JP5054555B2 - Vehicle peripheral image display device - Google Patents

Description

  The present invention relates to a vehicle periphery video display device that informs a driver of a result of recognizing an approaching object around the vehicle.

  In recent years, there has been an increasing demand for safety confirmation around vehicles. Among them, the demand is currently increasing is the recognition of approaching objects (moving objects and obstacles) using a vehicle-mounted camera. In this field, although various researches have been conducted on methods related to recognition methods, the problem of how to convey the recognition results to the driver has not been discussed.

  The following methods are known as methods for notifying the driver of the approaching object recognition result that has been conventionally known.

1. Voice alerts ranging from simple alerts to explaining the location of an approaching object.

2. Emphasis display of approaching object in navigation monitor image In a camera image using the navigation monitor, there is an emphasis display by staining an approaching object or surrounding it with a frame (for example, Patent Document 1). reference).

3. Display of approaching object using head-up display In the head-up display, there is a method of highlighting by performing superimposed display on the windshield in consideration of the image of the driver's viewpoint (see, for example, Patent Document 2).
JP-A-10-117340 JP 2001-23091 A

  However, the method of notifying the driver of the recognition result of the approaching object according to the conventional technique has the following problems.

1. Voice alerts Simple warning sounds make it difficult to know the specific location of an approaching object, and voice guidance can lengthen the explanation time and affect smooth driving support.

2. Highlighting the approaching object in the navigation monitor image Although it is highlighted, the driver needs to look closely for the approaching object from the navigation monitor screen. Further, when the driver moves his / her line of sight to the screen of the navigation monitor, there is a possibility that it may hinder safe driving.

3. Display of approaching objects using a head-up display Overlap with the driver's viewpoint during driving can be expected, but the system is complicated and the cost is high.

  The present invention was made by paying attention to the above problem, and while it is an inexpensive system configuration, it conveys the recognition result of an approaching object intuitively and easily to the driver without hindering driving, It is an object of the present invention to provide a vehicle peripheral image display device that can contribute to safe driving that avoids an approaching object.

In order to achieve the above object, in the present invention, the monitor is mounted based on an in-vehicle camera that is attached to the host vehicle and images the periphery of the vehicle, a monitor that is set at a position that can be visually recognized by the driver, and an input video from the in-vehicle camera. In the vehicle peripheral video display device provided with the monitor video generation means for generating the output video to
The monitor video generation means detects an approaching object that is relatively close to the host vehicle based on an input image from the in-vehicle camera, and replaces the detected approaching object with a target image that symbolically represents the approaching image. Displaying the target image in a screen peripheral area set in advance on the display screen, and generating an output video for displaying the target image so as to move on the screen peripheral area in accordance with the movement of the approaching object. It is characterized by.

Therefore, in the vehicle periphery video display device of the present invention, the monitor video generation means detects an approaching object that is relatively close to the host vehicle based on the input video from the in-vehicle camera. The detected approaching object is replaced with a target image that symbolically represents the target object, and the target image is displayed in a predetermined area around the screen on the monitor display screen. An output video is generated that is displayed so that the target image moves on the peripheral area of the screen.
That is, the screen peripheral area of the monitor display screen is set in advance as a warning area, and a visual target image symbolically representing an approaching object is displayed in this screen peripheral area. In this way, the target image is displayed in a fixed area around the screen, which reduces the need for the driver to watch the in-vehicle camera image when viewing the monitor screen, The need to search from the camera image is reduced, and driving is not hindered.
Further, the visual target image is not fixedly displayed in the screen peripheral area, but is displayed so that the visual target image moves on the screen peripheral area in accordance with the movement of the approaching object. For this reason, the recognition result of the approaching object can be transmitted intuitively and easily to the driver so that the position, moving direction, and moving speed of the approaching object can be easily understood.
As a result, although it is an inexpensive system configuration that does not use a head-up display etc., it can convey the recognition result of approaching objects intuitively and easily to the driver without hindering driving, so that approaching objects can be detected in advance. It can contribute to safe driving to avoid.

  Hereinafter, the best mode for realizing a vehicle peripheral image display device of the present invention will be described based on Examples 1 to 3 shown in the drawings.

First, the configuration will be described.
1 is an overall block diagram illustrating a vehicle periphery video display device according to a first embodiment. FIG. 2 shows an example of a monitor screen when two approaching objects are detected by an in-vehicle camera directed rightward from the front of the vehicle in the vehicle peripheral image display device in which the three peripheral portions of the first embodiment are animation warning areas. FIG.

  As shown in FIG. 1, the vehicle periphery video display device according to the first embodiment includes an in-vehicle camera 1, a monitor 2, and a monitor video generation control unit 3 (monitor video generation means).

  The in-vehicle camera 1 is a CCD camera, a CMOS camera, or the like attached to the host vehicle, and images the periphery of the vehicle. The in-vehicle camera 1 may be a single camera attached to any one of the vehicle rear position, the vehicle front position, and the vehicle side position, or the vehicle rear position, the vehicle front position, and the vehicle side position. Among them, a plurality of cameras attached at two or more positions may be used. In the case of a plurality of cameras, a composite image around the vehicle is displayed.

  The monitor 2 is set at a position that can be visually recognized by the driver, such as an instrument panel position in the passenger compartment. As the monitor 2, a liquid crystal display, an organic EL display, or the like is used. Also, a dedicated monitor may be used, or it may be used as a navigation monitor or the like.

  The monitor video generation control unit 3 generates an output video to the monitor 2 based on the input video from the in-vehicle camera 1. The monitor image generation control unit 3 detects an approaching object 4 that is relatively close to the host vehicle based on an input image from the in-vehicle camera 1, and an icon image 5 that symbolically represents the detected approaching object 4. Replace with (target image). The icon image 5 is displayed in a preset animation warning area 8 (screen peripheral area) on the display screen 6 of the monitor 2, and the icon image 5 is displayed in the animation warning area 8 as the approaching object 4 moves. Generate an output video that is displayed to move up. More specifically, as shown in FIG. 2, the display screen 6 of the monitor 2 is divided into a normal video area 7 at the center of the screen and an animation warning area 8 at the periphery of the screen in advance. The input image from the in-vehicle camera 1 subjected to the image reduction processing is displayed in the normal video area 7, and the icon image 5 selected according to the type of the approaching object 4 is moved and displayed in the animation warning area 8. Output video to be generated.

  As shown in FIG. 1, the monitor image generation control unit 3 includes a memory 31, an image reduction processing block 32, an approaching object detection block 33, an approaching object detection data processing block 34, and an animation creation & image composition block 35. And having.

The memory 31 is a block that stores a plurality of icon images 5 according to the type of the approaching object 4.
Here, the approaching object 4 is a moving object (for example, a vehicle, a person, a train, an animal, a bicycle, a motorcycle, etc.) existing around the host vehicle, or an obstacle (for example, a person existing on the side of the road, Vehicle parked by the road, luggage placed by the road, infrastructure structure installed on the road, etc.).

  The image reduction processing block 32 is a block for reducing the input video from the in-vehicle camera 1 according to the screen size of the normal video area 7.

  The approaching object detection block 33 is a block for detecting the approaching object 4 with respect to the host vehicle by analyzing the input video from the in-vehicle camera 1. Here, as a specific method for detecting the approaching object 4, various methods that are already common by binarization processing, feature point extraction, and the like are used. If the coordinates of the detected approaching object 4 on the screen and determination are possible, the characteristics of the detected approaching object 4 (type of approaching object 4, approaching speed of approaching object 4, approaching direction of approaching object 4, etc.) Is transmitted to the approaching object detection data processing block 34.

  The approaching object detection data processing block 34 is a block that performs coordinate conversion for specifying the position of the detected approaching object 4 on the display screen 6. This is for synchronizing with video reduction conversion in the image reduction processing block 32.

The animation creation & video synthesis block 35 is synthesized by simultaneous representation of the video output from the image reduction processing block 32 and the icon image 5 selected from the memory 31 according to the type of the approaching object 4 detected. This is a block for creating video. In the animation creation & video composition block 35, the icon image 5 is synchronized with the approaching object display position in the video output from the image reduction processing block 32 based on the position information output from the approaching object detection data processing block 34. In the animation warning area 8, the icon image 5 that moves in synchronization with the movement of the approaching object 4 displayed in the normal video area 7 is displayed as an animation.
Here, when the icon image 5 is displayed as an animation, at least one of the color, size, and blinking period of the icon image 5 is changed and displayed according to the degree of approach between the host vehicle and the approaching object 4. ing. For example, as the degree of approach is higher, the color of the icon image 5 is changed to a more conspicuous color, the size of the icon image 5 is changed larger, or the blinking cycle of the icon image 5 is changed shorter.

  In the first embodiment, as shown in FIG. 2, the upper peripheral area 8 a, the left peripheral area 8 b, and the right peripheral area 8 c are set as the animation warning area 8 in the display screen 6 of the monitor 2. The animation warning area 8 uses two icon images 5a and 5a for one approaching object 4a displayed in the normal video area 7, and displays the icon image 5a to the left and right in the upper peripheral area 8a. The icon image 5a is divided into displays that move up and down in the left peripheral area 8b. In addition, a display in which the icon image 5b is moved left and right in the upper peripheral area 8a using the two icon images 5b and 5b for the other approaching object 4b displayed in the normal video area 7, and the right peripheral area 8c. The icon image 5b is divided into displays that move up and down.

  FIG. 3 is a flowchart showing the flow of the monitor video generation control process executed by the monitor video generation control unit 3 in the vehicle peripheral video display apparatus of the first embodiment, and each step will be described below.

  In step S1, when control is started, a video signal around the vehicle is input from the in-vehicle camera 1, and the process proceeds to step S2.

  In step S2, following the video signal input from the in-vehicle camera 1 in step S1, the approaching object detection block 33 detects the presence, position, shape, moving direction, and moving speed of the approaching object 4 based on the input image. The presence / absence information of the approaching object 4, the position information of the approaching object 4, the shape information of the approaching object 4, the moving direction / movement speed information of the approaching object 4 and the like are output, and the process proceeds to step S3.

  In step S3, following the detection of the approaching object 4 in step S2, it is determined whether the approaching object 4 is undetected, whether the approaching object 4 has changed from non-detection to detection, or whether the approaching object 4 has been detected. I do. If the approaching object 4 is not detected, the process proceeds to step S13. When the approaching object 4 changes from non-detection to detection, the process proceeds to step S4. When the detection of the approaching object 4 is maintained, the process proceeds to step S11.

  In step S4, following the determination that the approaching object 4 has changed from non-detection to detection in step S3, in the approaching object detection data processing block 34, the position information of the approaching object 4 from the approaching object detection block 33 is reduced. The position information in the normal video area 7 on the display screen 6 of the monitor 2 is corrected, and the process proceeds to step S5.

  In step S5, following the correction processing of the detection position of the approaching object 4 in step S4, in the image reduction processing block 32, the video signal around the vehicle input from the in-vehicle camera 1 is displayed on the screen of the normal video area 7 of the monitor 2. Image processing is performed to make a reduced image that matches the size, and the process proceeds to step S6.

  In step S6, following the image reduction process in step S5, it is determined whether or not the type of the approaching object 4 can be specified based on the shape information of the approaching object 4 from the approaching object detection block 33. If YES (the type of approaching object 4 can be specified), the process proceeds to step S7. If NO (the type of approaching object 4 cannot be specified), the process proceeds to step S9.

  In step S 7, following the determination that the type of approaching object 4 can be specified in step S 6, the icon image 5 corresponding to the type of approaching object 4 to be displayed is read from the memory 31 in the animation creation & video composition block 35. The process proceeds to step S8.

  In step S8, following the reading of the icon image 5 corresponding to the type of the approaching object 4 in step S7, in the animation creation & video composition block 35, the reduced vehicle peripheral video from the image reduction processing block 32 is displayed in the normal video area 7. The video signal to be displayed and the video signal for displaying the icon image 5 selected according to the type of the approaching object 4 in the animation warning area 8 are synthesized, and the process proceeds to step S14.

  In step S9, following the determination that the type of approaching object 4 cannot be specified in step S6, in the animation creation & video composition block 35, the icon image 5 corresponding to the approaching object 4 whose type cannot be specified is read from the memory 31, The process proceeds to step S10.

  In step S10, following the reading of the icon image 5 corresponding to the approaching object 4 whose type cannot be specified in step S9, in the animation creation & video composition block 35, the reduced vehicle surrounding video from the image reduction processing block 32 is displayed in the normal video area. 7 and the video signal for displaying the icon image 5 selected when the type of the approaching object 4 cannot be specified in the animation warning area 8 are synthesized, and the process proceeds to step S14.

  In step S11, following the determination that the detection of the approaching object 4 in step S3 is maintained, in the image reduction processing block 32, the video signal around the vehicle input from the in-vehicle camera 1 is used as the normal video of the monitor 2. Image processing is performed to reduce the video that matches the screen size of the area 7, and the process proceeds to step S12.

  In step S12, following the image reduction processing in step S11, in the animation creation & video synthesis block 35, the video signal for displaying the reduced vehicle peripheral video from the image reduction processing block 32 in the normal video area 7 is already selected. The video signal to be displayed in the animation warning area 8 is synthesized by performing time correction processing on the position of the icon image 5 and the like, and the process proceeds to step S14. Here, the position of the icon image 5 is subjected to time correction processing by coordinate calculation. Further, based on the moving direction / moving speed information of the approaching object 4, the degree of approach between the host vehicle and the approaching object 4 is calculated, and at least one of the color, size, and blinking cycle of the icon image 5 is determined according to the approaching degree. Time correction processing for changing the above is performed.

  In step S13, following the determination that the approaching object 4 is not detected in step S3, in the image reduction processing block 32, the video signal around the vehicle input from the in-vehicle camera 1 is converted into the normal video area 7 of the monitor 2. The image processing for reducing the video to match the screen size is performed, and the process proceeds to step S14.

  In step S14, the video to be displayed in the normal video area 7 in the animation creation & video synthesis block 35 following the synthesis of the video signal in step S8, step S10 or step S12 or the generation of the reduced video signal in step S13. The signal and the video signal to be displayed in the animation warning area 8 or the video signal to be displayed in the normal video area 7 are output to the monitor 2 and the process proceeds to return.

Next, the operation will be described.
The actions in the vehicle periphery video display device of the first embodiment are as follows: “display action of vehicle periphery video when no approaching object is detected”, “composition display operation of icon image when approaching object is detected”, “icon image indicating approaching object” The explanation will be divided into “animation display action”.

[Displaying the image around the vehicle when no approaching object is detected]
First, when the approaching object 4 is not detected on the input video from the in-vehicle camera 1, in the flowchart of FIG. 3, the process of step S1, step S2, step S3, step S13, and step S14 is repeated.

  Then, in step S14, by outputting a video signal to be displayed on the normal video area 7 to the monitor 2, a vehicle periphery input from the in-vehicle camera 1 to the normal video area 7 in the display screen 6 of the monitor 2 is displayed. A reduced image is displayed. Note that there is no icon image 5 in the animation warning area 8, and the area display is left as it is.

  Therefore, the driver can confirm that there is no icon image 5 in the animation warning area 8 of the monitor 2 and approach the host vehicle without paying attention to the reduced video around the vehicle in the normal video area 7. You can know that there is no thing 4.

[Combination display of icon image when approaching object is detected]
When the approaching object 4 is changed from non-detection to detection on the input video from the in-vehicle camera 1 and the type of the detected approaching object 4 can be specified, step S1 → step S2 → It progresses to step S3-> step S4-> step S5-> step S6-> step S7-> step S8-> step S14. In this way, when the type of the detected approaching object 4 can be specified, the icon image 5 that represents the detected approaching object 4 is replaced by an icon image 5, and an icon is displayed in the animation warning area 8 set in advance on the display screen 6 of the monitor 2. Image 5 is displayed.

  When the approaching object 4 is changed from non-detection to detection on the input image from the in-vehicle camera 1 and the type of the detected approaching object 4 cannot be specified, step S1 → step S2 → It progresses to step S3-> step S4-> step S5-> step S6-> step S9-> step S10-> step S14. As described above, when the type of the detected approaching object 4 cannot be specified, the icon image 5 symbolically indicates that the type of the detected approaching object 4 cannot be specified, and is set in advance on the display screen 6 of the monitor 2. An icon image 5 is displayed in the animation warning area 8.

  That is, the animation warning area 8 at the periphery of the display screen 6 of the monitor 2 is set in advance as a warning area, and this animation warning area 8 can be used regardless of whether the type of the detected approaching object 4 can be specified or not. Then, an icon image 5 symbolically representing the approaching object 4 is displayed.

  Therefore, when the approaching object 4 to the host vehicle is detected, the icon image 5 is displayed in the fixed animation warning area 8 around the screen, so that the driver can display the icon image 5 in the animation warning area 8 of the monitor 2. It is possible to know that the approaching object 4 approaching the host vehicle has appeared just by confirming that this is the case. In other words, when the driver looks at the display screen 6 of the monitor 2, the necessity of gazing at the in-vehicle camera image displayed in the normal image area 7 is reduced, and the approaching object 4 is searched from the in-vehicle camera image. The need will be reduced and will not interfere with driving.

[Animation of icon image indicating approaching object]
While the detection of the approaching object 4 is maintained, the flow of step S1 → step S2 → step S3 → step S11 → step S12 → step S14 is repeated in the flowchart of FIG. As described above, when the approaching object 4 with respect to the host vehicle shifts from the non-detection state to the detection state, the icon image 5 is displayed in the animation warning area 8 in correspondence with the display of the approaching object 4 in the normal video area 7. While the detection of the approaching object 4 is maintained, the icon image 5 moves on the animation warning area 8 in accordance with the movement of the approaching object 4 by the time correction process in step S12.

  That is, based on the information continuously sent from the approaching object detection block 33, the icon image 5 is continuously drawn at the coordinates applied to the screen reduction, so that the simple object corresponding to the movement of the approaching object 4 can be obtained. The icon image 5 can be drawn in the animation warning area 8 as an animation.

  As described above, the icon image 5 is not fixedly displayed in the animation warning area 8 but is displayed so as to move on the animation warning area 8 in accordance with the movement of the approaching object 4. For this reason, the driver recognizes the approaching object 4 so that the position, the moving direction, and the moving speed of the approaching object 4 can be easily understood only by looking at the movement display of the icon image 5 in the animation warning area 8 of the monitor 2. The results can be intuitively communicated to the driver.

  In particular, in the first embodiment, two icon images 5a and 5a are used for one approaching object 4a displayed in the normal video area 7, and two icon images 5b and 5a are used for the other approaching object 4b. 5b is used. Therefore, as shown in FIG. 2, the movement of one approaching object 4a is accurately grasped by the icon image 5a moving left and right in the upper peripheral area 8a and the icon image 5a moving up and down in the left peripheral area 8b. can do. Further, the movement of the other approaching object 4b can be accurately grasped by the icon image 5b that moves left and right in the upper peripheral area 8 and the icon image 5b that moves up and down in the right peripheral area 8c.

Next, the effect will be described.
In the vehicle peripheral image display device according to the first embodiment, the effects listed below can be obtained.

  (1) An in-vehicle camera 1 that is attached to the host vehicle and images the periphery of the vehicle, a monitor 2 that is set at a position that can be visually recognized by the driver, and an output image to the monitor 2 based on an input image from the in-vehicle camera 1 In the vehicle peripheral image display device provided with the monitor image generation control unit 3 for generating the image, the monitor image generation control unit 3 is an approaching object that is relatively close to the host vehicle based on the input image from the in-vehicle camera 1. 4 is replaced with a target image (icon image 5) that symbolically represents the detected approaching object 4, and the target image (icon image 5) is displayed in a screen peripheral area preset on the display screen 6 of the monitor 2. ) And an output image for generating the target image (icon image 5) so as to move on the screen peripheral area in accordance with the movement of the approaching object 4 is generated. For this reason, although it is an inexpensive system configuration, the recognition result of the approaching object 4 is transmitted to the driver intuitively and easily without disturbing the driving, so that safe driving that avoids the approaching object 4 can be avoided. Can contribute.

  (2) The monitor video generation control unit 3 previously divides the display screen 6 of the monitor 2 into a normal video area 7 at the center of the screen and an animation warning area 8 at the periphery of the screen. The input video from the in-vehicle camera 1 subjected to the image reduction processing is displayed, and the target image (icon image 5) selected according to the type of the approaching object 4 is moved and displayed in the animation warning area 8. Generate video. For this reason, the driver can see the presence / absence of the approaching object 4 and the approaching state of the approaching object 4 only by looking at the animation warning area 8 at the periphery of the display screen 6 of the monitor 2 without disturbing the driving. And know the separation situation.

  (3) The monitor video generation control unit 3 matches a memory 31 for storing a plurality of icon images 5 according to the type of the approaching object 4 and an input video from the in-vehicle camera 1 in the normal video area 7. An image reduction processing block 32 for reduction processing, an approaching object detection block 33 for detecting an approaching object with respect to the host vehicle by analyzing the input video from the in-vehicle camera 1, and a display screen 6 for the detected approaching object 4 The approaching object detection data processing block 34 for performing coordinate conversion for specifying the position at the position, the image output from the image reduction processing block 32, and the memory 31 selected according to the type of the approaching object 4 detected. An animation creation & video synthesis block 35 for creating a video synthesized by simultaneous representation of the icon image 5, and the animation creation & video synthesis block 35 Based on the position information output from the data processing block 34, the icon image 5 is synchronized with the approaching object display position in the video output from the image reduction processing block 32, and the normal video area 7 is displayed in the animation warning area 8. The icon image 5 that moves in synchronization with the movement of the approaching object 4 displayed on the screen is displayed as an animation. For this reason, the icon image 5 is drawn in the animation warning area 8 as a simple animation in response to the movement of the approaching object 4, so that the recognition result of the approaching object 4 can be intuitively shown to the driver by the simple animation. Can be communicated in an easy-to-understand manner.

  (4) The monitor image generation control unit 3 changes at least one of the color, size, and blinking cycle of the target image (icon image 5) according to the degree of approach between the host vehicle and the approaching object 4. Output video to be displayed. For this reason, not only the recognition result of the approaching object 4 is transmitted, but also the driver is encouraged to keep calm when the approaching degree is low, and when the approaching degree is high, the approaching object 4 is moved to the driver in advance. A warning for prompting a steering operation or a brake operation to be avoided can be performed.

  (5) The monitor image generation control unit 3 detects a moving object or an obstacle present around the host vehicle as the approaching object 4. For this reason, when a moving object or an obstacle approaches from the vicinity of the host vehicle, the recognition result of the moving object or the obstacle can be intuitively and easily communicated to the driver without hindering driving.

  (6) The monitor image generation control unit 3 sets the upper peripheral area 8a, the left peripheral area 8b, and the right peripheral area 8c as the animation warning area 8 in the display screen 6 of the monitor 2, and the animation warning In the area 8, two target images (icon images 5 and 5) are used for one approaching object 4 displayed in the normal video region 7, and the target image (icon image 5) is displayed in the upper peripheral region 8a. It is divided into a display that moves left and right and a display that moves the target image (icon image 5) up and down in one of the left peripheral area 8b and the right peripheral area 8c. Therefore, the movement of one approaching object 4 is caused by an icon image 5 that moves left and right in the upper peripheral region 8a, and an icon image 5 that moves up and down in one of the left peripheral region 8b and the right peripheral region 8c. It can be accurately grasped.

  The second embodiment is an example in which the left peripheral area 8 b and the right peripheral area 8 c are set as the animation warning area 8 in the display screen 6 of the monitor 2.

First, the configuration will be described.
FIG. 4 shows an example of a monitor screen when two approaching objects are detected by an in-vehicle camera directed rightward from the front of the vehicle in the vehicle peripheral image display device in which the two peripheral portions of the second embodiment are animation warning areas. FIG.

  In the second embodiment, as shown in FIG. 4, the left peripheral area 8 b and the right peripheral area 8 c are set as the animation warning area 8 in the display screen 6 of the monitor 2. The animation warning area 8 is a display in which one icon image 5a is used for one approaching object 4a displayed in the normal video area 7, and the icon image 5a is moved up and down in the left peripheral area 8b. Further, one icon image 5b is used for another approaching object 4b displayed in the normal video area 7, and the icon image 5b is moved up and down in the right peripheral area 8c. Since other configurations are the same as those of the first embodiment, illustration and description thereof are omitted.

  Next, the operation will be described. As shown in FIG. 4, the movement of one approaching object 4a can be grasped by the icon image 5a moving up and down in the left peripheral area 8b, and another approaching object is obtained. The movement of 4b can be grasped by the icon image 5b moving up and down in the right peripheral area 8c. Since other operations are the same as those of the first embodiment, description thereof is omitted.

Next, the effect will be described.
In the vehicle peripheral image display apparatus according to the second embodiment, the following effects can be obtained in addition to the effects (1) to (5) of the first embodiment.

  (7) The monitor video generation control unit 3 sets the left peripheral area 8b and the right peripheral area 8c as the animation warning area 8 in the display screen 6 of the monitor 2, and the animation warning area 8 One target image (icon image 5) is used for one approaching object 4 displayed in the normal video region 7, and a target image (icon) is displayed in one of the left peripheral region 8b and the right peripheral region 8c. The image 5) is a display that moves up and down. Therefore, while the display screen 6 of the normal video area 7 is enlarged in the vertical direction as compared with the first embodiment, the movement of one approaching object 4 is moved up and down in one of the left peripheral area 8b and the right peripheral area 8c. It can be grasped by the icon image 5 moving to.

  The third embodiment is an example in which the upper peripheral area 8 a of the display screen 6 of the monitor 2 is set as the animation warning area 8.

First, the configuration will be described.
FIG. 5 shows an example of a monitor screen when two approaching objects are detected by an in-vehicle camera directed rightward from the front of the vehicle in the vehicle peripheral image display device in which one peripheral portion of the third embodiment is an animation warning area. FIG.

  In the third embodiment, as shown in FIG. 5, the upper peripheral area 8 a of the display screen 6 of the monitor 2 is set as the animation warning area 8. In the animation warning area 8, one icon image 5a is used for one approaching object 4a displayed in the normal video area 7, and the icon image 5a is moved left and right in the upper peripheral area 8a. Further, one icon image 5b is used for another approaching object 4b displayed in the normal video area 7, and the icon image 5b is moved left and right in the upper peripheral area 8a. Since other configurations are the same as those of the first embodiment, illustration and description thereof are omitted.

  Next, the operation will be described. As shown in FIG. 5, the movement of one approaching object 4a can be grasped by the icon image 5a moving left and right in the upper peripheral area 8a, and another approaching object 4b. Can be grasped by the icon image 5b moving left and right in the upper peripheral area 8a. Since other operations are the same as those of the first embodiment, description thereof is omitted.

Next, the effect will be described.
In the vehicle peripheral image display apparatus according to the third embodiment, the following effects can be obtained in addition to the effects (1) to (5) of the first embodiment.

  (8) The monitor video generation control unit 3 sets the upper peripheral area 8a as the animation warning area 8 in the display screen 6 of the monitor 2, and the animation warning area 8 is displayed in the normal video area 7. Further, one target image (icon image 5) is used for one approaching object 4, and the target image (icon image 5) is moved left and right in the upper peripheral area 8a. Therefore, it is possible to grasp the movement of one approaching object 4 by the icon image 5 moving left and right in the upper peripheral area 8a while enlarging the display screen 6 of the normal video area 7 in the width direction as compared with the first embodiment. it can.

  As mentioned above, although the vehicle periphery image | video display apparatus of this invention has been demonstrated based on Example 1-3, it is not restricted to these Examples about a concrete structure, Each claim of a claim Design changes and additions are permitted without departing from the spirit of the invention according to the paragraph.

  In Examples 1-3, the example which uses the icon image 5 of a motor vehicle model as a target image was shown. However, as a target image, a mark representing an approaching object may be used in addition to the icon image. Furthermore, not only an icon image of a car model but also an icon image corresponding to a bicycle, a person, or the like is held in the system, so that when the detection block classifies an approaching object, it can be handled. Even when the type of approaching object cannot be specified, position-related information can be presented by displaying a dedicated icon image or mark when the approaching object cannot be specified.

  In the first embodiment, an example in which the upper and left and right peripheral areas of the display screen 6 of the monitor 2 are set as the animation warning area 8 is shown. In the second embodiment, the left and right areas of the display screen 6 of the monitor 2 are set. An example in which the peripheral area is set as the animation warning area 8 is shown. In the third embodiment, the upper peripheral area of the display screen 6 of the monitor 2 is set as the animation warning area 8. However, four peripheral areas of the upper and lower parts and the left and right parts may be set as animation warning areas, or one peripheral area of the lower part, the left part, and the right part may be set as animation warning areas.

  In the first to third embodiments, the example in which the camera video is reduced and displayed in the normal video area 7 is shown. However, an example in which the camera image is converted into a bird's-eye view image by viewpoint conversion in the normal image area 7 and the bird's-eye view image is reduced and displayed may be used.

1 is an overall block diagram illustrating a vehicle periphery video display device according to a first embodiment. It is a figure which shows an example of a monitor screen when two approaching objects are detected with the vehicle-mounted camera which turned to the right direction from the vehicle front in the vehicle periphery image | video display apparatus which uses 3 periphery part of Example 1 as an animation warning area | region. 4 is a flowchart showing a flow of monitor video generation control processing executed by a monitor video generation control unit 3 in the vehicle peripheral video display device of Embodiment 1; It is a figure which shows an example of a monitor screen when two approaching objects are detected with the vehicle-mounted camera toward the right direction from the vehicle front in the vehicle periphery image | video display apparatus which uses 2 periphery part of Example 2 as an animation warning area | region. FIG. 10 is a diagram illustrating an example of a monitor screen when two approaching objects are detected by an in-vehicle camera directed in the right direction from the front of the vehicle in the vehicle peripheral video display device in which one peripheral portion of the third embodiment is an animation warning area.

Explanation of symbols

1 In-vehicle camera 2 Monitor 3 Monitor video generation control unit (monitor video generation means)
31 memory
32 Image reduction processing block
33 Approaching object detection block
34 Approaching object detection data processing block
35 Animation Creation & Video Composition Block 4 Approaching Object 5 Icon Image (Target Image)
6 Display screen 7 Normal video area 8 Animation warning area (screen peripheral area)
8a Upper peripheral area 8b Left peripheral area 8c Right peripheral area

Claims (6)

An in-vehicle camera that is attached to the host vehicle and images the periphery of the vehicle, a monitor that is set at a position that can be visually recognized by the driver, and a monitor image generation unit that generates an output image to the monitor based on an input image from the in-vehicle camera In a vehicle peripheral image display device comprising:
The monitor video generation means includes
An approaching object that is relatively approaching the host vehicle is detected based on an input image from the in-vehicle camera, and the detected approaching object is replaced with a target image that symbolically represents a preset display screen on the monitor. Displaying the optotype image in a screen peripheral area, and generating an output video for displaying the optotype image so as to move on the screen peripheral area in accordance with the movement of the approaching object ,
The display screen of the monitor is divided in advance into a normal video area at the center of the screen and an animation warning area at the periphery of the screen, and the input video from the in-vehicle camera subjected to image reduction processing is displayed in the normal video area. And generating an output video for moving and displaying the target image selected according to the type of approaching object in the animation warning area,
A memory for storing a plurality of icon images according to the type of the approaching object, an image reduction processing block for reducing the input video from the in-vehicle camera in accordance with the normal video area, and an input video from the in-vehicle camera An approaching object detection block that detects an approaching object with respect to the host vehicle by performing image analysis, an approaching object detection data processing block that performs coordinate conversion for specifying the position of the detected approaching object on the display screen, and the image reduction process A video output from the block, and an animation creation & video synthesis block that creates a video synthesized by simultaneous representation of the icon image selected from the memory according to the type of the approaching object detected,
The animation creation & video composition block synchronizes an icon image with the approaching object display position in the video output from the image reduction processing block based on the position information output from the approaching object detection data processing block, and the animation A vehicle peripheral image display device , wherein an icon image moving in synchronization with the movement of an approaching object displayed in the normal image area is displayed in an animation in a warning area . In the vehicle periphery video display device according to claim 1 ,
The monitor video generation means generates an output video to be displayed by changing at least one of the color, size, and blinking cycle of the target image according to the degree of approach between the host vehicle and an approaching object. A vehicle peripheral image display device. In the vehicle peripheral image display device according to claim 1 or 2 ,
The monitor image generation means detects a moving object or an obstacle present around the host vehicle as an approaching object, and displays a vehicle periphery image display device. The vehicle peripheral display device according to any one of claims 1 to 3,
The monitor video generation means sets the upper peripheral area as an animation warning area in the display screen of the monitor,
The animation warning area is a vehicle periphery characterized in that one target image is used for one approaching object displayed in the normal video area and the target image is moved left and right in the upper peripheral area. Video display device. An in-vehicle camera that is attached to the host vehicle and images the periphery of the vehicle, a monitor that is set at a position that can be visually recognized by the driver, and a monitor image generation unit that generates an output image to the monitor based on an input image from the in-vehicle camera In a vehicle peripheral image display device comprising:
The monitor video generation means includes
An approaching object that is relatively approaching the host vehicle is detected based on an input image from the in-vehicle camera, and the detected approaching object is replaced with a target image that symbolically represents a preset display screen on the monitor. Displaying the optotype image in a screen peripheral area, and generating an output video for displaying the optotype image so as to move on the screen peripheral area in accordance with the movement of the approaching object,
Of the display screen of the monitor, the upper peripheral area, the left peripheral area and the right peripheral area are set as animation warning areas,
The animation warning area uses two target images for one approaching object displayed in the normal video area, and displays the left and right peripheral areas and the right part in the upper peripheral area. A vehicle peripheral image display device characterized in that the visual target image is divided into displays that move up and down in one of the peripheral regions. An in-vehicle camera that is attached to the host vehicle and images the periphery of the vehicle, a monitor that is set at a position that can be visually recognized by the driver, and a monitor image generation unit that generates an output image to the monitor based on an input image from the in-vehicle camera In a vehicle peripheral image display device comprising:
The monitor video generation means includes
An approaching object that is relatively approaching the host vehicle is detected based on an input image from the in-vehicle camera, and the detected approaching object is replaced with a target image that symbolically represents a preset display screen on the monitor. Displaying the optotype image in a screen peripheral area, and generating an output video for displaying the optotype image so as to move on the screen peripheral area in accordance with the movement of the approaching object,
Of the display screen of the monitor, the left peripheral area and the right peripheral area are set as animation warning areas,
The animation warning area uses one target image for one approaching object displayed in the normal video area, and moves the target image up and down in one of the left peripheral area and the right peripheral area. A vehicle periphery video display device characterized by being displayed.

Images