JP5604011B2 - Vehicle periphery monitoring device - Google Patents

Description

  The present invention relates to a vehicle periphery monitoring apparatus that detects and easily displays a monitoring object around the vehicle.

  As a conventional vehicle periphery monitoring device, there is known a device that displays an image in front of a vehicle by an infrared camera on a display in front of a driver's seat and highlights a pedestrian's image portion detected from the image { FIG. 5 of 2009-0667214 (hereinafter referred to as “JP 2009-067241 A”)}.

  In addition to emphasizing the pedestrian's image part in the image displayed on the display, there is also known an apparatus for displaying an icon for informing the presence of a pedestrian on a head-up display (HUD) {Japanese Patent Laid-Open No. 2004-2004 -364112 (hereinafter referred to as “JP 2004-364112 A”)}. In JP 2004-364112 A, when it is determined that a pedestrian is present in the image captured by the infrared camera 2R, pedestrian icons 32 and 33 are displayed on the HUD 8a (see FIG. 6, [0036] to [0038]).

  As a technique for detecting pedestrians, for example, pedestrian candidates can be easily selected from binarized information, and grayscale information is used to determine pedestrians, thereby achieving both processing speed and determination accuracy. There is also a possibility {see the summary of US Patent Application Publication No. 2003/0138133 (hereinafter referred to as “US 2003/0138133 A1”) and FIG. 8}. In addition, techniques for detecting animals have also been proposed {US Patent Application Publication No. 2008/0130954 (hereinafter referred to as “US 2008/0130954 A1”) and US Patent Application Publication No. 2007/0269079 (hereinafter referred to as “US”). 2007/0269079 A1 ”))}.

  As described above, JP 2004-364112 A displays the icons 32 and 33 that inform the HUD 8a of the presence of a pedestrian. However, there is still room for more appropriate attention to the user.

  The present invention has been made in view of such problems, and an object of the present invention is to provide a vehicle periphery monitoring device that can appropriately alert a user.

  A vehicle periphery monitoring device according to the present invention detects a living body as a monitoring object in the periphery of the vehicle based on an imaging signal output from an imaging device mounted on the vehicle, and the imaging signal is A first display unit that displays an image to be displayed, and each sub-region of the image depending on whether or not each mark associated with each of a plurality of sub-regions constituting the image displayed on the first display unit is displayed And a second display section for visualizing the presence / absence information of the monitoring object in the body, wherein the display of the mark is changed according to at least one of the face direction and the body direction of the living body.

  According to this invention, the display of the mark on the second display unit indicating the presence or absence of the monitoring object is changed according to at least one of the face orientation of the living body and the body orientation. Since there is a high possibility that the face direction and the body direction indicate the traveling direction of the living body, according to the present invention, it is possible to call attention in consideration of the traveling direction of the living body. Accordingly, it is possible to appropriately alert the user.

  For the living body present on the boundary lines of the plurality of sub-regions, when the face direction of the living body or the body direction is a direction intersecting the center line of the traveling direction of the vehicle, the adjacent ones across the boundary line A plurality of the marks may be displayed on the second display unit simultaneously or alternately corresponding to the sub-regions. Thereby, for a living body that exists on the boundary lines of a plurality of sub-regions, when the face direction of the living body or the body direction is a direction that intersects the center line of the traveling direction of the vehicle, A plurality of marks are displayed simultaneously or alternately corresponding to the area. For this reason, it becomes possible to highlight the presence of the living body according to the face direction of the living body or the direction of the body, and to appropriately alert the user.

  The mark may be displayed both in the sub-region to which the living body belongs and in the sub-region existing in the direction of the face of the living body or the direction of the body from the sub-region. This makes it possible to alert the presence of the living body in a manner that reflects the traveling direction of the living body. For this reason, it becomes possible to alert the user appropriately.

  When the face direction or the body direction of the living body is a direction that intersects the center line of the traveling direction of the vehicle, the display color of the mark may be switched to a warning color that requires a stronger alert. Thereby, when the living body is coming toward the vehicle, the presence of the living body can be more strongly alerted. For this reason, it becomes possible to alert the user appropriately.

It is a block diagram which shows the structure of the vehicle periphery monitoring apparatus which concerns on one Embodiment of this invention. It is a schematic perspective view of the vehicle incorporating the said vehicle periphery monitoring apparatus. It is a figure which shows the view seen from the driver | operator side in the said vehicle. It is a figure which shows an example of the display screen of a general purpose monitor. It is a figure which shows an example of the display screen of MID (Multi-Information Display). It is a figure which shows the display relationship of the said general purpose monitor and the said MID. It is a flowchart which shows the outline | summary of operation | movement of the said vehicle periphery monitoring apparatus. It is a flowchart (details of S7 in FIG. 7) for setting the first boundary line. In the said embodiment, it is a figure which shows an example of the positional relationship of the said vehicle and the said animal when an animal's face direction is outward, an example of the gray scale image of the said general purpose monitor, and the icon image of the said MID. FIG. 4 is a diagram illustrating a positional relationship between the vehicle and the animal, an example of a gray scale image of the general-purpose monitor, and an example of an icon image of the MID when the animal face is inward in the embodiment. 8 is a flowchart (details of S9 in FIG. 7) for specifying a sub-region of the general-purpose monitor to which a living body corresponding part belongs in the embodiment. In the first modification of the biometric icon highlighting, the positional relationship between the vehicle and the animal when the face of the animal is facing outward, an example of a grayscale image of the general-purpose monitor, and an example of the icon image of the MID FIG. In the first modification of the highlight display, the positional relationship between the vehicle and the animal when the face of the animal is inward, an example of a grayscale image of the general-purpose monitor, and an example of an icon image of the MID are shown. FIG. It is a flowchart which specifies the sub area | region of the said general purpose monitor to which the said biological corresponding part belongs in the 1st modification of the said highlight display. 12 is a flowchart for setting a display color of the biometric icon in the first modified example of the highlighting (first modified example in detail in S11 of FIG. 7). It is a figure which shows the positional relationship of the said vehicle and the animal in the 2nd modification of the highlight display of the said biometric icon, an example of the gray scale image of the said general purpose monitor, and an example of the icon image of the said MID. 12 is a flowchart for setting a display color of the biometric icon in the second modified example of the highlighting (second modified example in detail in S11 of FIG. 7). It is a figure which shows the positional relationship of the said vehicle and the animal in the 3rd modification of the said biometric icon highlight display, an example of the gray scale image of the said general purpose monitor, and an example of the icon image of the said MID. It is a flowchart which specifies the sub area | region of the said general purpose monitor to which the said biological corresponding part belongs in the 3rd modification of the said highlight display. It is a figure which shows an example of the positional relationship of the said vehicle and the animal in the 4th modification of the said biometric icon highlight display, an example of the gray scale image of the said general purpose monitor, and the icon image of the said MID. In the 4th modification of the above-mentioned highlighting, it is a flow chart which specifies a sub field of the general-purpose monitor to which the living body corresponding part belongs. In the fifth modified example of the highlighting of the biological icon, the positional relationship between the vehicle, the animal, and the human adult when the biological corresponding parts corresponding to the animal and the human adult belong to the first sub-region in the center. FIG. 4 is a diagram illustrating an example of a gray scale image of the general-purpose monitor and an example of an icon image of the MID. In the fifth modified example of the highlighting, the vehicle in the case where the living body corresponding part corresponding to the animal belongs to the left first sub-region and the living body corresponding part corresponding to the human child belongs to the right first sub area FIG. 4 is a diagram illustrating a positional relationship between the animal and the human child, an example of a grayscale image of the general-purpose monitor, and an example of an icon image of the MID. It is a flowchart which specifies the sub area | region of the general purpose monitor to which the said biological corresponding part belongs in the 5th modification of the said highlight display.

A. One Embodiment [1. Constitution]
(1-1. Overall configuration)
FIG. 1 is a block diagram showing a configuration of a vehicle periphery monitoring device 10 (hereinafter also referred to as “monitoring device 10”) according to an embodiment of the present invention. FIG. 2 is a schematic perspective view of the vehicle 12 in which the monitoring device 10 is incorporated. FIG. 3 is a diagram showing a view of the vehicle 12 as viewed from the driver side. FIG. 3 shows a situation where the vehicle 12 is traveling on a road in a country where it is decided that the vehicle as a whole travels on the right side. The vehicle 12 is shown as a left-hand drive vehicle. Instead, the same configuration can be adopted even for a right-hand drive vehicle.

  As shown in FIGS. 1 and 2, the vehicle periphery monitoring apparatus 10 includes left and right infrared cameras 16L and 16R (hereinafter also referred to as “cameras 16L and 16R”), a vehicle speed sensor 18, a yaw rate sensor 20, and electronic control. It includes a device 22 (hereinafter referred to as “ECU 22”), a speaker 24, a general-purpose monitor 26 (hereinafter also referred to as “monitor 26”), and an MID 28 (Multi-Information Display).

(1-2. Infrared camera 16L, 16R)
The infrared cameras 16 </ b> L and 16 </ b> R function as an imaging device that images the surroundings of the vehicle 12. In this embodiment, a stereo camera is configured by combining two cameras 16L and 16R. The cameras 16L and 16R have a characteristic that the output signal level increases (the luminance increases) as the temperature of the subject increases.

  As shown in FIG. 2, the cameras 16 </ b> L and 16 </ b> R are disposed on the front bumper portion of the vehicle 12 at positions that are substantially symmetrical with respect to the vehicle width direction center portion of the vehicle 12. The two cameras 16L and 16R are fixed so that their optical axes are parallel to each other and the heights from both road surfaces are equal.

  In addition, the imaging device which images the circumference | surroundings of the vehicle 12 is not restricted to the structural example shown in FIG. 2, A various structure can be taken. For example, the imaging device may be a compound eye (stereo camera) or a monocular (one camera). In this case, it is preferable that another ranging means (radar apparatus) is also provided. Instead of an infrared camera, a camera that mainly uses light having a wavelength in the visible light region (also referred to as a color camera) may be used, or both may be provided.

(1-3. Vehicle speed sensor 18 and yaw rate sensor 20)
The vehicle speed sensor 18 detects the vehicle speed V [km / h] of the vehicle 12 and outputs it to the ECU 22. The yaw rate sensor 20 detects the yaw rate Yr [° / sec] of the vehicle 12 and outputs it to the ECU 22.

(1-4.ECU22)
The ECU 22 controls the monitoring device 10 and includes an input / output unit 30, a calculation unit 32, and a storage unit 34 as shown in FIG.

  Signals from the cameras 16L and 16R, the vehicle speed sensor 18 and the yaw rate sensor 20 are supplied to the ECU 22 via the input / output unit 30. An output signal from the ECU 22 is output to the speaker 24, the monitor 26, and the MID 28 via the input / output unit 30. The input / output unit 30 includes an A / D conversion circuit (not shown) that converts an input analog signal into a digital signal.

  The calculation unit 32 performs calculations based on the signals from the cameras 16L and 16R, the vehicle speed sensor 18, and the yaw rate sensor 20, and generates signals for the speaker 24, the monitor 26, and the MID 28 based on the calculation results.

  As shown in FIG. 1, the calculation unit 32 includes a binarization function 40, a biological extraction function 42, a biological type determination function 44, a speaker control function 46, a general monitor control function 48, and an MID control function 50. Each function 40, 42, 44, 46, 48, 50 is realized by executing a program stored in the storage unit 34. Alternatively, the program may be supplied from the outside (server or the like) via a wireless communication device (mobile phone, smartphone, etc.) not shown.

  The binarization function 40 binarizes the grayscale image 72 (FIG. 4) acquired by one of the cameras 16L and 16R (the left camera 16L in the present embodiment) to generate a binarized image (not shown). Generate. The living body extraction function 42 uses the grayscale image 72 and the binarized image to extract a living body (monitoring target) such as a human or an animal in these images. The living body type determination function 44 determines whether the extracted monitoring target is a human (adult, child), an animal, or other (including those that cannot be determined). The speaker control function 46 controls the speaker 24 such as causing the speaker 24 to output an alarm sound. The general-purpose monitor control function 48 controls the general-purpose monitor 26 such as displaying a grayscale image 72 on the general-purpose monitor 26.

  The MID control function 50 controls the MID 28, for example, displays icons of living bodies such as humans and animals (hereinafter referred to as “biological icons”) on the MID 28. As shown in FIG. 1, the MID control function 50 includes a boundary line setting function 52, a face orientation detection function 54, a sub-region selection function 56, and an icon display color setting function 58 (hereinafter also referred to as “display color setting function 58”). And an icon display function 60. Details of the functions 52, 54, 56, 58, and 60 will be described later.

  The storage unit 34 includes an imaging signal converted into a digital signal, a RAM (Random Access Memory) that stores temporary data used for various arithmetic processes, and a ROM (Read Only Memory) that stores an execution program, a table, a map, or the like. ) Etc.

(1-5. Speaker)
The speaker 24 outputs an alarm sound or the like in response to a command from the ECU 22. The speaker 24 is provided on the dashboard 62 (FIG. 3) (however, the speaker 24 is not shown in FIG. 3). A speaker provided in an audio device or navigation device (not shown) may be used as the speaker 24.

(1-6. General-purpose monitor 26)
The general-purpose monitor 26 (first display unit) can display a color image or a monochrome image, and includes, for example, a liquid crystal panel, an organic EL (Electro-Luminescence) panel, or an inorganic EL panel. As shown in FIGS. 2 and 3, the general-purpose monitor 26 is disposed at a predetermined portion of the dashboard 62 (specifically, a portion on the right side with respect to the position where the handle 64 is disposed).

  FIG. 4 is a diagram illustrating an example of the display screen of the general-purpose monitor 26. In FIG. 4, a gray scale image 72 captured by the left camera 16 </ b> L is displayed in the display area of the monitor 26 (hereinafter referred to as “first display area 70” or “display area 70”).

  A highlighted display generated by the general-purpose monitor control function 48 can be added to the gray scale image 72. That is, as shown in FIG. 4, an emphasis frame 76 is displayed at a place where a living body such as a human being or an animal is extracted (hereinafter referred to as a “living part 74”). Alternatively, the living body corresponding portion 74 may be colored. Alternatively, both the display of the highlight frame 76 and the coloring of the living body corresponding portion 74 can be performed. Or the emphasis by other methods may be sufficient.

  The general-purpose monitor 26 may display the grayscale image 72 from the right camera 16R instead of the grayscale image 72 from the left camera 16L. In addition to the gray scale image 72 from the camera 16L or the camera 16R, the general-purpose monitor 26 displays other images, for example, various images for navigation (road maps, service information, etc.), moving image content, etc. simultaneously or by switching. May be. Switching of each image can be performed by, for example, pressing a specific push button or setting a switching condition in advance.

(1-7. MID28)
The MID 28 (second display unit) is a simple display device (icon display device) that visualizes and displays accompanying information at the time of driving the vehicle 12, and is configured more than the general-purpose monitor 26 (particularly its display panel). It is a simple and inexpensive display module. For example, a display panel having a resolution lower than that of the general-purpose monitor 26 (for example, one that operates in a non-interlaced manner) can be used as the MID 28.

  As shown in FIGS. 2 and 3, the MID 28 is provided on the dashboard 62 (or inside the instrument panel 66) near the upper side of the instrument panel 66. The MID 28 is disposed at a position where the driver can visually recognize the MID 28 through the gap above the handle 64. As a result, the driver can view the MID 28 with the face facing forward of the vehicle 12.

  FIG. 5 is a diagram showing an example of the display screen of MID28. In FIG. 5, the display area of MID 28 (hereinafter referred to as “second display area 80” or “display area 80”) includes an image including various icons corresponding to the grayscale image 72 (hereinafter referred to as “icon image 82”). .) Is displayed.

  For example, as shown in FIG. 5, a road icon 84 indicating a road in the traveling direction of the vehicle 12 is displayed below the display area 80. The road icon 84 includes three lines, that is, lines 84L, 84C, and 84R in order from the left. The width between the lines 84 </ b> L and 84 </ b> R is narrower toward the upper side of the display area 80 that recalls a distant position. That is, the display of the road icon 84 allows the driver to think of the road shape when the straight road ahead is viewed from the driver's seat.

  As shown in FIG. 5, a human icon 86 (mark) indicating a pedestrian existing around the vehicle 12 can be displayed above the display area 80. The human icon 86 of the present embodiment is used for human pedestrians without distinction between adults and children. Of course, such a distinction may be made and different icons may be used for human adults and children. In addition, the human icon 86 can be displayed in three places (that is, the left side, the center, and the right side) of the display area 80 (see FIGS. 5 and 6).

  Instead of the human icon 86, an icon indicating another living body (for example, an animal icon 88 (mark) indicating an animal (see FIG. 9)) can be displayed.

  Further, the MID 28 may display the fuel consumption of the vehicle 12, the current time, information on the instrument panel 66, and the like instead of displaying the various icons (the road icon 84, the human icon 86, and the animal icon 88). Switching of each piece of information (image) can be performed, for example, by pressing a specific push button or by setting a switching condition in advance.

[2. Relationship between display of general-purpose monitor 26 and MID 28]
FIG. 6 is a diagram showing a display relationship between the general-purpose monitor 26 and the MID 28. As shown in FIG. 6, in the present embodiment, the grayscale image 72 is referred to as three regions (hereinafter referred to as “first sub regions 90L, 90C, 90R” or “sub regions 90L, 90C, 90R”) in the vehicle width direction. These are collectively referred to as “first sub-region 90” or “sub-region 90”. Hereinafter, the boundary lines of the first sub-regions 90 (hereinafter referred to as “first boundary lines 92L and 92R” or “boundary lines 92L and 92R”, collectively referred to as “first boundary lines 92” or “boundary lines 92”). .) Is a virtual line not included in the actual grayscale image 72, and can be displaced in the vehicle width direction (details will be described later with reference to FIG. 8). In actual processing, it is possible to use only the boundary line 92 without using the sub-region 90. The boundary line 92 may have a shape along the lane (a shape that narrows as it goes up) like the road icon 84 of the MID 28.

  In addition, as shown in FIG. 6, the icon image 82 is referred to as three areas in the vehicle width direction (hereinafter referred to as “second sub areas 100L, 100C, 100R” or “sub areas 100L, 100C, 100R”). These are collectively referred to as “region 100” or “sub-region 100”. The boundary lines (hereinafter referred to as “second boundary lines 102L and 102R” or “boundary lines 102L and 102R”) of the second sub-regions 100 in the icon image 82 are collectively referred to as “second boundary line 102” or “boundary line 102”. Is a virtual line not included in the actual icon image 82 and is fixed and does not change. The second boundary lines 102L and 102R are associated with the first boundary lines 92L and 92R, respectively. Similar to the boundary line 92, the boundary line 102 may have a shape along the lane (a shape that narrows as it goes up) like the road icon 84 of the MID 28.

  In the present embodiment, the first sub-region 90 (hereinafter referred to as “first living-body sub-region”) to which the living body corresponding portion 74 in the gray scale image 72 belongs is determined, and the second sub region 100 of the icon image 82 in the MID 28. Among them, a living body icon (human icon 86, animal icon 88, etc.) is displayed on the one corresponding to the first living body existence subregion (hereinafter referred to as “second living body existence subregion”).

  In a predetermined case, processing such as increasing the number of biological icons to be displayed from 1 to 2 and changing the display color of the biological icons can be performed (details will be described later).

[3. Operation of Vehicle Perimeter Monitoring Device 10]
(3-1. Overview)
FIG. 7 is a flowchart showing an outline of the operation of the vehicle periphery monitoring apparatus 10. In step S1, the infrared cameras 16L and 16R image the periphery of the vehicle 12. In step S2, the ECU 22 performs A / D conversion on signals from the cameras 16L and 16R to obtain a grayscale image 72. In step S3, the ECU 22 executes binarization processing. In the binarization process, the grayscale image 72 is binarized to obtain a binarized image (not shown).

  In step S <b> 4, the ECU 22 extracts the living body corresponding portion 74 from the acquired binarized image and grayscale image 72. Since the living body is hotter than its surroundings, the portion corresponding to the living body (biological corresponding portion 74) in the binarized image and the grayscale image 72 has high brightness. Therefore, it is possible to extract the biometric corresponding portion 74 by searching for a pixel region having a luminance equal to or higher than a predetermined threshold in the binarized image and the grayscale image 72.

  Note that the use of both the binarized image and the grayscale image 72 simply identifies the presence of the living body using the binarized image, and then acquires detailed information about the living body using the grayscale image 72. It is to do. As such processing, for example, the one described in US 2003/0138133 A1 can be used. Alternatively, the biometric part 74 may be extracted using only one of the binarized image and the grayscale image 72.

  In step S5, the ECU 22 determines the type of the living body indicated by the extracted living body corresponding portion 74. That is, it is determined whether the extracted biological corresponding portion 74 corresponds to a human adult, a child, or an animal. Other types may be determined.

  In step S <b> 6, the ECU 22 displays the gray scale image 72 in which the biometric part 74 is emphasized on the general-purpose monitor 26. As described above, the highlighting is performed, for example, by displaying at least one of the display of the highlight frame 76 (FIG. 4) and the coloring of the living body corresponding portion 74.

  In step S7, the ECU 22 sets the first boundary lines 92L and 92R (FIG. 6) in the grayscale image 72 or the binarized image, and specifies the first sub-region 90 (details will be described later).

  In step S <b> 8, the ECU 22 detects the face orientation of the child or animal from those extracted from the biometric corresponding part 74 corresponding to the human child and animal. Note that the direction of the body of the child or animal may be detected instead of or in addition to the face direction. As a method for detecting the face orientation or the body orientation, for example, those described in US 2008/0130954 A1 and US 2007/0269079 A1 can be used. The detection of the face direction or the body direction mentioned here is preferably, for example, that the angle with respect to the optical axis of the camera 16L in a plan view can be specifically calculated. It may be a distinction (in other words, whether it is inward or outward).

  In step S9, the ECU 22 determines the first sub-region 90 (first biological sub-region) to which the living body corresponding portion 74 belongs. In the present embodiment, when the biological corresponding part 74 is on the boundary line 92, the two first sub-regions 90 sandwiching the boundary line 92 are determined as the first sub-region 90 to which the biological corresponding part 74 belongs. (Details will be described later).

  In step S10, the ECU 22 determines a second sub-region 100 (second biological presence sub-region) corresponding to the first biological presence sub-region.

  In step S11, the ECU 22 sets the display color (warning color) of the biological icon in the second biological existence subregion. Since the display color is a single color (only yellow) in the present embodiment, the process of step S11 may be omitted. Further, as will be described later, the display color of the biometric icon can be changed according to the situation.

  In step S12, the ECU 22 displays a biological icon (such as a human icon 86) indicating a living body in the second living body existence sub-region determined in step S10. Note that when the possibility of contact between the vehicle 12 and the living body is high, a warning sound may be emitted from the speaker 24.

(3-2. Setting of the first boundary line 92)
FIG. 8 is a flowchart (details of S7 in FIG. 7) for setting the first boundary line 92. In step S <b> 21, the yaw rate sensor 20 detects the yaw rate Yr of the vehicle 12. In step S22, the ECU 22 determines whether or not the vehicle 12 is turning left based on the yaw rate Yr detected by the yaw rate sensor 20. For example, a threshold value (a left turn determination threshold value) for the yaw rate Yr for determining whether or not the vehicle is turning left is set, and it is determined whether or not the detected yaw rate Yr exceeds a left turn determination threshold value.

  If the vehicle 12 is not turning left (S22: NO), the process proceeds to step S24. When the vehicle 12 is turning left (S22: YES), in step S23, the ECU 22 shifts each first boundary line 92 to the left. Thereby, even when a living body is present near the front of the vehicle 12, a living body icon may be displayed in the sub-region 100R on the right side of the MID 28. Further, even when a living body is present in the left front of the vehicle 12, a living body icon may be displayed in the center sub-region 100C of the MID 28. Furthermore, even when a living body is present on the right front side of the vehicle 12, a living body icon may not be displayed on the MID 28. As a result, the MID 28 can be displayed in accordance with the traveling direction (left direction) of the vehicle 12.

  In step S24, the ECU 22 determines whether or not the vehicle 12 is turning right based on the yaw rate Yr detected by the yaw rate sensor 20. For example, a threshold of the yaw rate Yr (right turning determination threshold) for determining whether or not the vehicle is turning right is set, and it is determined whether or not the detected yaw rate Yr exceeds the right turning determination threshold. To do.

  If the vehicle 12 is not turning right (S24: NO), the current process is terminated. When the vehicle 12 is turning right (S24: YES), in step S25, the ECU 22 shifts each first boundary line 92 to the right. Thereby, even when a living body is present near the front of the vehicle 12, a living body icon may be displayed in the sub-region 100L on the left side of the MID 28. Further, even when a living body is present on the right front side of the vehicle 12, a living body icon may be displayed in the center sub-region 100C of the MID 28. Furthermore, even when a living body exists on the left front side of the vehicle 12, a living body icon may not be displayed on the MID 28. As a result, the MID 28 can be displayed in accordance with the traveling direction (right direction) of the vehicle 12.

(3-3. Identification of the first sub-region 90 to which the living body corresponding portion 74 belongs)
(3-3-1. Specific concept of the first sub-region 90 to which the living body corresponding portion 74 belongs)
9 and 10 are diagrams for explaining a method for specifying the first sub-region 90 (first biological presence sub-region) to which the living body corresponding portion 74 belongs. That is, FIG. 9 shows the vehicle 12 in the case where the face direction X of the animal 110 as a living body is outward (direction opposite to the center line Ax in the traveling direction of the vehicle 12 (for example, the optical axis of the camera 16L)). 2 is a diagram illustrating an example of a gray scale image 72 of the general-purpose monitor 26 and an example of an icon image 82 of the MID 28. FIG. FIG. 10 shows the positional relationship between the vehicle 12 and the animal 110 when the face direction X of the animal 110 is inward (direction toward the center line Ax), an example of the gray scale image 72 of the general-purpose monitor 26, and the icon image 82 of the MID 28. It is a figure which shows an example. 9 and 10, α indicates the video field angle of the infrared camera 16L (the same applies to other drawings).

  As shown in FIG. 9, when the face direction X of the animal 110 as the monitoring target is outward and the animal 110 (biological corresponding part 74) is on the first boundary line 92L, the animal icon 88 displayed on the MID 28. Is only one place. On the other hand, as shown in FIG. 10, when the face direction X of the animal 110 is inward and the animal 110 (the living body corresponding portion 74) is on the first boundary line 92L, the animal icon 88 displayed on the MID 28 is 2 A place. Accordingly, when the face direction X of the animal 110 is inward and the animal 110 (the living body corresponding portion 74) is on the first boundary line 92L, it is possible to notify the driver with the animal 110 being emphasized. . As will be described later, instead of or in addition to displaying a plurality of animal icons 88, the display color of the animal icons 88 can be changed. The same applies to human children.

(3-3-2. Specifying process of first sub-region 90 to which biometric corresponding part 74 belongs)
FIG. 11 is a flowchart (details of S9 in FIG. 7) for specifying the first sub-region 90 (first biological presence sub-region) to which the living body corresponding portion 74 belongs. In step S31, the ECU 22 determines whether or not the type of living body determined in step S5 in FIG. 7 is an animal 110 or a human child. If it is not the animal 110 and a human child, that is, if it is a human adult or other living body (S31: NO), the process proceeds to step S34. If the animal 110 or a human child (S31: YES), in step S32, the ECU 22 detects the face orientation X of the living body (animal 110 or human child).

  In step S33, the ECU 22 determines whether or not the face of the living body is inward. When the face is not inward (S33: NO), in step S34, the ECU 22 determines whether or not the living body corresponding portion 74 is on the first boundary line 92. When the biological body corresponding portion 74 is not on the first boundary line 92 (S34: NO), in step S35, the ECU 22 selects the first sub-region 90 where the biological body corresponding portion 74 exists. When the living body corresponding portion 74 is on the first boundary line 92 (S34: YES), in step S36, the ECU 22 selects the central sub area 90C as the first living body existing sub area.

  When the face is inward in step S33 (S33: YES), in step S37, the ECU 22 determines whether or not the biological corresponding portion 74 is on the first boundary line 92.

  When the biological corresponding part 74 is not on the first boundary line 92 (S37: NO), in step S35, the ECU 22 selects the first sub-region 90 where the biological corresponding part 74 exists. When the living body corresponding portion 74 is on the first boundary line 92 (S37: YES), in step S38, the ECU 22 selects the two first sub areas 90 as the first living body existing sub areas. For example, when the living body corresponding portion 74 is on the left first boundary line 92L, the ECU 22 selects the center sub-region 90C and the left sub-region 90L. When the living body corresponding portion 74 is on the right first boundary line 92R, the ECU 22 selects the central first sub-region 90C and the right first sub-region 90R.

  Then, as described above, the ECU 22 displays a biological icon (such as the animal icon 88) in the second sub-region 100 corresponding to the selected first sub-region 90 (S12 in FIG. 7 and FIG. 10).

[4. Effects of this embodiment]
As described above, according to the present embodiment, the display of the biometric icon on the MID 28 is changed according to the face orientation X of the biometric (see S33 in FIG. 11). Since the face orientation X is highly likely to indicate the traveling direction of the living body, according to the present embodiment, it is possible to perform alerting in consideration of the traveling direction of the living body. Accordingly, it is possible to appropriately alert the user.

  In the present embodiment, the living body corresponding portion 74 corresponding to the animal 110 or the human child exists on the first boundary line 92, and the face of the animal 110 or the human child faces inward (S31 in FIG. 11: YES → S33: YES → S37: YES), a plurality of biometric icons are simultaneously displayed on the MID 28 in correspondence with the adjacent first sub-regions 90 across the boundary line 92 (S38 and FIG. 10). According to the present embodiment, for a living body present on the first boundary line 92, when the face is facing inward, a plurality of biological icons are simultaneously displayed corresponding to the first sub-regions 90 adjacent to each other with the boundary line 92 in between. indicate. For this reason, it becomes possible to highlight the presence of the living body in accordance with the face direction X of the living body and appropriately alert the user.

B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the contents described in this specification. For example, the following configuration can be adopted.

[1. Installation target]
In the above embodiment, the vehicle 12 is assumed to be a four-wheeled vehicle (see FIG. 2), but the vehicle 12 equipped with the vehicle periphery monitoring device 10 is not limited to this. For example, it can be mounted on a two-wheeled vehicle (including a bicycle), a tricycle, or a six-wheeled vehicle.

  In the above-described embodiment, the monitoring device 10 is mounted on the vehicle 12. However, the monitoring device 10 can be mounted on another moving body as long as it detects a surrounding monitoring target and notifies the user of this. Examples of the moving body include a ship and an aircraft.

[2. Imaging device]
In the above-described embodiment, the two infrared cameras 16L and 16R are used as the imaging device that captures the surroundings of the vehicle 12. However, the imaging device is not limited thereto as long as the surroundings of the vehicle 12 can be captured. For example, the imaging device may be a compound eye (stereo camera) or a monocular (one camera). In place of the infrared camera, a camera (color camera) that mainly uses light having a wavelength in the visible light region may be used, or both may be provided.

[3. General-purpose monitor 26 (first display unit) and MID 28 (second display unit)]
In the above embodiment, the general-purpose monitor 26 is used to display the grayscale image 72 from the infrared camera 16L. However, the present invention is not limited to this as long as it displays an image captured by the imaging unit. In the above embodiment, the emphasis frame 76 is displayed on the grayscale image 72 displayed on the general-purpose monitor 26. However, the grayscale image 72 from the camera 16L is displayed on the general-purpose monitor 26 as it is without emphasis display. May be.

  In the above embodiment, a relatively versatile display device that operates in a non-interlaced manner is used as the MID 28 to display a biometric icon (mark). However, the present invention is not limited to this, and an indicator that displays only a biometric icon. A plurality of (for example, three) can be used instead of MID28. Alternatively, a head-up display (HUD) as shown in FIG. 2 of JP 2004-364112 A can be used instead of MID28.

  In the above embodiment, both the general-purpose monitor 26 and the MID 28 are used, but a configuration using only the MID 28 is also possible. In this case, the gray scale image 72 acquired by the camera 16L is used for displaying on the MID 28.

[4. Display of biological icon]
(4-1. First sub-region 90 and second sub-region 100)
In the above embodiment, the number of the first sub-region 90 and the number of the second sub-region 100 is three. For example, the first sub-region 90 and the second sub-region 100 can be two or four or more, respectively.

  In the said embodiment, although the 1st sub area | region 90 and the 2nd sub area | region 100 were divided | segmented by the horizontal direction (vehicle width direction), a division direction or a division area is not restricted to this. For example, the first sub-region 90 and the second sub-region 100 can be divided in the vertical direction (traveling direction). Alternatively, when the boundary lines 92 and 102 have a shape along the lane (a shape that narrows toward the top) like the road icon 84 of the MID 28, the first sub-region 90 and the second sub-region 100 are defined as the boundary. You may divide | segment by the shape matched with the lines 92 and 102. FIG.

(4-2. Biometric icon highlighting)
(4-2-1. Basic concept of highlighting)
In the above embodiment, as a condition for displaying the biological icon (animal icon 88 or the like) in two places, the living body is the animal 110 or a human child (S31: YES in FIG. 11), and the biological face orientation X is inward. Yes (S33: YES), and the biological body corresponding portion 74 is on the first boundary line 92 (S37: YES). For example, when the movement of the biological body as the monitoring target is difficult to predict (in other words, Then, the highlighting condition is not limited to this from the viewpoint of highlighting when a rational movement cannot be expected from the living body or when the danger of popping out is relatively high.

  Moreover, in the said embodiment, although the biometric icon was simultaneously displayed in two places as an emphasis display of a biometric icon (FIG. 10), the highlighting method is not restricted to this.

  In the above embodiment, both the animal 110 and a human child are assumed as a living body whose movement is difficult to predict (in other words, a living body that cannot expect a rational movement in the living body or a living body with a relatively high risk of jumping out). However, only one of the animal 110 and the human child may be used (S31 in FIG. 11). Alternatively, another living body (for example, a subject obtained by further subdividing the animal 110) may be set.

(4-2-2. First Modification of Biometric Icon Highlighting Display)
12 and 13 are diagrams illustrating a first modified example of the highlight display of the biometric icon. That is, FIG. 12 shows the positional relationship between the vehicle 12 and the animal 110 when the face direction X of the animal 110 as a living body is outward (direction opposite to the center line Ax) in the first modification of highlighting. FIG. 4 is a diagram illustrating an example of a gray scale image 72 of the general-purpose monitor 26 and an example of an icon image 82 of the MID 28. FIG. 13 shows the positional relationship between the vehicle 12 and the animal 110 and the gray scale image of the general-purpose monitor 26 when the face direction X of the animal 110 is inward (direction toward the center line Ax) in the first modification of highlighting. It is a figure which shows an example of 72, and an example of the icon image 82 of MID28.

  As shown in FIG. 12, when the face direction X of the animal 110 is outward and the animal 110 (the living body corresponding portion 74) is on the first boundary line 92L, the animal icon 88 displayed on the MID 28 has a normal warning color ( For example, yellow). On the other hand, as shown in FIG. 13, when the face direction X of the animal 110 is inward and the animal 110 (the living body corresponding portion 74) is on the first boundary line 92L, the animal icon 88 displayed on the MID 28 is A special warning color (for example, red) for prompting further alerting than the warning color of. Accordingly, when the face direction X of the animal 110 is inward and the animal 110 (the living body corresponding portion 74) is on the first boundary line 92L, it is possible to notify the driver with the animal 110 being emphasized. . The same applies to human children.

  FIG. 14 is a flowchart for identifying the sub-region 90 of the general-purpose monitor 26 to which the living body corresponding portion 74 belongs in the first modified example of the highlight display (first modified example of FIG. 11). FIG. 15 is a flowchart for setting the display color of the biometric icon in the first modified example of highlighting (first modified example of the details of S11 in FIG. 7).

  Steps S41 to S43 in FIG. 14 are the same as steps S34 to S36 in FIG. Therefore, the process of FIG. 14 is simplified as compared with FIG. 11, and there is no process for highlighting. Instead, the display color of the biometric icon as highlighted is switched by the process of FIG.

  Steps S51 to S53 in FIG. 15 are the same as steps S31 to S33 in FIG. That is, in step S51 in FIG. 15, the ECU 22 determines whether the type of living body determined in step S5 in FIG. 7 is an animal 110 or a human child. If it is not the animal 110 and a human child, that is, if it is a human adult or other living body (S51: NO), the process proceeds to step S54. If the animal 110 or a human child (S51: YES), in step S52, the ECU 22 detects the face orientation X of the living body (animal 110 or human child).

  In step S53, the ECU 22 determines whether or not the face of the living body is inward. When the face is not inward (S53: NO), in step S54, the ECU 22 sets the display color of the biometric icon to a normal alert color (for example, yellow). When the face is inward (S53: YES), in step S55, the ECU 22 sets the display color of the biometric icon to a special alert color (for example, red).

(4-2-3. Second Modification of Biometric Icon Highlighting Display)
FIG. 16 is a diagram for explaining a second modification of the highlighting display of the biometric icon. That is, FIG. 16 is a diagram illustrating a positional relationship between the vehicle 12 and the animal 110, an example of the gray scale image 72 of the general-purpose monitor 26, and an example of the icon image 82 of the MID 28 in the second modified example of highlighting.

  As shown in FIG. 16, in the second modified example of highlighting, when the extracted biological corresponding portion 74 corresponds to an animal 110 or a human child, the biological icon (animal icon 88 or the like) displayed on the MID 28 Use a warning color (for example, red). On the other hand, although not shown, when the extracted biological corresponding portion 74 corresponds to an object other than the animal 110 and a human child, the biological icon (human icon 86) displayed on the MID 28 is normally a warning color (for example, yellow). . Thereby, it becomes possible to emphasize and notify the driver of the animal 110 or the human child.

  FIG. 17 is a flowchart for setting the display color of the biometric icon in the second modified example of highlighting (second modified example of the details of S11 in FIG. 7). Steps S61 to S63 in FIG. 17 are the same as steps S51, S54, and S55 in FIG.

  That is, in step S61, the ECU 22 determines whether or not the type of living body determined in step S5 in FIG. 7 is an animal 110 or a human child. If it is not the animal 110 and a human child, that is, if it is a human adult or other living body (S61: NO), in step S62, the ECU 22 sets a normal warning color (for example, yellow) as the display color of the living body icon. . If it is the animal 110 or a human child (S61: YES), in step S63, the ECU 22 sets a special alert color (for example, red) as the display color of the biological icon. In addition, the 2nd sub area | region 100 which displays a biometric icon is determined using the flowchart of FIG. 14, for example.

(4-2-4. Third Modified Example of Biometric Icon Highlighting Display)
FIG. 18 is a diagram for explaining a third modification of the highlight display of the biometric icon. That is, FIG. 18 is a diagram illustrating a positional relationship between the vehicle 12 and the animal 110, an example of the gray scale image 72 of the general-purpose monitor 26, and an example of the icon image 82 of the MID 28 in the third modified example of highlighting.

  As shown in FIG. 18, in the third modified example of highlighting, when the animal 110 (biological corresponding part 74) is in the left first sub-region 90L, the animal icon 88 of MID28 corresponds to the current position of the animal 110. Are displayed in the second sub-region 100L on the left side and the central second sub-region 100C adjacent to the second sub-region 100L. In other words, if the living body is an animal 110, the living body icon is displayed at a plurality of locations even if the living body is not on the boundary line 92. As a result, the driver can be notified with the animal 110 highlighted. The same applies to human children.

  FIG. 19 is a flowchart (second modified example of FIG. 11) for specifying the sub-region 90 of the general-purpose monitor 26 to which the biometric corresponding part 74 belongs in the second modified example of highlighting.

  Steps S71 to S75 in FIG. 19 are the same as steps S31, S34 to S36, and S38 in FIG. That is, in the process of FIG. 17, when steps S32, S33, and S37 of FIG. 11 are omitted and the living body is an animal 110 or a human child (S71: YES), the living body corresponding portion 74 corresponding to the living body belongs to Both the 1 sub-region 90 and the 1st sub-region 90 adjacent to this are made into the 1st living body subregion, and a biometric icon is displayed on the 2nd living body subregion corresponding to these. Therefore, whether or not to highlight the biological icon is determined only by whether or not the living body is the animal 110 or a human child.

  For example, when the biological corresponding part 74 corresponding to the biological body belongs to the left first sub-region 90L, biological icons are displayed in the left and central second sub-regions 100L and 100C. Further, when the biological corresponding part 74 corresponding to the biological body is on the first boundary line 92L, the biological icon is displayed on the left and center second sub-regions 100L and 100C. Furthermore, when the biological corresponding part 74 corresponding to the biological body belongs to the central first sub-region 90C, for example, biological icons are displayed in all the second sub-regions 100L, 100C, 100R.

  According to the third modified example of the highlight display, the biological icon is displayed in the first sub-region 90 to which the living body belongs and the first sub-region 90 adjacent to the sub-region 90. Thereby, it becomes possible to alert the presence of a living body more strongly. For this reason, it becomes possible to alert the user appropriately.

(4-2-5. Fourth Modified Example of Biometric Icon Highlighting Display)
FIG. 20 is a diagram for explaining a fourth modification of the highlight display of the biometric icon. That is, FIG. 20 is a diagram illustrating a positional relationship between the vehicle 12 and the animal 110, an example of the gray scale image 72 of the general-purpose monitor 26, and an example of the icon image 82 of the MID 28 in the fourth modified example of highlighting.

  As shown in FIG. 20, in the fourth modified example of highlighting, when the extracted biological corresponding portion 74 corresponds to the animal 110 and the face orientation X of the animal 110 is rightward, the animal icon 88 displayed on the MID 28 is In the second sub-region 100C at the center corresponding to the current position of the animal 110 and the second sub-region 100R on the right side corresponding to the face orientation X. This makes it possible to notify the driver with an emphasis on the traveling direction of the animal 110. The same applies to human children.

  FIG. 21 is a flowchart (third modified example of FIG. 11) for specifying the sub-region 90 of the general-purpose monitor 26 to which the living body corresponding portion 74 belongs in the fourth modified example of highlighted display. Steps S81 to S86 in FIG. 21 are the same as steps S31, S34 to S36, S32, and S38 in FIG. That is, in FIG. 21, steps S33 and S37 of FIG. 11 are omitted. In other words, in FIG. 21, two first sub-regions 90 are selected according to the face orientation X regardless of whether the animal 110 faces inward. Note that, when the living body corresponding portion 74 corresponding to the animal 110 is on the boundary line 92, the two first sub-regions 90 sandwiching the boundary line 92 are selected. The same applies to human children.

(4-2-6. Fifth Modification of Biometric Icon Highlighting Display)
22 and 23 are diagrams illustrating a fifth modified example of the highlight display of the biometric icon. That is, FIG. 22 shows the fifth modified example of the highlight, in which the living body corresponding portion 74 corresponding to the animal 110 and the human adult 112 belongs to the first sub-region 90C in the center, the vehicle 12, the animal 110, and the human. It is a figure which shows the positional relationship of the adult 112, an example of the gray scale image 72 of the general purpose monitor 26, and an example of the icon image 82 of MID28.

  As shown in FIG. 22, when each of the living body corresponding portions 74 corresponding to the animal 110 and the adult human 112 as the monitoring target belongs to the central first sub-region 90C, the MID 28 includes the central second sub-region 100C. Only the human icon 86 is displayed. That is, the icon display is performed with priority given to the human adult 112 over the animal 110.

  23, in the fifth modified example of highlighting, the living body corresponding part 74 corresponding to the animal 110 belongs to the left first sub-region 90L, and the living body corresponding part 74 corresponding to the human child 114 is the right first sub. It is a figure which shows the positional relationship of the vehicle 12, the animal 110, and the human child 114 in the case of belonging to the area | region 90R, an example of the gray scale image 72 of the general purpose monitor 26, and an example of the icon image 82 of MID28.

  As shown in FIG. 23, the living body corresponding portion 74 corresponding to the animal 110 belongs to the left first subregion 90, and the living body corresponding portion 74 corresponding to the human child 114 as the monitoring target is the right first subregion. In the case of belonging to 90, in the MID 28, only the human icon 86 is highlighted and the animal icon 88 is not highlighted. In other words, highlighting is performed only for the human child 114, and highlighting is not performed for the animal 110.

  FIG. 24 is a flowchart (fourth modified example of FIG. 11) for specifying the sub-region 90 of the general-purpose monitor 26 to which the biometric corresponding part 74 belongs in the fifth modified example of highlighted display. The fifth modified example of highlighting can be suitably used when there are a plurality of living organisms.

  In step S91 of FIG. 24, the ECU 22 determines whether or not there are a plurality of living organisms in the traveling direction of the vehicle 12. This determination is performed, for example, by determining whether or not there are a plurality of biological corresponding portions 74 extracted in step S4 of FIG. When a plurality of living bodies do not exist in the traveling direction of the vehicle 12 (S91: NO), in step S92, the ECU 22 executes a process when there is one living body (hereinafter referred to as “single unit process”). As the unit processing, for example, steps S31 to S38 in FIG. 11 can be executed. Alternatively, the first modified example (the process shown in FIGS. 14 and 15), the second modified example (the process shown in FIG. 17), the third modified example (the process shown in FIG. 19), or the fourth modified example (the process shown in FIG. 21). Processing).

  When there are a plurality of living bodies in the traveling direction of the vehicle 12 (S91: YES), in step S93, the ECU 22 determines whether or not a human (adult 112 or child 114) exists in the traveling direction of the vehicle 12.

  When there is no human (adult 112 or child 114) in the traveling direction of the vehicle 12 (S93: NO), in step S94, the ECU 22 performs processing for the animal 110 when only a plurality of animals 110 exist (hereinafter “animal for animals”). "First process"). In the first animal process, the animal 110 (animal icon 88) is also highlighted, and, for example, steps S32 to S38 in FIG.

  When a human (adult 112 or child 114) is present in the traveling direction of the vehicle 12 (S93: YES), in step S95, the ECU 22 determines whether or not the animal 110 is present in the traveling direction of the vehicle 12. When the animal 110 is present (S95: YES), in step S96, the ECU 22 performs processing for the animal 110 when the animal 110 and at least one of the human adult 112 or the child 114 are present (hereinafter referred to as “second animal second”). Process "). In the second animal process, priority is given to the display by humans, and therefore the animal 110 (animal icon 88) is not highlighted. For example, steps S34 to S36 in FIG. 11 are executed for each animal 110.

  When the animal 110 does not exist in the traveling direction of the vehicle 12 in step S95 (S95: NO) or after step S96, in step S97, the ECU 22 includes the animal 110 and at least one of the human adult 112 or the child 114. The human processing (hereinafter referred to as “human processing”) is executed. The human process is a process that prioritizes the display of the human (human icon 86) over the animal 110 (animal icon 88). For example, steps S31 to S38 in FIG. 11 are executed for each human (adult 112 and child 114). To do.

  Note that, as described with reference to FIG. 22, when the living body corresponding part 74 of the animal 110 and the human (adult 112 or child 114) belongs to the same first sub-region 90, the human is given priority (human icon). 86 is preferentially displayed.)

(4-2-7. Detection of face orientation X)
In the embodiment described above, the traveling direction of the animal 110 or the human child 114 as a living body whose movement is difficult to predict (in other words, a living body that cannot expect a rational movement in the living body or a living body with a relatively high risk of jumping out) is estimated. Although the face orientation X is used as the reference for the movement, it is not limited to this from the viewpoint of the reference that can be used for the prediction of the movement of the living body whose movement is difficult to predict. For example, the body orientation of the animal 110 or the human child 114 may be used together with or instead of the face orientation X of the animal 110 or the human child 114. Alternatively, even a human adult 112 may make a motion that is difficult to predict, so the human adult 112 may be highlighted using the face orientation X or the like.

(4-2-8. Others)
In the above embodiment, the biometric icon is displayed at two locations simultaneously as the highlighting of the biometric icon (FIG. 10), but the biometric icons may be alternately displayed at two locations. Instead of displaying the biometric icon at two locations, the second sub-region 100 displaying the biometric icon may be shifted in the direction of the face X of the biometric and displayed at only one location. This makes it possible to alert the presence of the living body in a manner that reflects the traveling direction of the living body. For this reason, it becomes possible to alert the user appropriately.

  In the above embodiment, there is a possibility that the same emphasis display (two icon display) is performed even when either the animal 110 or the human child 114 exists in any of the first sub-regions 90 (FIG. 11). S31 to S33, S37, S38), whether the first subregion 90 to which either the animal 110 or the human child 114 belongs is the left and right first subregions 90L, 90R or the central first subregion 90C. Depending on whether or not, the type of highlighting may be changed. For example, when either the animal 110 or the human child 114 belongs to the left and right first sub-regions 90L and 90R, two icons are displayed, and when belonging to the center first sub-region 90C, the display color is changed. You may go.

Claims (3)

A vehicle that detects a living body (110, 112, 114) as a monitoring object around the vehicle (12) based on an imaging signal output from an imaging device (16L, 16R) mounted on the vehicle (12). A peripheral monitoring device (10),
A first display unit (26) for displaying an image (72) represented by the imaging signal;
Depending on whether or not each mark (86, 88) associated with each of the plurality of sub-regions (90C, 90L, 90R) constituting the image (72) displayed on the first display unit (26) is displayed, A second display unit (28) for visualizing presence / absence information of the monitoring object in each of the sub-regions (90C, 90L, 90R) of the image (72),
The display of the mark (86, 88) is changed according to at least one of the face direction and the body direction of the living body (110, 112, 114),
Regarding the living body (110, 112, 114) existing on the boundary line (92L, 92R) of the plurality of sub-regions (90C, 90L, 90R), the face direction of the living body (110, 112, 114) or the body When the direction is a direction intersecting with the center line of the traveling direction of the vehicle (12), a plurality of the sub-regions (90C, 90L, 90R) adjacent to each other with the boundary line (92L, 92R) interposed therebetween The vehicle periphery monitoring device (10), wherein the marks (86, 88) are displayed on the second display unit (28) simultaneously or alternately. A vehicle periphery monitoring device (10) according to claim 1,
The sub-region (90C, 90L, 90R) to which the living body (110, 112, 114) belongs and the face orientation or body orientation of the living body (110, 112, 114) relative to the sub-region (90C, 90L, 90R) The vehicle periphery monitoring device (10), wherein the mark (86, 88) is displayed on both of the sub-regions (90C, 90L, 90R) existing in the direction of. The vehicle periphery monitoring device (10) according to claim 1 or 2,
When the face direction or body direction of the living body (110, 112, 114) is a direction intersecting the center line of the traveling direction of the vehicle (12), the display color of the mark (86, 88) is stronger. A vehicle periphery monitoring device (10) characterized by switching to a warning color for calling attention.

Images