES), it is determined that there is no moving object around the vehicle because the acquired motion vector is due to the vehicle traveling (step S129). If the motion vector is not a uniform parallel pattern (S127: NO), the vehicle is stopped and the acquired motion vector is due to a moving object, so it is determined that there is a moving object around the vehicle (step S128). ).

  The vehicle periphery visual recognition device according to Embodiment 3 having the above-described configuration converts the image captured by the camera 1 into an image in the bird's-eye view direction by Topview conversion, acquires a motion vector from the two images in the bird's-eye view direction, and this motion vector Determines whether a moving object is imaged by the camera 1 based on whether the image is a pattern that is uniformly parallel from top to bottom or from bottom to top, and there is a moving object around the vehicle Therefore, there is an advantage that it is easy to compare the pattern of the acquired motion vector and the motion vector when the vehicle travels.

  In addition, since the other structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 3 is the same as that of the structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 1, it attaches | subjects the same code | symbol to a corresponding location, and is detailed description Is omitted.

(Embodiment 4)
Although the vehicle periphery visual recognition apparatus of Embodiment 1 thru | or Embodiment 3 was set as the structure which mounts one camera 1 in a vehicle, the vehicle periphery visual recognition apparatus which concerns on Embodiment 4 is a structure which mounts multiple cameras in a vehicle. . FIG. 17 is a block diagram showing a configuration of the vehicle periphery visual recognition apparatus according to Embodiment 4 of the present invention. The vehicle periphery visual recognition device according to Embodiment 4 includes two cameras 1a and 1b. For example, one camera 1a is mounted on the front part of the vehicle and images the front, and the other camera 1b is mounted on the rear part of the vehicle and images the rear. The cameras 1a and 1b are configured to provide the captured images to the image processing unit 11 of the ECU 10, respectively.

  The image processing unit 11 determines whether or not a change has occurred in the images captured for each of the two cameras 1a and 1b, determines whether or not a moving object has been captured by the cameras 1a and 1b, It is determined whether or not there is a moving object behind. When it is determined that the moving object is captured by any one of the cameras 1a and 1b, the image processing unit 11 displays the image captured by the corresponding cameras 1a and 1b on the liquid crystal display 20 to notify the driver. It is like that. When it is determined that the moving object has been imaged by both the cameras 1a and 1b, one of the cameras 1a and 1b is selected according to a predetermined priority order or based on the state of the shift lever 32, for example. The images picked up by the selected cameras 1a and 1b are displayed on the liquid crystal display 20.

  FIG. 18 is a flowchart showing a procedure of image display processing performed by the vehicle periphery visual recognition apparatus according to Embodiment 4 of the present invention. In the image display processing performed by the vehicle periphery visual recognition apparatus according to the fourth embodiment, first, the periphery of the vehicle is imaged by the two cameras 1a and 1b (step S141), and the images acquired by the imaging are stored in the image memory 12, respectively. (Step S142) and temporarily accumulate. Next, a start possibility determination process for determining whether or not the vehicle is in a startable state is performed based on the information relating to the travel of the vehicle provided from the vehicle information acquisition unit 30 (step S143). Note that the start possibility determination process performed in step S143 is the same as the process shown in the flowchart of FIG.

  After the start possibility determination process is completed, it is checked whether or not the determination result indicates that the vehicle is ready to start (step S144). If it is determined that the vehicle is ready to start (S144: YES), the camera 1a takes an image. Based on the acquired image, a moving object determination process is performed for determining whether or not a moving object is captured in the image captured by the camera 1a, that is, whether or not there is a moving object in front of the vehicle (step S145). ). After the moving object determination process for the camera 1a is completed, the moving object determination process is performed based on the image acquired by the camera 1b (step S146). As the moving object determination process performed in steps S145 and S146, any one of the processes shown in FIGS. 6, 7, 10, 13, and 16 can be applied.

  Next, in the moving object determination processing in steps S145 and S146, it is checked whether or not it is determined that a moving object exists in the image captured by any camera 1a or 1b (step S147), and any camera 1a or 1b is determined. If there is a moving object in the image captured by the camera (S147: YES), a selection process for selecting an image to be displayed on the liquid crystal display 20 is performed (step S148).

  FIG. 19 is a flowchart showing the procedure of the selection process performed by the vehicle periphery visual recognition apparatus according to Embodiment 4 of the present invention, which is the process performed in step S148 of the process shown in FIG. In the selection process, first, it is checked whether or not there is a moving object in the image captured by the camera 1a (step S161). If there is a moving object (S161: YES), the image captured by the camera 1b is further captured. It is checked whether or not there is a moving object (step S162).

  If there is no moving object in the image captured by the camera 1a in step S161 (S161: NO), the moving image is present in the image captured by the camera 1b. 1b is selected (step S166). If there is no moving object in the image captured by the camera 1b in step S162 (S162: NO), the moving object is present in the image captured by the camera 1a. Therefore, the camera is used as a camera for displaying an image on the liquid crystal display 20. 1a is selected (step S165).

  If there is a moving object in the image captured by the camera 1b in step S162 (S162: YES), the moving information exists in the image captured by both the cameras 1a and 1b. Information on the state of the shift lever 32 is acquired from (step S163), and it is checked whether or not the state of the shift lever 32 is “R” (step S164). When the state of the shift lever 32 is “R” (S164: YES), since the vehicle may move backward, the camera 1b that captures the rear is selected as a camera that displays an image on the liquid crystal display 20 (step S166). When the state of the shift lever 32 is not “R” (S164: NO), since the vehicle may move forward, the camera 1a that images the front is selected as the camera that displays the image on the liquid crystal display 20 (step S165). ). After any selection is performed in step S165 or S166, the selection process is terminated, and the process returns to the image display process shown in FIG.

  After the selection process is completed, an emphasis frame 51 surrounding the moving object is added to the images related to the selected cameras 1a and 1b (step S149), and this image is displayed on the liquid crystal display 20 (step S150). A warning sound such as a beep sound or a voice message is output from the speaker 25 (step S151), and notification is performed. If the vehicle is not ready to start in step S144 (S144: NO), or if there is no moving object in step S147 (S147: NO), the image display on the liquid crystal display 20 is not displayed (step S152). . At this time, a map display by the car navigation device or a TV program received by the tuner is displayed on the liquid crystal display 20. After the process of step S151 or S152 is completed, it is checked whether or not the driver has given an instruction to end the display of the images captured by the cameras 1a and 1b by performing a button operation or menu selection (not shown). (Step S153) When the instruction to end is not given (S153: NO), the process returns to Step S141, and the display processing of the images acquired by the cameras 1a and 1b is repeatedly performed. If an instruction to end is given (S153: YES), the image display process ends.

  The vehicle periphery visual recognition apparatus according to Embodiment 4 having the above-described configuration mounts two cameras 1a and 1b on the vehicle and images a wider range, and a moving object is imaged by one of the cameras 1a and 1b. In this case, since the moving object can be displayed on the liquid crystal display 20, the driver can more reliably recognize the moving object around the vehicle and can further improve the safety of traveling of the vehicle. In the present embodiment, the two cameras 1a and 1b are mounted on the vehicle. However, the present invention is not limited to this, and a configuration in which three or more cameras are mounted may be used. In addition, when there is a moving object in the images picked up by both cameras 1a and 1b, either one is selected and displayed based on the state of the shift lever 32. However, the present invention is not limited to this. Further, either one may be selected based on other conditions, or both images may be displayed on the liquid crystal display 20.

  In addition, since the other structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 4 is the same as that of the structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 1, it attaches | subjects the same code | symbol to a corresponding location, and is detailed description Is omitted.

It is a block diagram which shows the structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on Embodiment 1 of this invention. It is a flowchart which shows the procedure of the image display process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 1 of this invention performs. It is a flowchart which shows the procedure of the start possibility determination process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 1 of this invention performs. It is a flowchart which shows the procedure of the moving object determination process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 1 of this invention performs. It is a flowchart which shows the procedure of the moving object determination process which the vehicle periphery visual recognition apparatus which concerns on the modification 1 of Embodiment 1 of this invention performs. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on the modification 2 of Embodiment 1 of this invention. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on the modification 2 of Embodiment 1 of this invention. It is a flowchart which shows the procedure of the moving object determination process which the vehicle periphery visual recognition apparatus which concerns on the modification 2 of Embodiment 1 of this invention performs. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on Embodiment 2 of this invention. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on Embodiment 2 of this invention. It is a flowchart which shows the procedure of the moving object determination process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 2 of this invention performs. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on Embodiment 3 of this invention. It is explanatory drawing which shows an example of the image process performed in the image process part of the vehicle periphery visual recognition apparatus which concerns on Embodiment 3 of this invention. It is a flowchart which shows the procedure of the moving object determination process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 3 of this invention performs. It is a block diagram which shows the structure of the vehicle periphery visual recognition apparatus which concerns on Embodiment 4 of this invention. It is a flowchart which shows the procedure of the image display process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 4 of this invention performs. It is a flowchart which shows the procedure of the selection process which the vehicle periphery visual recognition apparatus which concerns on Embodiment 4 of this invention performs.

Explanation of symbols

1, 1a, 1b camera (imaging means)
10 ECU (startable determination means, change acquisition means, moving object determination means, display control means)
11 Image Processing Unit 12 Image Memory 13 Table Memory 14 ROM
15 CPU
16 RAM
20 Liquid crystal display (display means)
25 Speaker (notification means)
30 vehicle information acquisition unit (travel information acquisition means)
31 vehicle speed sensor 32 shift lever 33 side brake 34 foot brake 50 determination area 50a first determination area 50b second determination area 50c third determination area 51 emphasis frame

Claims (14)

In a vehicle periphery visual recognition device that is mounted on a vehicle and includes an imaging unit that captures an image of the periphery of the vehicle to acquire an image, and a display unit that displays an image acquired by the imaging unit.
Traveling information acquisition means for acquiring information relating to the traveling of the vehicle;
Start possibility determination means for determining whether or not the vehicle is ready to start based on the information acquired by the travel information acquisition means;
Based on a plurality of images captured and acquired at different points in time by the imaging unit, a change acquisition unit that acquires a change in the image of the object captured in the image;
Based on the change acquired by the change acquisition means, a moving object determination means for determining whether or not a moving object has been imaged by the imaging means;
When the startable determination means determines that the vehicle is in a startable state, and the moving object determination means determines that a moving object has been imaged, the image acquired by the imaging means is acquired as the image A vehicle periphery visual recognition device comprising: display control means for displaying on the display means.   The travel information acquisition means acquires vehicle speed information of the vehicle, information related to a state of a shift lever of the vehicle, information related to a state of a side brake of the vehicle, or information related to a state of a foot brake of the vehicle. The vehicle periphery visual recognition device according to claim 1. The travel information acquisition means acquires vehicle speed information of the vehicle, information related to a state of a shift lever of the vehicle, information related to a state of a side brake of the vehicle, and information related to a state of a foot brake of the vehicle. And
The start possibility determining means is configured such that the vehicle speed of the vehicle is 0 km / h, the shift lever of the vehicle is in a state other than a neutral position or a park position, the side brake of the vehicle is in a released state, and the vehicle The vehicle periphery visual recognition device according to claim 1, wherein when the foot brake is in an effective state, it is determined that the vehicle is in a startable state.   4. The vehicle periphery according to claim 1, wherein the change acquisition unit does not acquire the change when the start possibility determination unit determines that the start is not possible. 5. Visual device.   The moving object determination means determines whether or not the moving object has been imaged by the imaging means, based on a change in a predetermined determination area in an image acquired by the imaging means. The vehicle periphery visual recognition apparatus as described in any one of Claims 1 thru | or 4.   6. The change acquisition unit according to claim 1, wherein each of the pixel values of a plurality of images captured and acquired by the imaging unit is compared, and a difference between the pixel values is acquired as a change. Vehicle periphery visual recognition apparatus as described in one.   6. The change acquisition unit according to claim 1, wherein an edge is extracted from a plurality of images captured and acquired by the imaging unit, and a difference between the extracted edges is acquired as a change. Vehicle periphery visual recognition apparatus as described in any one of. The moving object determination means includes
For each of a plurality of determination areas in the image captured and acquired by the imaging unit, examine the change acquired by the change acquisition unit,
When the change occurs in all the determination areas, it is determined that the moving object is not imaged by the imaging unit,
8. The method according to claim 1, wherein when the change occurs in some of the plurality of determination areas, it is determined that a moving object has been imaged in the determination area where the change has occurred. The vehicle periphery visual recognition apparatus as described in any one. The change acquisition means is configured to acquire a change in an image of an object captured in an image as a motion vector,
The moving object determination means includes
When the motion vector acquired by the change acquisition means diffuses radially from a predetermined position or converges to a predetermined position, it is determined that the moving object is not imaged by the imaging means,
The motion vector acquired by the change acquisition unit does not diffuse radially from a predetermined position and does not converge to the predetermined position, so that it is determined that the object related to the motion vector has been imaged as a moving object. The vehicle periphery visual recognition apparatus as described in any one of Claims 1 thru | or 5. The change acquisition means includes
Converting the image captured by the imaging means into an image in the overhead direction,
The change in the image of the object captured in the overhead view image is acquired as a motion vector,
The moving object determination means includes
When a predetermined number or more of the motion vectors acquired by the change acquisition means are in a uniform direction, it is determined that the moving object is not imaged by the imaging means,
When a predetermined number or more of motion vectors acquired by the change acquisition means are not in a uniform direction, it is determined that an object related to the motion vector has been imaged as a moving object. The vehicle periphery visual recognition apparatus as described in any one of Claims 1 thru | or 5.   The vehicle periphery visual recognition device according to any one of claims 1 to 10, wherein the display control means emphasizes the moving object and displays the moving object on the display means.   The vehicle periphery visual recognition device according to any one of claims 1 to 10, wherein the display control unit is configured to display the moving object on a display unit surrounded by a frame.   Informing means for notifying by warning sound or sound when it is determined that the vehicle is ready to start by the start possibility determination means and the moving object determination means determines that the moving object has been imaged. The vehicle periphery visual recognition apparatus as described in any one of Claims 1 thru | or 12. The imaging means is a plurality,
The moving object determining means is configured to determine whether or not a moving object is imaged for each imaging means,
A selection means for selecting one or a plurality of imaging means from the imaging means when the moving object determination means determines that a moving object has been imaged by the plurality of imaging means;
The vehicle display device according to any one of claims 1 to 13, wherein the display control unit causes the display unit to display an image captured by the imaging unit selected by the selection unit.

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