JP2014177143A - Driving support device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for displaying dead corner video with high resolution and image quality.SOLUTION: A control section comprises: a drive amount determination section for determining an attitude angle of an own device on the basis of a direction of a view point of a driver detected by a view point detection device; and a drive control section for making an attitude drive section change an attitude of the own device so that the attitude of the own device becomes equal to the attitude angle determined by the drive amount determination section.

Description

  The present invention relates to a vehicle driving support device having a function of displaying an image of a blind spot area by an A pillar on a display attached to an A pillar portion of a vehicle.

  In a conventional vehicle driving support device, for example, as disclosed in Patent Document 1, a driver in an image photographed by a blind spot photographing camera using a viewpoint detection camera capable of acquiring three-dimensional information of the driver viewpoint position. The blind spot area is discriminated / extracted and displayed on a display installed on the A pillar.

  In addition, for example, as disclosed in Patent Document 2, in order to display a blind spot image with little deviation on the display based on the positional relationship between the blind spot photographing camera and the display, the blind spot area image is cut out, the orientation of the display and It is configured to perform processing such as image deformation according to the line-of-sight direction of the driver.

JP 2005-125828 A JP 2008-307981 A

  In the prior art, in order to reduce the deviation of the view between the scenery other than the blind spot area and the blind spot image displayed on the display, the blind spot area is cut out and processed based on the positional relationship between the driver viewpoint and the blind spot photographing camera. It was necessary. However, there is a problem that resolution and image quality deteriorate in this process.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a device that displays a blind spot image with high resolution and image quality.

  A vehicle driving support apparatus according to the present invention includes a display that displays a blind spot image, and a blind spot camera that is mounted in parallel and opposite to the normal direction of the plane of the display display and captures the blind spot image. A viewpoint detection device that detects the position of the driver's viewpoint and the direction of the driver's viewpoint relative to the position of the driver's viewpoint, and is fixed to the vehicle via a posture drive unit that changes the posture of the own device. A driving support apparatus for a vehicle, which is attached to an A-pillar unit and has a control unit that controls the display display, the blind spot photographing camera, and the attitude driving unit, wherein the control unit is configured to store a driver's viewpoint stored in advance. Based on the angle difference between the reference direction and the direction of the driver's viewpoint detected by the viewpoint detection device, an angle for changing the posture of the device is determined. A driving amount determination unit that, in the position driving unit, is characterized in that a drive control unit for the driving amount determination unit to change the angular only attitude of the device itself determines.

  According to the present invention, it is possible to project a blind spot image on the display display without any reduction in resolution or image quality deterioration due to image clipping or deformation.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the vehicle driving assistance device which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the installation condition of the driving assistance device for vehicles which concerns on Embodiment 1 of this invention seen from the viewpoint of the driver. It is a figure which shows an example of the installation condition of the driving assistance device for vehicles which concerns on Embodiment 1 of this invention seen from the cross section of the vehicle horizontal direction. It is a block diagram of the control part which concerns on Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the control part which concerns on Embodiment 1 of this invention. It is a block diagram of the control part which concerns on Embodiment 2 of this invention. It is a flowchart which shows operation | movement of the control part which concerns on Embodiment 2 of this invention. It is a block diagram of the control part which concerns on Embodiment 3 of this invention. It is a flowchart which shows operation | movement of the control part which concerns on Embodiment 3 of this invention. It is a flowchart which shows the operation | movement of the drive control part which concerns on Embodiment 3 of this invention based on the structure of Embodiment 1. FIG.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a vehicle driving support apparatus 1 according to Embodiment 1 of the present invention.
As shown in FIG. 1, the vehicle driving assistance device 1 includes a display 101, a viewpoint detection device 102, a blind spot photographing camera 103, a posture control unit 104, and a control unit 105.
The display 101 is installed in the A-pillar portion of the vehicle and displays a blind spot image.

The viewpoint detection device 102 is installed so that the center direction of the detection range faces the inside of the vehicle, and detects the position of the driver's viewpoint. Further, the direction from the viewpoint detection device 102 to the driver's viewpoint (direction of the driver's viewpoint) is detected. As the viewpoint detection device 102, various sensors such as a camera (color, monochrome, infrared, etc.), a range sensor, and an ultrasonic wave can be used. The position of the viewpoint may be detected by, for example, taking a driver's face image with a camera or the like installed in the passenger compartment and analyzing the face image, or by detecting the driver's face with an ultrasonic sensor or a laser scanner. The position of the head may be detected, and the position of the driver's viewpoint may be estimated from the detected position of the head.
For example, if the viewpoint detection device is a camera, the direction of the driver's viewpoint can be calculated by detecting the position of the driver viewpoint in the captured image, and calculating the driver's viewpoint direction relative to the optical center of the camera. This direction may be regarded as the direction of the viewpoint of the driver from the viewpoint detection device.

The blind spot photographing camera 103 is installed so as to be parallel to the normal direction of the plane of the display 101 and facing the outside of the vehicle, and photographs a blind spot image.
The attitude driving unit 104 changes the attitude of the vehicle driving support apparatus 1 by a predetermined angle. Further, two-axis rotational movement of yaw and pitch is possible with the normal direction of the plane of the display 101 as the front.
In this specification, the normal direction includes the substantially normal direction, and the parallel includes also substantially parallel, and an angle at which a blind spot image can be taken at the line of sight of the driver to the display display 101. If it is a deviation, it shall be regarded as parallel.
The control unit 105 controls the posture driving unit 104 to change the posture of the vehicle driving support device 1.

FIG. 2 is a diagram illustrating an example of an installation state of the vehicle driving support device 1 according to the first embodiment of the present invention as seen from the viewpoint of the driver.
FIG. 3 is a diagram illustrating an example of an installation state of the vehicle driving support apparatus 1 according to the first embodiment of the present invention, as viewed from a cross section in the lateral direction of the vehicle.
As shown in FIGS. 2 and 3, a mounting base is provided on the A-pillar inside the vehicle, and a display display 101, a viewpoint detection device 102, a blind spot photographing camera 103, and a posture driving unit 104 that constitute the vehicle driving support device 1 are installed. (The control unit 105 is not shown).
The display 101, the viewpoint detection device 102, and the blind spot photographing camera 103 are installed on the mount via the posture driving unit 104.

The viewpoint detection device 102 is installed such that the center direction of the detection range faces the inside of the vehicle. The closer the position is to the center of the display 101, the better.
The blind spot photographing camera 103 is installed so as to be parallel to the normal direction of the plane of the display 101 and to face the outside of the vehicle. The closer the position is to the center of the display 101, the better.
The attitude driving unit 104 is installed so that two-axis rotational movements of yaw and pitch are possible with the normal direction of the plane of the display 101 as the front.
The display 101, the viewpoint detection device 102, and the blind spot photographing camera 103 are disposed integrally and in close proximity via the posture driving unit 104, and the three directions are fixed.
2 and 3 show an example in which the vehicle driving support device 1 is installed on the A-pillar on the driver's seat side. However, the present invention is not limited to this, and it is similarly installed on the A-pillar on the passenger's seat side. You can also.

FIG. 4 is a configuration diagram of the control unit 105 according to Embodiment 1 of the present invention.
As illustrated in FIG. 4, the control unit 105 includes a viewpoint detection unit 201, a drive amount determination unit 202, a drive control unit 203, a blind spot video input unit 204, and a blind spot video display control unit 205.
The viewpoint detection unit 201 acquires the direction of the driver's viewpoint from the viewpoint detection apparatus 102.

The driving amount determination unit 202 stores in advance a reference direction of the driver's viewpoint direction, and based on the reference direction and the driver's viewpoint direction detected by the viewpoint detection unit 201, the vehicle driving support device 1. Determines the angle (yaw, pitch) for changing the posture.
Here, the reference direction is the position of the viewpoint of the predetermined driver (for example, the position where the position of the viewpoint of the driver is the most established based on the seat height of the vehicle owner, etc.) as the reference position. The direction from the viewpoint detection device 102 in the installation state of the vehicle driving support device 1 (the normal direction of the display 101 and the direction of the driver's line of sight are parallel).

The drive control unit 203 causes the posture driving unit 104 to change the posture of the vehicle driving support device 1 by the angle determined by the driving amount determination unit 202. In addition, the blind spot photographing camera 103 is caused to photograph a blind spot image.
The blind spot image input unit 204 acquires a blind spot image captured by the blind spot photographing camera 103.
The blind spot video display control unit 205 causes the display 101 to display the blind spot video acquired by the blind spot video input unit 204.

FIG. 5 is a flowchart showing the operation of the control unit 105 according to Embodiment 1 of the present invention.
The viewpoint detection unit 201 acquires the direction of the driver viewpoint from the viewpoint detection apparatus 102 (step ST1).
The driving amount determination unit 202 determines an angle (yaw, pitch) for changing the attitude of the vehicle driving assistance device 1 based on the direction of the driver viewpoint acquired in step ST1 (step ST2). Specifically, the driving determination unit 202 refers to the reference direction stored in advance, and determines the angle difference from the direction of the driver's viewpoint acquired by the viewpoint detection unit 201 in step ST1 as the vehicle driving support device 1. The angle to change the posture of The angle difference at this time refers to a difference from a reference direction with respect to two axes of yaw and pitch with the normal direction of the plane of the display 101 as the front.

  Since the display 101, the viewpoint detection device 102, and the blind spot photographing camera 103 are integrally installed via the posture driving unit 104, the direction of the driver's line of sight is obtained by adjusting the direction of the driver's viewpoint to the reference direction. And the normal direction of the display 101, that is, the direction of the line of sight of the driver and the direction of the optical axis of the blind spot photographing camera 103 are parallel to each other.

The drive control unit 203 instructs the posture driving unit 104 to move the vehicle driving support apparatus 1 by the angle determined in step ST2 (step ST3).
When the posture driving unit 104 moves the vehicle driving support device 1 in step ST3, the blind spot photographing camera 103 captures a blind spot image in the moved posture.
That is, by changing the direction of the vehicle driving support device 1 by the angle determined by the drive amount determination unit 202, the blind spot photographing camera 103 is parallel to the direction of the driver's line of sight and the blind spot photographing camera. A blind spot image can be taken in such a direction.

The blind spot image input unit 204 acquires the blind spot image captured by the blind spot photographing camera 103 (step ST4).
The blind spot image display control unit 205 displays the blind spot image acquired by the blind spot image input unit 204 in step ST4 on the display 101 (step ST5).
By repeating the above processing, it becomes possible to display a high-resolution and high-quality image of the blind spot area corresponding to the change of the driver viewpoint.

  As described above, the vehicle driving support apparatus according to Embodiment 1 of the present invention can display a blind spot image on a display display that does not have a decrease in resolution or image quality due to image clipping or deformation.

  When the blind spot photographing camera 103 is fixed as in the prior art, it is necessary to use a camera having a wide field of view that can cope with the movement of the driver viewpoint as the blind spot photographing camera 103. For example, if the blind spot photographing camera 103 arranged in a fixed manner has a horizontal viewing angle of 80 degrees, the width of the A pillar viewed from the driver is 10 cm, and the distance from the driver viewpoint to the A pillar is 70 cm, the generated blind spot of the driver is generated. Is about 8 degrees. Therefore, in this example, the resolution of the clipped blind spot area video is at most 1/10 of the resolution of the camera.

  On the other hand, according to the first embodiment, the attitude driving unit 104 can control the direction of the blind spot photographing camera 103 to be parallel to the direction of the driver's line of sight. Furthermore, by arranging the blind spot photographing camera 103 close to the center of the display 101, an image photographed by the blind spot photographing camera 103 can be regarded as a blind spot image from the viewpoint of the driver. As a result, a camera with a field of view comparable to that of the blind spot area can be used, and an image acquired by the blind spot photographing camera 103 can be used as it is as a blind spot area. Therefore, it is possible to solve the problem of reduction in resolution associated with video clipping.

However, since the viewpoint of the driver and the viewpoint of the blind spot photographing camera 103 do not completely coincide, there is a blind spot area that is not displayed. The ratio of the blind spot area displayed on the display 101 to the actual blind spot area of the driver is calculated by the following formula.

(D _s −D _d ) / D _s

Here, D _s is the distance from the driver viewpoint to the object to be photographed, and D _d is the distance from the driver viewpoint to the display 101.
For example, if D _d is assumed to 70cm, the blind spot region of 14m destination that 95% is displayed on the display displaying 101. In addition, the width of the blind spot area due to the A pillar increases as the distance from the A pillar increases, whereas the blind spot area that is not displayed in the configuration of the first embodiment has a constant width regardless of the distance to the imaging target. . When the blind spot photographing camera 103 is installed as shown in FIG. 3, the area that is not displayed is at least equal to the horizontal width of the display 101. Since this blind spot area moves together with the vehicle, it can be said that there is a low possibility that the whole body of the pedestrian on the travel route and the entire other moving object will always remain in the blind spot.

Further, when the display display 101 is fixed as in the prior art, even if the same image is displayed, the appearance changes due to a change in the positional relationship between the driver's viewpoint and the display display 101. In order to solve this problem, a means for correcting the blind spot image such as projective transformation based on the positional relationship between the driver's viewpoint and the display 101 is necessary. However, since this correction involves expansion and contraction of the image, there is a problem that the image quality deteriorates.
On the other hand, according to the configuration of the first embodiment, the control unit 105 can keep the normal direction of the plane of the display 101 and the direction of the driver's line of sight in parallel. The appearance is constant regardless of the position of the viewpoint. Accordingly, since no means for correcting the blind spot image is required, the problem of image quality degradation accompanying the image correction can be solved.

  In addition, conventionally, the viewpoint detection device 102 is fixed, and when the display display 101 and the blind spot photographing camera 103 are arranged integrally via the posture driving unit 104, the detected driver's viewpoint direction and viewpoint detection are performed. Based on the positional relationship between the device 102 and the plane normal (or blind spot photographing camera 103) of the display 101, the direction of the plane normal (or blind spot photographing camera 103) of the display 101 and the driver's line of sight are parallel. It is necessary to control to become. In order to realize this function, the positional relationship between the viewpoint detection device 102 and the display 101 or blind spot photographing camera 103 needs to be obtained in advance by calibration. Since this positional relationship is changed by the posture control unit 104, there is a problem that the calibration process is complicated.

  On the other hand, according to the configuration of the first embodiment, the display 101, the viewpoint detection device 102, and the blind spot photographing camera 103 are disposed integrally and in close proximity via the posture driving unit 104. The direction is fixed. That is, by controlling the posture driving unit 104 to always keep the direction from the viewpoint detection device 102 to the driver's viewpoint, if the direction from the viewpoint detection device 102 to the driver's viewpoint is constant, the display 101 The direction of the driver's line of sight with respect to the normal of the plane (or the blind spot photographing camera 103) is also kept constant. Therefore, the control of the control unit 105 includes an angle between a preset reference direction from the viewpoint detection device 102 to the driver viewpoint and a direction from the viewpoint detection device 102 detected by the viewpoint detection device 102 to the driver's viewpoint. Control by rotating only the difference is sufficient. From the above, the control by the control unit 105 in Embodiment 1 does not require the positional relationship between the viewpoint detection device 102 and the display 101 (or blind spot photographing camera 103). As a result, the calibration in the first embodiment has an effect that the driver only needs to manually adjust the direction of the device and set the reference direction before starting the operation, and the calibration becomes simple.

  In addition, in this Embodiment 1, although it was set as the structure provided with the control part 105 integrally, it is good also as a structure with which each structure of the control part 105 is provided in another apparatus separately.

Embodiment 2. FIG.
In the first embodiment, only the direction of the driver's viewpoint with respect to the viewpoint detection apparatus 102 is considered. However, when the distance from the viewpoint detection device 102 to the driver's viewpoint changes greatly, the size of the blind spot area also changes accordingly. For this reason, the difference in the appearance between the image displayed on the display 101 and the periphery of the display 101 becomes large.
In the second embodiment, an embodiment in which a blind spot image is shot by changing the zoom amount of the blind spot photographing camera 103 according to the distance from the viewpoint detection device 102 to the driver's viewpoint will be described.

The vehicle driving support apparatus 1 according to the second embodiment is different from the first embodiment only in the configuration and operation of the control unit 105.
FIG. 6 is a configuration diagram of the control unit 105 according to Embodiment 2 of the present invention.
In FIG. 6, the same description as that described in FIG. 4 will not be repeated.
As shown in FIG. 6, the control unit 105 further includes a viewpoint position measurement unit 206 and a zoom amount determination unit 207 from those shown in FIG. 4 of the first embodiment.

The viewpoint position measurement unit 206 measures the distance from the viewpoint detection device 102 to the driver's viewpoint.
The zoom amount determination unit 207 determines the zoom amount of the blind spot image based on the distance from the viewpoint detection device 102 measured by the viewpoint position measurement unit 206 to the driver's viewpoint.

FIG. 7 is a flowchart showing the operation of the control unit 105 according to Embodiment 2 of the present invention.
Since steps ST1 to ST5 in FIG. 7 are the same as steps ST1 to ST5 shown in FIG. 5, detailed description thereof is omitted here.
The viewpoint position measurement unit 206 acquires the position of the driver's viewpoint from the viewpoint detection apparatus 102, and measures the distance from the viewpoint detection apparatus 102 to the driver's viewpoint based on the acquired position of the driver's viewpoint (step ST6). As the distance from the viewpoint detection device 102 to the driver's viewpoint, an absolute distance may be measured, or an initial position of the driver viewpoint may be set in advance, and a relative distance thereto may be measured. However, when the relative distance is measured, the driver sets the initial position of the driver and the zoom amount at the initial position in advance.

In step ST6, the zoom amount determination unit 207 determines the zoom amount of the blind spot photographing camera 103 based on the distance from the viewpoint detection device 102 measured by the viewpoint position measurement unit 206 to the driver's viewpoint, and the drive control unit 203 The determined zoom amount is transmitted to the blind spot photographing camera 103 (step ST7). For example, if the distance from the viewpoint detection device 102 to the driver's viewpoint is large, it is determined that the blind spot is narrow and the shooting range is narrowed, or if the distance from the viewpoint detection device 102 to the driver's viewpoint is small, it is determined that the blind spot is wide. And set the shooting range to a wide angle.
The drive control unit 203 causes the posture driving unit 104 to change the posture angle of the vehicle driving support device 1 (step ST3), and the blind spot photographing camera 103 performs zoom-in / zoom-out etc. with the instructed zoom amount. Take a picture. Note that the zoom by the blind spot photographing camera 103 may be an optical zoom by moving a lens system or a digital zoom by image processing.

  The blind spot image input unit 204 acquires the blind spot image captured by the blind spot photographing camera 103 (step ST4), and the blind spot image display control unit 205 displays the blind spot image on the display 101 (step ST5).

  As described above, the vehicle driving assistance device 1 according to the second embodiment of the present invention captures a blind spot image by changing the zoom amount of the blind spot photographing camera 103 according to the distance from the viewpoint detection device 102 to the driver's viewpoint. Thus, it is possible to obtain a blind spot image with little deviation in the appearance from the periphery of the display 101.

Embodiment 3 FIG.
In the first and second embodiments, the attitude driving unit 104 changes the attitude of the vehicle driving support apparatus 1 under the control of the control unit 105 so that a blind spot image from the driver viewpoint is obtained. However, when the moving speed of the driver viewpoint is high, the control unit 105 may not be able to follow the hardware driver viewpoint in time, and there is a possibility that an unnatural image with a large shift for the driver may be displayed.
In the third embodiment, an embodiment in which a blind spot image is displayed by following the driver viewpoint in software by image processing will be described.

The vehicle driving support apparatus 1 according to the third embodiment is different from the first and second embodiments only in the configuration and operation of the control unit 105.
FIG. 8 is a configuration diagram of the control unit 105 according to Embodiment 3 of the present invention.
In FIG. 8, the same description as that described in FIG. 6 is omitted.
As shown in FIG. 8, the control unit 105 starts from the one shown in FIG. 6 of the second embodiment, the follow-up delay detection unit 208, the blind spot area determination unit 209, the blind spot video processing unit 210, and the blind spot video correction unit. 211.

The tracking delay detection unit 208 changes the time in the direction of the driver's viewpoint and the angle determined by the driving amount determination unit 202, that is, the driving amount time when the posture driving unit 104 changes the posture of the vehicle driving support device 1. The change is memorized, and it is determined whether or not there is a delay in following the driver's viewpoint.
The blind spot area determination unit 209 determines a range in which a blind spot image is captured.
The blind spot image processing unit 210 transforms the blind spot image acquired by the blind spot image input unit 204 to fit on the display display 101 according to the aspect ratio of the display display 101.
The blind spot image correcting unit 211 corrects the blind spot image transformed by the blind spot image processing unit 210 into an image that is easy to see.

FIG. 9 is a flowchart showing the operation of the control unit 105 according to Embodiment 3 of the present invention.
Since steps ST1 to ST7 in FIG. 9 are the same as steps ST1 to ST7 shown in FIG. 7, detailed description thereof is omitted here.
In step ST3, when the posture driving unit 104 changes the posture of the vehicle driving support device 1, the tracking delay detection unit 208 changes the time change of the direction to the driver's viewpoint acquired by the viewpoint detection unit 201 in step ST1, and Based on the change over time in the angle at which the driving amount determination unit 202 changes the attitude of the vehicle driving support apparatus 1 determined in step ST2, it is determined whether or not there is a delay in following the driver viewpoint (step ST8). For example, if the time change in the direction of the driver viewpoint detected by the viewpoint detection unit 201 is larger than the time change of the angle determined by the drive amount determination unit 202, it is determined that there is a delay in following the driver viewpoint.

If it is determined in step ST8 that there is no delay in following the driver viewpoint (in the case of “NO” in step ST8), the process proceeds to step ST4. Since the processes from step ST4 to step ST5 are the same as those described in the first and second embodiments, the description thereof is omitted here.
In step ST8, when it is determined that there is a delay in following the driver viewpoint (in the case of “YES” in step ST8), the blind spot area determination unit 209 widens the shooting range by a predetermined angle to the blind spot camera. The driving control unit 203 transmits the determined shooting range to the blind spot shooting camera 103 (step ST9). Here, the predetermined range is designated in advance by the user.

The blind spot image input unit 204 acquires the blind spot image captured by the blind spot photographing camera 103 within the photographing range determined in step ST9 (step ST10).
The blind spot image processing unit 210 transforms the blind spot image acquired by the blind spot image input unit 204 in step ST10 to fit on the display display 101 in accordance with the aspect ratio of the display display 101 (step ST11).
The blind spot image correcting unit 211 corrects the blind spot image deformed by the blind spot image processing unit 210 in step ST11 so as to be a natural image as viewed from the driver (step ST12). Specifically, image processing is performed by performing image transformation such as projective transformation.
The blind spot image display control unit 205 displays the blind spot image corrected in step ST14 on the display 101 (step ST5).

  As described above, the vehicle driving support apparatus 1 according to the third embodiment of the present invention follows the hardware driver viewpoint because the moving speed of the driver viewpoint is fast due to the tracking of the software driver viewpoint by image processing. Even if the time is not in time, a natural blind spot image can be displayed for the driver.

Here, in addition to the configuration of the second embodiment, a configuration has been described in which a follow-up delay detection unit 208, a blind spot area determination unit 209, a blind spot video processing unit 210, and a blind spot video correction unit 211 are further provided. In addition to the configuration not including the viewpoint position measurement unit 206 and the zoom amount determination unit 207, that is, the configuration of the first embodiment, the tracking delay detection unit 208, the blind spot area determination unit 209, the blind spot image processing unit 210, and the blind spot image It is good also as a structure further provided with the correction | amendment part 211. FIG.
In that case, the operation of the drive control unit 104 is as shown in FIG. 9, and the processes of steps ST8 to ST12 are performed on the blind spot image in which only the direction of the driver viewpoint is considered without changing the zoom amount.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  DESCRIPTION OF SYMBOLS 1 Vehicle drive assistance device, 101 Display display, 102 Viewpoint detection apparatus, 103 Blind spot photographing camera, 104 Posture drive part, 201 Viewpoint detection part, 202 Drive amount determination part, 203 Drive control part, 204 Blind spot image input part, 205 Dead angle Image display control unit, 206 viewpoint position measurement unit, 207 zoom amount determination unit, 208 tracking delay detection unit, 209 blind spot area determination unit, 210 blind spot image processing unit, 211 blind spot image correction unit.

Claims (4)

A display that displays a blind spot image, a blind spot camera that is attached in parallel to the normal direction of the plane of the display display, and that captures the blind spot image, and a viewpoint detection device that detects the direction of the driver's viewpoint. A vehicle driving support apparatus having a control unit that is fixed integrally and attached to the A-pillar portion of the vehicle via a posture driving unit that changes the posture of the device, and controls the posture driving unit,
The controller is
A drive amount determination unit that determines an attitude angle of the own device based on the direction of the viewpoint of the driver detected by the viewpoint detection device;
A driving support apparatus for a vehicle, comprising: a driving control unit that changes the attitude of the apparatus so that the attitude driving unit has the attitude angle determined by the driving amount determining unit. The viewpoint detection device further detects the position of the driver's viewpoint,
The controller is
A viewpoint position measurement unit that measures a distance from the viewpoint detection apparatus to the driver's viewpoint based on the position of the driver's viewpoint detected by the viewpoint detection apparatus;
The vehicle driving support apparatus according to claim 1, further comprising a zoom amount determination unit that determines a zoom amount of the blind spot image based on the distance. The controller is
A tracking delay detection unit that determines whether or not a tracking delay of the driver's viewpoint has occurred;
When the follow-up delay occurs,
A blind spot area determining unit that determines a range in which the blind spot image is captured;
A blind spot image processing unit that deforms the blind spot image captured by the blind spot photographing camera in the range determined by the blind spot region determining unit according to the size of the display;
The vehicle driving support apparatus according to claim 1, further comprising a blind spot image correcting unit that corrects the blind spot image deformed by the blind spot image processing unit by projective transformation. The tracking delay detection unit is based on a time change of the direction of the driver toward the viewpoint detected by the viewpoint detection device and a time change of an angle at which the posture of the own device determined by the drive amount determination unit is changed. The vehicle driving support device according to claim 3, wherein it is determined whether or not a delay occurs in tracking the viewpoint.

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