Vehicle surroundings monitoring system

Abstract

A vehicle periphery monitoring system for displaying, to a user of a vehicle, a captured image including a road surface around the vehicle captured by a camera of the vehicle, the vehicle periphery monitoring system being provided with: a road surface drawing unit for drawing, by light, an external notification display having a predetermined shape on the road surface around the vehicle; and a drawing range recognition unit that recognizes a drawing range of the outside notification display in the captured image and recognizes a brightness or a color value around the drawing range, and the road surface drawing unit adjusts the brightness of the outside notification display to be close to the brightness around the drawing range of the captured image. Alternatively, the color value of the external notification display is adjusted to a color value close to the surrounding of the drawing range of the captured image.

Description

Technical Field

[0001] The invention relates to a vehicle periphery monitoring system. Background Art

[0002] As a technical document related to a vehicle periphery monitoring system, Japanese Patent Application Laid-Open No. 2014-120113 is known in the related art. This publication discloses a road surface drawing device that draws a notification display of a predetermined shape on a road surface in a vehicle's traveling direction using light.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2014-120113

[0006] Furthermore, a vehicle periphery monitoring system is known that assists a user in monitoring the periphery of the vehicle by displaying images captured by a camera outside the vehicle on a display inside the vehicle. However, when the vehicle periphery monitoring system is used together with the above-mentioned road surface drawing device, there is a problem that the user has difficulty monitoring the road surface condition due to the display drawn on the road surface by the road surface drawing device. Summary of the invention

[0007] One embodiment of the present invention is a vehicle periphery monitoring system that displays a captured image of a road surface including the periphery of the vehicle captured by a camera of the vehicle to a user of the vehicle. The vehicle periphery monitoring system comprises: a road surface drawing unit that draws an external notification display of a predetermined shape on the road surface of the vehicle by light; and a drawing range recognition unit that recognizes the drawing range of the external notification display in the captured image and recognizes the brightness or color value of the periphery of the drawing range. The road surface drawing unit adjusts the brightness of the external notification display to a brightness close to the periphery of the drawing range of the captured image, or adjusts the color value of the external notification display to a color value close to the periphery of the drawing range of the captured image.

[0008] Another embodiment of the present invention is a vehicle periphery monitoring system that displays a captured image of a road surface including the periphery of the vehicle captured by a camera of the vehicle to a user of the vehicle. The vehicle periphery monitoring system comprises: a road surface drawing unit that draws an external notification display of a predetermined shape on the road surface of the periphery of the vehicle by light; and a drawing range recognition unit that recognizes the drawing range of the external notification display in the captured image before the drawing of the external notification display by the road surface drawing unit, and recognizes the brightness or color value of the drawing range before the drawing of the external notification display. The road surface drawing unit draws the external notification display with the brightness adjusted to a brightness close to the drawing range of the captured image, or draws the external notification display with the color value adjusted to a color value close to the drawing range of the captured image.

[0009] Effects of the Invention

[0010] According to the aspects of the present invention, it is possible to prevent a situation in which a user of a vehicle has difficulty monitoring the condition of a road surface due to a display drawn on the road surface when the user of the vehicle monitors the surrounding area of ​​the vehicle through an image captured by a camera outside the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a block diagram showing the vehicle periphery monitoring system according to the first embodiment.

[0012] Figure 2 (a) is a top view for explaining an example of an external notification display. Figure 2 (b) is a top view for explaining the drawing range and the area surrounding the drawing range.

[0013] Figure 3 (a) is a flowchart showing an example of a pre-drawing process of an external notification display. Figure 3 (b) is a flowchart showing an example of a drawing adjustment process of an external notification display.

[0014] Figure 4 It is a block diagram showing a vehicle periphery monitoring system according to a second embodiment.

[0015] Figure 5 This is a top view used to explain the next drawing range.

[0016] Figure 6 This is a flowchart showing an example of the drawing process for the next drawing range.

[0017] Description of Reference Numerals

[0018] 1: camera; 2: display; 3: drawing light; 4: vehicle speed sensor; 5: steering angle sensor; 10, 20: ECU; 11: image acquisition unit; 12, 22: drawing range recognition unit; 13, 23: road surface drawing unit; 21: next drawing range estimation unit; 50: vehicle; 100, 200: vehicle periphery monitoring system; D1, D1~D3: drawing range; C: area around the drawing range; F1~F3: next drawing range; P1~P3: external notification display. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0020] [First embodiment]

[0021] Figure 11 is a block diagram showing a vehicle periphery monitoring system 100 according to a first embodiment. The vehicle periphery monitoring system 100 is a vehicle-mounted system for allowing a vehicle user to monitor the conditions around the vehicle by displaying an image captured by a camera 1 capturing the exterior of the vehicle on a display 2 in the vehicle. The user may be a driver of the vehicle or a passenger of an autonomous vehicle. The passenger may include a person sitting in a front passenger seat or a person sitting in a rear seat.

[0022] Furthermore, the vehicle periphery monitoring system 100 draws an external notification display on the road surface around the vehicle using light. The external notification display is, for example, a display for notifying pedestrians and other vehicles around the vehicle of the behavior of the vehicle in advance.

[0023] Here, Figure 2 (a) is a top view for explaining an example of an external notification display. Figure 2 In (a) of FIG. 5 , external notification displays P1 to P3 are drawn on the road surface in front of the vehicle 50 . Figure 2 The external notification displays P1 to P3 shown in (a) are, for example, L-shaped displays drawn when the right direction indicator of the vehicle 50 is turned on. Thereby, pedestrians and other vehicles around the vehicle 50 can understand that the vehicle 50 is going to turn right.

[0024] It should be noted that the external notification displays P1 to P3 may be independent of the on / off of the direction indicator, and when the parked vehicle 50 starts, the external notification displays P1 to P3 are drawn on the road surface in a manner extending in a direction corresponding to the steering angle. The shape of the external notification displays P1 to P3 is not limited to the L-shape. The external notification displays P1 to P3 may also be triangular, square, or arched. The external notification displays P1 to P3 do not need to be divided into multiple displays, and may also be represented as a single arrow shape.

[0025] The shape and configuration of external notification display are not limited to Figure 2 The external notification display may also include a back-up notification display, which is drawn on the road surface behind the vehicle 50 to notify the surroundings that the vehicle 50 is scheduled to back up or that the vehicle 50 is in backing up. In addition, the external notification display may also include a display indicating the direction of travel of the low-speed vehicle 50 or a scheduled lane change.

[0026] In addition, other vehicles that are notified by the external notification display are not limited to manually driven vehicles driven by human drivers, but may also include autonomous vehicles. In this case, the autonomous vehicle recognizes the external notification display drawn on the road surface through the image captured by its camera, thereby recognizing the next behavior of the vehicle 50.

[0027] Next, the structure of the vehicle periphery monitoring system 100 in the first embodiment will be described. Figure 1 As shown, the vehicle periphery monitoring system 100 includes an ECU 10 (Electronic Control Unit) that performs overall management of the system.

[0028] ECU10 is an electronic control unit having a CPU [Central Processing Unit] and a storage unit. The storage unit is composed of ROM [Read Only Memory], RAM [Random Access Memory], EEPROM [Electrically Erasable Programmable Read-Only Memory], etc. In ECU10, various functions are realized by, for example, the CPU executing a program stored in the storage unit. ECU10 may also be composed of a plurality of electronic units. ECU10 is connected to the camera 1, the display 2, and the drawing light 3.

[0029] The camera 1 is a photographing device for photographing the external conditions of the vehicle 50. The camera 1 is configured to include, for example, a front camera provided on the back of the front windshield of the vehicle 50, a rear camera provided on the back of the rear windshield of the vehicle 50, and the like. The photographing range of the camera 1 includes the road surface around the vehicle 50. The installation location and number of the cameras 1 are not limited. The camera 1 sends the photographed images around the vehicle 50 to the ECU 10.

[0030] The display 2 is a display device provided in the vehicle cabin of the vehicle 50 and providing image information to a user such as a driver. The display 2 is provided, for example, on a dashboard between a driver's seat and a passenger seat. The display 2 may also be incorporated behind a steering wheel of a driver's seat or in a part of a dashboard. The display 2 need not be one, and a plurality of displays may be provided.

[0031] The depiction lamp 3 is a signal lamp provided on the outside of the vehicle 50 and used to depict an external notification display on the road surface. The depiction lamp 3 may be provided, for example, near turn signal lamps provided on the left and right sides of the front side and the left and right sides of the rear side of the vehicle 50. The depiction lamp 3 may be provided only on the front side of the vehicle 50 or only on the rear side of the vehicle 50. The depiction lamp 3 may also be used as other lighting equipment.

[0032] The light source of the drawing lamp 3 is not particularly limited, and may be an LED [Light Emitting Diode], a light source laser, a halogen lamp, an HID [High-Intensity Discharge] lamp, etc. The drawing lamp 3 is controlled by a control signal from the ECU 10. For details of the drawing lamp 3 and the drawing method of the external notification display, please refer to Japanese Patent Application Publication No. 2023-81413.

[0033] Next, the functional configuration of the ECU 10 will be described. The ECU 10 includes an image acquisition unit 11 , a drawing range recognition unit 12 , and a road surface drawing unit 13 .

[0034] The image acquisition unit 11 acquires the image captured by the camera 1 and displays the image captured by the camera 1 on the display 2. The image acquisition unit 11 may also synthesize the images captured by a plurality of cameras and display them on the display 2. The image acquisition unit 11 may also constitute a part of a vehicle periphery monitoring system such as a panoramic view monitor.

[0035] The drawing range recognition unit 12 recognizes the drawing range of the external notification display in the captured image of the camera 1. The drawing range is the range for drawing the external notification display. Figure 2 (b) is a top view for explaining the drawing range and the area around the drawing range. The drawing range and the area around the drawing range are included in the shooting range of the camera 1. The drawing range recognition unit 12 recognizes the drawing range when the drawing start condition of the external notification display described later is satisfied. The drawing range recognition unit 12 recognizes the drawing range based on, for example, table data in which the type of external notification display and the drawing range are pre-associated.

[0036] Figure 2 (b) shows the drawing range D1 to D3 and the area C around the drawing range. The drawing range D1 to D3 is Figure 2 The area corresponding to the external notification displays P1 to P3 in (a) of FIG. The drawing range surrounding area C is an area around the drawing ranges D1 to D3 set to surround the drawing ranges D1 to D3. The drawing range surrounding area is set so that the external notification displays P1 to P3 drawn in the drawing ranges D1 to D3 will not be exposed.

[0037] It should be noted that the drawing range D1 does not necessarily need to be consistent with the external notification display P1, and can also be set to an area that includes the external notification display P1. The same applies to the drawing ranges D2 and D3. The drawing range surrounding area C does not necessarily need to be a rectangular area, as long as it is an area located near the drawing range and surrounding the drawing range. The drawing range surrounding area C can also be set to an area within a certain distance from the drawing range. The drawing range surrounding area C can also be a scheme set for the drawing ranges D1 to D3 respectively.

[0038] It should be noted that Figure 2 (b) shows the depiction ranges D1 to D3 viewed from above the vehicle 50, but the depiction range recognition unit 12 recognizes the depiction ranges D1 to D3 in the image captured by the camera 1. In the following description, the depiction ranges D1 to D3 and the depiction range surrounding area C refer to the ranges on the captured image.

[0039] In addition, the depiction range recognition unit 12 recognizes the depiction range surrounding area C in the captured image of the camera 1. Moreover, the depiction range recognition unit 12 recognizes the brightness and color values ​​of the depiction ranges D1 to D3 and the brightness and color values ​​of the depiction range surrounding area C based on the captured image of the camera 1. Brightness is the brightness in the pixels of the captured image. The color value is the parameter of the color in the pixels of the captured image. The color value can be, for example, RGB values ​​(Red, Green, Blue). The color value can also be expressed as a parameter of HSL (Hue: hue, Saturation: saturation, Lightness: brightness). The color value can also be expressed as a parameter of YUV (brightness signal, difference between the brightness signal and the blue component, difference between the brightness signal and the red component).

[0040] The road surface drawing unit 13 draws the external notification display on the road surface by controlling the drawing lamp 3. For example, when the direction indicator is turned on as a drawing start condition for the external notification display, the road surface drawing unit 13 turns on the direction indicator 3. Figure 2 The external notification displays P1 to P3 shown in (a) are drawn on the road surface in front of the vehicle 50 .

[0041] The road surface drawing unit 13 may draw a reverse notification display (external notification display) on the road surface behind the vehicle 50 when the shift lever of the vehicle 50 is switched to the reverse gear or when the vehicle 50 starts to move backward by automatic driving. In addition, as the drawing start condition of the external notification display, a known condition disclosed in Japanese Patent Application Laid-Open No. 2023-81413 or the like may be adopted.

[0042] Next, the processing at the start of drawing of the external notification display in the road surface drawing unit 13 is described. When the drawing of the external notification display starts, the road surface drawing unit 13 draws the external notification displays P1 to P3 on the road surface after adjusting the brightness to be close to the brightness of the drawing range D1 to D3 recognized before drawing. The brightness of the drawing range D1 can be set to, for example, the average value of the brightness of the pixels included in the drawing range D1. Instead of using the average value, the minimum value or the maximum value can be used. The average value of the brightness of the pixels (the pixels on the outermost side) that constitute the periphery of the drawing range D1 can also be used. The same is true for the drawing ranges D2 and D3.

[0043] Specifically, the road surface drawing unit 13 adjusts the brightness of the external notification display P1 to a brightness closer to the drawing range D1 than the initially set brightness. The road surface drawing unit 13 may make the brightness of the drawing range D1 consistent with the brightness of the external notification display P1, or may make the brightness of the drawing range D1 inconsistent with the brightness of the external notification display P1. The road surface drawing unit 13 may also divide the drawing range D1 into a plurality of blocks, and adjust the brightness of the area of ​​the external notification display P1 corresponding to each block to be close to the average value of the brightness of each block. The number of blocks is not particularly limited.

[0044] Furthermore, when the difference between the initial brightness of the external notification display P1 and the brightness of the drawing range D1 is smaller than a certain value, the road surface drawing unit 13 may not adjust the brightness. The above points also apply to the external notification displays P2 and P3.

[0045] The road surface drawing unit 13 draws on the road surface external notification displays P1 to P3 whose color values ​​are adjusted based on the color values ​​of the drawing ranges D1 to D3 recognized before drawing of the external notification displays. The road surface drawing unit 13 draws on the road surface external notification displays P1 to P3 whose color values ​​are adjusted to be close to the color values ​​of the drawing ranges D1 to D3 before drawing. The color value of the drawing range D1 can be set to, for example, the average color value of the pixels included in the drawing range D1. The average color value of the pixels forming the periphery of the drawing range D1 (the pixels on the outermost peripheral side) can also be used. The same applies to the drawing ranges D2 and D3.

[0046] Specifically, the road surface drawing unit 13 adjusts the color value of the external notification display P1 to a color value closer to the drawing range D1 than the color value initially set. The road surface drawing unit 13 may make the color value of the drawing range D1 consistent with the color value of the external notification display P1, or may make the color value of the drawing range D1 inconsistent with the color value of the external notification display P1. The road surface drawing unit 13 may also divide the drawing range D1 into a plurality of blocks, and adjust the color value of the area corresponding to each block of the external notification display P1 to be close to the average value of the color value of each block. The number of blocks is not particularly limited.

[0047] In addition, when the difference between the color value of the initial setting of the external notification display P1 and the color value of the drawing range D1 is less than a certain value, the road surface drawing unit 13 does not adjust the color value. The difference in color value can be set to the maximum value among the differences in the parameters of the RGB value, for example. The above points are also applicable to the external notification displays P2 and P3.

[0048] Next, the processing in the continuous drawing of the external notification display in the road surface drawing unit 13 is described. In the continuous drawing of the external notification display, the road surface drawing unit 13 does not use the brightness and color values ​​of the drawing ranges D1 to D3 for drawing the external notification displays P1 to P3, but uses the brightness and color values ​​of the area C around the drawing range to adjust the external notification display.

[0049] The brightness of the drawing range surrounding area C can be set to, for example, the average brightness of the pixels included in the drawing range surrounding area C. Instead of using the average value, a minimum value or a maximum value may be used. Alternatively, the average brightness of the pixels constituting the inner periphery of the drawing range surrounding area C (pixels adjacent to the drawing ranges D1 to D3) may be used.

[0050] The road surface drawing unit 13 adjusts the brightness of the external notification display P1 to be closer to the brightness of the drawing range surrounding area C than the current brightness of the external notification display P1. The road surface drawing unit 13 may make the brightness of the drawing range surrounding area C consistent with the brightness of the external notification display P1, or may make the brightness of the drawing range surrounding area C inconsistent with the brightness of the external notification display P1. Alternatively, when the difference between the brightness of the current external notification display P1 and the brightness of the drawing range surrounding area C is less than a certain value, the road surface drawing unit 13 does not adjust the brightness. The above points are also applicable to the external notification displays P2 and P3.

[0051] In addition, the road surface drawing unit 13 may divide the drawing range surrounding area C into a plurality of blocks respectively surrounding the drawing ranges D1 to D3, and adjust the brightness of the external notification displays P1 to P3 to be close to the average brightness of each block. While the drawing is continued, the road surface drawing unit 13 repeatedly adjusts the brightness and color value of the external notification display at regular intervals.

[0052] It should be noted that the road surface drawing unit 13 may also be a scheme that adjusts only one of the brightness and the color value before drawing or during continuous drawing. In this case, the drawing range recognition unit 12 only needs to be able to recognize one of the brightness and the color value. The road surface drawing unit 13 may also be a scheme that adjusts both the brightness and the color value of the external notification display before drawing, and only adjusts the brightness of the external notification display during continuous drawing.

[0053] Next, the processing of the vehicle periphery monitoring system 100 in the first embodiment will be described. Figure 3(a) is a flowchart showing an example of a pre-drawing process of an external notification display. The pre-drawing process of an external notification display is executed, for example, when a drawing start condition of an external notification display is satisfied.

[0054] like Figure 3 As shown in (a), as S10, the ECU 10 of the vehicle periphery monitoring system 100 recognizes the depiction range D1 to D3 of the external notification display before depiction through the depiction range recognition unit 12. The depiction range recognition unit 12 recognizes the depiction range D1 to D3 in the captured image based on, for example, table data in which the types of external notification displays and the depiction ranges D1 to D3 are preliminarily associated. Thereafter, the ECU 10 transfers to S11.

[0055] In S11, the ECU 10 recognizes the brightness or color value of the rendering ranges D1 to D3 by the rendering range recognition unit 12. The rendering range recognition unit 12 recognizes the brightness and color value of the rendering ranges D1 to D3 based on the image captured by the camera 1. Thereafter, the ECU 10 proceeds to S12.

[0056] In S12, the ECU 10 draws the external notification display by the road surface drawing unit 13. The road surface drawing unit 13 draws the external notification displays P1 to P3 on the road surface after adjusting the brightness to a brightness close to the drawing range D1 to D3 recognized before drawing. Alternatively, the road surface drawing unit 13 draws the external notification displays P1 to P3 on the road surface after adjusting the color value to a color value close to the drawing range D1 to D3 recognized before drawing. The road surface drawing unit 13 may also adjust both the brightness and the color value. After that, the ECU 10 ends the pre-drawing processing.

[0057] Next, the drawing adjustment process of the external notification display will be described. Figure 3 (b) is a flowchart showing an example of the drawing adjustment process of the external notification display. The drawing adjustment process of the external notification display is executed during the continuous drawing of the external notification display.

[0058] like Figure 3 As shown in (b) of FIG. 1 , as S20, the ECU 10 uses the drawing range recognition unit 12 to recognize the drawing range surrounding area C. The drawing range recognition unit 12 recognizes the drawing range surrounding area C in the captured image based on table data in which the types of external notification displays and the drawing range surrounding area C are preliminarily associated, for example.

[0059] In S21 , the ECU 10 recognizes the brightness and color value of the drawing range surrounding area C by the drawing range recognition unit 12 . The drawing range recognition unit 12 recognizes the brightness and color value of the drawing range surrounding area C based on the image captured by the camera 1 .

[0060] In S22, the ECU 10 adjusts the brightness and color value of the external notification display by the road surface drawing unit 13. For example, the road surface drawing unit 13 adjusts the brightness of the external notification display P1 to a brightness closer to the surrounding area C of the drawing range than the current brightness of the external notification display P1. The road surface drawing unit 13 may adjust both the brightness and the color value. While the drawing is continued, the ECU 10 repeats the process from S20 at regular intervals.

[0061] According to the vehicle periphery monitoring system 100 of the first embodiment described above, when a user of a vehicle 50 monitors the periphery of the vehicle by means of a display 2 projecting an image captured by a camera 1, the brightness or color value of a depicted range in the captured image is identified before being drawn, and an external notification display is drawn on the road surface after adjusting at least one of the brightness and the color value to be close to the brightness or color value of the depicted range in the captured image, thereby preventing the user from having difficulty in monitoring the condition of the road surface due to the external notification display drawn on the road surface.

[0062] In addition, in the vehicle periphery monitoring system 100, the brightness or color value of the area surrounding the depicted range in the captured image is identified during the continuous depiction of the external notification display, and at least one of the brightness and color value of the external notification display is adjusted to be close to the brightness or color value of the area surrounding the depicted range in the captured image, thereby preventing the user from having difficulty monitoring the condition of the road surface due to the external notification display depicted on the road surface.

[0063] [Second Embodiment]

[0064] Next, a vehicle periphery monitoring system according to a second embodiment will be described with reference to the drawings. The same reference numerals are used for the same or corresponding components as those of the first embodiment, and duplicate descriptions are omitted. Figure 4 1 is a block diagram showing a vehicle periphery monitoring system 200 according to a second embodiment. The vehicle periphery monitoring system 200 according to the second embodiment is different from the first embodiment in that at least one of the brightness and the color value of the external notification display is adjusted in consideration of a change in the depiction position of the external notification display caused by the movement of the vehicle 50.

[0065] Specifically, the ECU 20 of the vehicle periphery monitoring system 200 is connected to the vehicle speed sensor 4 and the steering angle sensor 5. The vehicle speed sensor 4 is a sensor for detecting the vehicle speed of the vehicle 50. The vehicle speed sensor 4 sends information on the detected vehicle speed to the ECU 20. The steering angle sensor 5 is a sensor for detecting the steering angle of the vehicle 50. The steering angle sensor 5 sends information on the detected steering angle to the ECU 20.

[0066] The ECU 20 of the second embodiment is different from the ECU 10 of the first embodiment in that the drawing range recognition unit 22 and the road surface drawing unit 23 have additional functions and a next drawing range estimation unit 21 is newly provided.

[0067] When the vehicle 50 that satisfies the drawing start condition of the external notification display is moving, the next drawing range estimation unit 21 estimates the next drawing range as the drawing range of the next external notification display according to the movement of the vehicle 50. First, the next drawing range estimation unit 21 recognizes the movement of the vehicle 50 based on the information of the vehicle speed detected by the vehicle speed sensor 4 and the information of the steering angle detected by the steering angle sensor 5. The movement of the vehicle 50 includes the traveling direction and the vehicle speed.

[0068] The next drawing range estimation unit 21 estimates the next drawing range based on the movement of the vehicle 50 and the image captured by the camera 1 (image of the road surface). Next refers to the next drawing timing of the external notification display repeatedly drawn by the drawing lamp 3. The next drawing timing may be 30 milliseconds, 40 milliseconds, or 20 milliseconds after the previous drawing timing. The time of the next drawing timing is not particularly limited.

[0069] The next drawing range estimation unit 21 may estimate the next drawing range, for example, by using table data in which the movement of the vehicle 50, the type of external notification display, and the next drawing range are preliminarily associated. It should be noted that the image captured by the camera 1 in the second embodiment may also be limited to the image captured in the direction of travel of the vehicle 50.

[0070] Here, Figure 5 This is a top view used to explain the next drawing range. Figure 5 The next drawing range F1 to F3 of the external notification display P1 to P3 is shown in FIG. In addition, the movement of the vehicle 50 until the next drawing timing is shown by arrows. Figure 5 As shown, the next drawing range estimation unit 21 estimates the next drawing ranges F1 to F3 of the external notification displays P1 to P3 based on the movement of the vehicle 50 and the image captured by the camera 1 .

[0071] The drawing range recognition unit 22 recognizes the brightness or color value of the next drawing range F1 to F3 estimated by the next drawing range estimation unit 21. The drawing range recognition unit 22 recognizes the brightness or color value before externally notifying that P1 to P3 are drawn in the next drawing range F1 to F3. The drawing range recognition unit 22 recognizes the brightness or color value of the next drawing range F1 to F3 based on the image captured by the camera 1. For the brightness of the next drawing range F1 to F3, the same definition as the brightness of the drawing range described above can be used. The same is true for the color value.

[0072] When the road surface drawing unit 23 draws the external notification displays P1 to P3 in the next drawing range F1 to F3, the road surface drawing unit 23 draws the external notification displays P1 to P3 after adjusting the brightness to a brightness close to the next drawing range F1 to F3. In addition, when the road surface drawing unit 23 draws the external notification displays P1 to P3 in the next drawing range F1 to F3, the road surface drawing unit 23 draws the external notification displays P1 to P3 after adjusting the color value to a color value close to the next drawing range F1 to F3. The adjustment of the brightness and color value can be the same as in the first embodiment.

[0073] Next, refer to Figure 6 The processing of the vehicle periphery monitoring system 200 according to the second embodiment will be described. Figure 6 This is a flowchart showing an example of the drawing process for the next drawing range.

[0074] like Figure 6 As shown, as S30, the ECU 20 of the vehicle periphery monitoring system 200 estimates the next drawing range F1 to F3 by the next drawing range estimation unit 21. The next drawing range estimation unit 21 estimates the next drawing range F1 to F3 based on the movement of the vehicle 50 and the image captured by the camera 1. Thereafter, the ECU 20 proceeds to S31.

[0075] In S31, the ECU 20 recognizes the brightness or color value of the next rendering range F1 to F3 by the rendering range recognition unit 22. The rendering range recognition unit 22 recognizes the brightness or color value of the next rendering range F1 to F3 based on the image captured by the camera 1. Thereafter, the ECU 20 proceeds to S32.

[0076] In S32, the ECU 20 draws the external notification displays P1 to P3 with adjusted brightness or color value in the next drawing range F1 to F3 through the road surface drawing unit 23. The road surface drawing unit 23 draws the external notification displays P1 to P3 with the brightness adjusted to a brightness close to the next drawing range F1 to F3. Alternatively, the road surface drawing unit 23 draws the external notification displays P1 to P3 with the color value adjusted to a color value close to the next drawing range F1 to F3. The road surface drawing unit 23 may also adjust both the brightness and the color value.

[0077] According to the vehicle periphery monitoring system 200 of the second embodiment described above, the next drawing range F1~F3 is estimated, and the external notification display P1~P3 is adjusted to a brightness or color value close to the next drawing range F1~F3 for drawing, thereby preventing the user from having difficulty monitoring the road condition due to the external notification display P1~P3 drawn on the road surface.

[0078] Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments. The present invention can be implemented by variously changing and improving the above embodiments as a representative, based on the knowledge of those skilled in the art.

[0079] The vehicle periphery monitoring systems 100 and 200 do not need to be able to execute both the process at the start of drawing of the external notification display and the process during the continuous drawing of the external notification display, and may only execute one of them.

Claims

1. A vehicle periphery monitoring system, which displays an image of a road surface including the periphery of the vehicle captured by a camera of the vehicle to a user of the vehicle, wherein: The vehicle periphery monitoring system comprises: a road surface drawing unit that draws an external notification display of a predetermined shape on a road surface around the vehicle using light; and a drawing range recognition unit that recognizes a drawing range of the external notification display in the captured image and recognizes brightness or color value around the drawing range, The road surface drawing unit adjusts the brightness of the external notification display to be close to the brightness around the drawing range of the captured image, or adjusts the color value of the external notification display to be close to the color value around the drawing range of the captured image.

2. A vehicle periphery monitoring system that displays an image of a road surface including the periphery of the vehicle captured by a camera of the vehicle to a user of the vehicle, wherein: The vehicle periphery monitoring system comprises: a road surface drawing unit that draws an external notification display of a predetermined shape on a road surface around the vehicle using light; and a drawing range recognition unit that recognizes a drawing range of the external notification display in the captured image before drawing of the external notification display by the road surface drawing unit, and recognizes a brightness or color value of the drawing range before drawing of the external notification display, The road surface drawing unit draws the external notification display with brightness adjusted to a brightness close to the drawing range of the captured image, or draws the external notification display with color values ​​adjusted to a color value close to the drawing range of the captured image.

3. The vehicle periphery monitoring system according to claim 1 or 2, wherein: The vehicle periphery monitoring system further includes a next drawing range estimating unit that estimates a next drawing range as a drawing range for the next external notification display based on movement of the vehicle. The drawing range recognition unit recognizes the brightness or color value of the next drawing range in the captured image before the external notification display draws the next drawing range. When drawing the external notification display in the next drawing range, the road surface drawing unit draws the external notification display with the brightness adjusted to a brightness close to the next drawing range, or When drawing the external notification display in the next drawing range, the external notification display is drawn with the color value adjusted to be close to the color value of the next drawing range.

Images