PERIPHERAL DISPLAY DEVICE FOR A VEHICLE

Abstract

Peripheral display device (10) for a vehicle, comprising a rear-facing image pickup unit (12) which captures a rear image of a rear area of ​​the vehicle, rear-side-facing image pickup units (14, 16) which capture rear-side-facing images of areas to the rear sides of the vehicle, a display control unit that generates a first synthesized image by synthesizing the rear image captured by the rear-facing image pickup unit (12) with the rear-facing images captured by the rear-facing image pickup units (14, 16), and then displays the first synthesized image on a display unit (18), and a switching unit which, when an object is present in an image pickup range of the rear-side image pickup units (14, 16) and is also in a first blind spot area (80) that does not appear in the first synthesized image, and when, due to an approach of another vehicle from a rear side of the vehicle, the object is present in the image pickup range of the rear-side image pickup units (14, 16) and is also in a second blind spot area (82) that does not appear in the first synthesized image, generates a second synthesized image in which the rear-side image including an image range corresponding to the object is superimposed on the rear image, and switches the image displayed on the display unit (18) to the second synthesized image, and wherein: a portion of the image pickup areas of the rear-facing image pickup unit (12) and the rear-side-facing image pickup units (14, 16) overlap each other, and the display control unit (22) generates the first synthesized image by first deleting the areas of the rear-side-facing images that overlap with the rear image on a virtual projection plane and then synthesizing the remaining areas of the rear-side-facing images with the rear image, characterized in that the switching unit generates the second synthesized image in which the image area appears by compressing the rear-side images in the vehicle width direction so that the area of ​​the rear-side images superimposed on the rear image includes the image area.

Description

BACKGROUNDTechnical area

[0001] The present disclosure relates to a peripheral display device for a vehicle. Related technology

[0002] For example, Japanese Unexamined Patent Application (JP-A) No. JP 2009-081666 A discloses a technology that determines whether or not a blind spot area that cannot be photographed by a rear camera or a rear camera in a host vehicle is generated on a side of a following vehicle due to the approach of that following vehicle, and if such a blind spot area is generated, generates a display video image by synthesizing a video image of an area rear of the vehicle taken by the rear camera together with video images of the blind spot area photographed by a right-side camera or a left-side camera, and displays this display video image on a display unit.

[0003] Because the image displayed on the display unit in the technology described in JP-A No. JP 2009-081666 A is switched each time a blind spot area is generated by the approach of a following vehicle, a sense of complexity is evoked in a viewer viewing the image displayed on the display unit. Moreover, because the image is switched extremely frequently, it is easy for a viewer to misinterpret a situation peripheral to a vehicle, such as erroneously determining whether or not an object is present in the vehicle periphery or erroneously determining the distance to that object. Relevant prior art can be found in EP 3 013 645 B1, which discloses a mirror replacement device and vehicle.Furthermore, the document DE 10 2012 025 322 A1 discloses a motor vehicle with a camera monitor system, the document US 2009 / 0 079 553 A1 discloses a peripheral monitoring device for a vehicle and image display method and the document US 2015 / 0 084 755 A1 discloses a driver assistance system for displaying an environment of a vehicle. SUMMARY

[0004] The present disclosure provides a peripheral display device for a vehicle that enables a viewer of a display image to recognize a peripheral situation outside a vehicle while also reducing the frequency with which an image displayed on the display unit is switched.

[0005] A peripheral display device for a vehicle is defined by claim 1. It comprises a rear-facing image pickup unit that captures a rear image of a rear area of ​​a vehicle, or a rear-facing image of an area behind a vehicle, rear-side image pickup units that capture rear-side images of areas to the rear sides of the vehicle, a display control unit that generates a first synthesized image by synthesizing the rear image or rear image captured by the rear-facing image pickup unit with the rear-side images captured by the rear-side image pickup units, and then displays the first synthesized image on a display unit, and a switching unit that,When an object is present in an image pickup area of ​​the rear-side image pickup units and is also in a first blind spot area that does not appear in the first synthesized image, and when, due to an approach of another vehicle from a rear side of the vehicle, an object is present in the image pickup area of ​​the rear-side image pickup units and is also in a second blind spot area that does not appear in the first synthesized image, a second synthesized image is generated in which the rear-side image including an image area corresponding to the object is superimposed on the rear-facing image, and the image displayed on the display unit switches to the second synthesized image.

[0006] Thus, a rear-facing image pickup unit captures an image of a rear portion of a vehicle, and rear-side-facing image pickup units capture the rear-side-facing images of portions toward the rear sides of the vehicle. A display control unit generates a first synthesized image by synthesizing the rear image captured by the rear-facing image pickup unit with the rear-side-facing images captured by the rear-side-facing image pickup units, and then displays the first synthesized image on the display unit.If a first blind spot area, which does not appear in the first synthesized image, is generated here in the image pickup range of the rear-side image pickup units, and another vehicle approaches from the rear of the vehicle, or from behind the vehicle, then a second blind spot area, which does not appear in the first synthesized image, is also generated in the image pickup range of the rear-side image pickup units. In response, if an object is present in the first blind spot area and an object is present in the second blind spot area, a second synthesized image is generated in which the rear-side image, which includes an image region corresponding to the object, is superimposed on the rear image, and the image displayed on the display unit is switched to the second synthesized image.

[0007] As a result, a second synthesized image in which an image region corresponding to an object present in either the first blind spot area or the second blind spot area appears is generated and displayed on the display unit. By viewing the second synthesized image, the viewer of the display image is then able to recognize the peripheral situation outside the vehicle, in other words, recognize a situation in which an object is present in either the first blind spot area or the second blind spot area. In addition, because switching of the image displayed on the display unit from the first synthesized image to the second synthesized image is performed when an object is present in either the first blind spot area or the second blind spot area, the frequency with which the image displayed on the display unit is switched can be reduced.It is therefore possible to prevent a viewer of the display image from feeling that switching between images is too complex and to prevent the viewer from misinterpreting the peripheral situation outside the vehicle.

[0008] The peripheral display device is further characterized in that a portion of the image pickup areas of the rear-facing image pickup unit and the rear-side-facing image pickup units overlap each other, and the display control unit generates the first synthesized image by first deleting the areas of the rear-side-facing images that overlap with the rear image on a virtual projection plane and then synthesizing the remaining areas of the rear-side-facing images with the rear image.

[0009] By using this type of structure, because the first synthesized image is an image in which the rear image area and the rear-side image areas are continuously extended when viewing the first synthesized image, it can be displayed as a close-up image, and when the first synthesized image is visually confirmed, the viewer can be prevented from misinterpreting the peripheral situation outside the vehicle.

[0010] The peripheral display device is further characterized in that the switching unit generates the second synthesized image in which the image area appears by compressing the rear-side images in the vehicle width direction so that a region of the rear-side images superimposed on the rear image includes the image area.

[0011] By using this type of structure, the generation of the second synthesized image in which an image region corresponding to an object existing in either the first blind spot area or the second blind spot area appears can be achieved without having to change either the image pickup direction or the image pickup magnification of the rear-side image pickup units, so that the structure of the peripheral display device for a vehicle can be prevented from becoming more complex.

[0012] The peripheral display device may be further characterized in that the switching unit executes the generation of the second synthesized image and the display of the second synthesized image on the display unit when an object is present in the second blind spot area when the object approaches the vehicle.

[0013] By using this type of structure, by only generating the second synthesized image and displaying it on the display unit when there is a greater possibility of danger, in other words, when the object present in the second blind spot area approaches the vehicle, it is possible to further reduce the frequency with which the display image is switched to the second synthesized image.

[0014] It may be possible for the peripheral display device for a vehicle to be an electronic mirror device mounted on the vehicle.

[0015] The present disclosure has an excellent effect of enabling a viewer of a display image to recognize a peripheral situation outside a vehicle, while also reducing the frequency with which an image displayed on a display unit is switched. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] An exemplary embodiment of the present disclosure will be described in detail below based on the following figures, wherein: Fig. 1 is a block diagram showing a schematic structure of an electronic mirror device according to an exemplary embodiment of the present disclosure; Fig. 2 is a perspective view showing placement positions of rear-side cameras and a display unit of an electronic mirror device; Fig. 3 is a flowchart showing peripheral display processing executed by an electronic mirror ECU; Fig. 4 is a plan view showing an image pickup area of ​​a camera and a first dead angle area; Fig. 5 is an image diagram showing an example of a normal synthesized image; Fig. 6 is a plan view showing an example of a situation where an object is present in the first blind spot area; Fig. 7 is an image diagram showing an example of a situation in which a portion of an object present in the first blind spot area is missing from the normal synthesized image; Fig. 8 is a plan view showing an example of a change in an extraction range from a rear-side image in a situation where an object is present in the first blind spot area; Fig. 9 is an image diagram showing an example of a synthesized image with blind spot priority used in conjunction with the Fig. 8 shown change is generated and displayed; Fig. 10 is a plan view showing an example of a situation where an object is present in a second blind spot area; Fig. 11 is an image diagram showing an example of a situation in which an object present in a second blind spot area is not displayed in a normal synthesized image; Fig. 12 is a plan view showing an example of a change in an extraction range from a rear-side image in a situation where an object is present in the second blind spot area; and Fig. 13 is an image diagram showing an example of a synthesized image with blind spot priority used in conjunction with the Fig. 12 shown change is generated and displayed. DETAILED DESCRIPTION

[0017] Hereinafter, an example of the exemplary embodiment of the present disclosure will be described in detail with reference to the drawings. Fig. The vehicle onboard system 40 shown in Figure 1 comprises a bus 42, and a plurality of electronic control units, each of which jointly performs a plurality of different types of control, as well as a plurality of sensor units, each of which is connected to the bus 42. It should be noted that Fig. 1 shows only the portion of the vehicle onboard system 40 pertinent to the present disclosure. Each individual electronic control unit includes a CPU, a memory, and a non-volatile memory portion, and is referred to hereinafter as an ECU. An electronic mirror ECU 22 is included among the plurality of ECUs connected to bus 42.

[0018] A rear-facing camera 12, a rear-left-facing camera 14, a rear-right-facing camera 16, a display unit 18, and a camera memory ACT (actuator) 20 are each connected to the electronic mirror ECU 22. The electronic mirror ECU 22, the rear-left-facing camera 14, the rear-right-facing camera 16, the display unit 18, and the camera memory ACT 20 together constitute a part of an electronic mirror device 10, and the electronic mirror device 10 functions as an example of a peripheral display device for a vehicle.Note that, of this electronic mirror device 10, the rear-facing camera 12 functions as an example of a rear-facing image pickup unit, while the rear-left-facing camera 14 and the rear-right-facing camera 16 function as examples of a rear-side-facing image pickup unit. In addition, the display unit 18 functions as an example of a display unit, and the electronic mirror ECU 22 functions as an example of a display control unit and a switching unit.

[0019] The rear-facing camera 12 is placed in a rear portion of a vehicle 50 (see Fig. 4), and an image pickup optical axis (i.e., a lens) thereof is directed rearward of the vehicle to capture an image of a rear portion of the vehicle 50, or a portion behind the vehicle 50. Note that it is only necessary that the placement position of the rear-facing camera 12 enables the rear-facing camera 12 to capture an image of an area behind the vehicle 50, and the rear-facing camera 12 may be placed in a rear end portion (for example, in the vicinity of a rear bumper) of the vehicle 50, or may be placed to be able to capture an image of the area behind the vehicle 50 through the rear window of the vehicle 50.The lens of the rear-facing camera 12 has a fixed focal point, and no mechanism for changing the orientation of the image pickup optical axis thereof is provided, so that the image pickup range of the rear-facing camera 12 is that shown in FIG. Fig. 4 is the fixed image pickup area 60.

[0020] As in Fig. 2, a base portion of a camera support body 32L formed in a substantially rectangular parallelepiped shape with a circular arc-shaped distal end portion is mounted on a vehicle-front end portion of an intermediate portion in a vehicle up-down direction of a left-side door (i.e., a front-side door: not shown in the drawings) of the vehicle in such a manner that the distal end portion of this camera support body 32L extends toward the vehicle exterior. The rear-left-side facing camera 14 is mounted near the distal end portion of the camera support body 32L, and the image pickup optical axis (i.e., the lens) of the rear-left-side facing camera 14 is directed toward the rear left side of the vehicle to capture an image of an area behind the vehicle and to the left side of the vehicle.The camera support body 32L is capable of pivoting in the vehicle front-rear direction and can be pivoted by a driving force of the camera storage ACT 20 between a storage position in which the longitudinal direction of the camera support body 32L extends substantially along the outer surface of the vehicle and a return position in which the rear-left-facing camera 14 captures an image of the area to the rear left side of the vehicle.

[0021] The rear-left facing camera 14 includes a fixed focal point, and no mechanism for changing the orientation of the optical axis for image pickup thereof is provided, so that when the camera support body 32L is in the return position, the rear-left facing camera 14 captures an image of a Fig. 4 shown fixed image recording area 62. As shown in Fig. 4, the fixed image pickup area 62 of the rear-left facing camera 14 partially overlaps with the image pickup area 16 of the rear-facing camera 12.

[0022] A base portion of a camera support body 32R, formed with a left-right symmetrical configuration with the camera support body 32L, is further mounted at a vehicle-front end portion of an intermediate portion in the vehicle up-down direction of a right-side door (i.e., a front-side door: not shown in the drawings) of the vehicle. The rear-right-side camera 16 is mounted near the distal end portion of the camera support body 32R, and the image pickup optical axis (i.e., the lens) of the rear-right-side camera 16 is directed toward the rear right side of the vehicle to capture an image of an area behind the vehicle and to the right side of the vehicle.The camera support body 32R is also capable of pivoting in the vehicle front-rear direction, and can be pivoted by a driving force of the camera storage ACT 20 between a storage position in which the longitudinal direction of the camera support body 32R extends substantially along an outer surface of the vehicle and a return position in which the rear-right facing camera 16 captures an image of the area to the rear right side of the vehicle.

[0023] The rear-right facing camera 16 has a fixed focal point, and no mechanism for changing the orientation of the optical axis of image pickup thereof is provided, so that when the camera support body 32R is in the return position, the rear-right facing camera 16 takes an image of a Fig. 4 shown fixed image recording area 64. As shown in Fig. 4, the fixed image pickup area 64 of the rear-right facing camera 16 partially overlaps with the image pickup area 16 of the rear-facing camera 12.

[0024] A center monitor 34 is additionally provided at a central position of an instrument panel of the vehicle, and a display unit 18 is provided at a separate position on the vehicle upper side of the center monitor 34. An image (hereinafter referred to as a normal synthesized image or a blind spot priority synthesized image) formed by the electronic mirror ECU 22 synthesizing a rear image (i.e., a video image) captured by the rear-facing camera 12 with a rear-left image (i.e., a video image) captured by the rear-left camera 14 and a rear-right image (i.e., a video image) captured by the rear-right camera 16 is displayed on the display unit 18.

[0025] As in Fig. 1, the electronic mirror ECU 22 includes a CPU 24, a memory 26, and a non-volatile storage unit 28, and a peripheral display program 30 is stored in the storage unit 28. As a result of the CPU 24 reading the peripheral display program 30 from the storage unit 28 and expanding it into the memory 26, and then executing the peripheral display program 30 expanded into the memory 26, the electronic mirror ECU 22 is capable of performing peripheral display processing (described below).

[0026] Next, the peripheral display processing executed by the electronic mirror ECU 22 is described with reference to Fig. 3 as an action of the present exemplary embodiment. In steps 100 to 104 of the peripheral display processing, the generation and display of a normal synthesized image displayed on the display unit 18 in a normal situation are performed.

[0027] In other words, in step 100 of the peripheral display processing, the electronic mirror ECU 22 extracts a remaining image after a portion of the rear-left-facing image captured by the rear-left-facing camera 14, which is projected on a virtual projection plane 66 (see Fig. 4) overlaps with the rear image captured by the rear-facing camera 12, has been deleted from this rear-left-facing image. The area of ​​the image pickup area 62 of the rear-left-facing image captured by the rear-left-facing camera 14, which overlaps in the virtual projection plane 66 with the image pickup area 60 of the rear image captured by the rear-facing camera 12, is a Fig. 4. The electronic mirror ECU 22 extracts an image corresponding to an image shown in Fig. 4 by deleting the deletion area 68 from the rear-left side image.

[0028] The electronic mirror ECU 22 additionally extracts an image in which an area overlapping on the virtual projection plane 66 with the rear image captured by the rear-facing camera 12 is deleted from the rear-right image captured by the rear-right camera 16. The area of ​​the image pickup area 64 of the rear-right image captured by the rear-right camera 16 that overlaps on the virtual projection plane 66 with the image pickup area 60 of the rear image captured by the rear-facing camera 12 is a Fig. 4. The electronic mirror ECU 22 extracts an image corresponding to an image shown in Fig. 4 by deleting the deletion area 72 from the rear-right side image.

[0029] In the next step 102, the electronic mirror ECU 22 synthesizes the image extracted from the rear-left-facing image in step 100 with a left side of the rear image, and also synthesizes the image extracted from the rear-right-facing image in step 100 with a right side of the rear image to generate a normal synthesized image. Next, in step 104, the electronic mirror ECU 22 causes the normal synthesized image to be displayed on the display unit 18. An example of the normal synthesized image displayed on the display unit 18 is shown in Fig. 5 shown.

[0030] The normal synthesized image is generated by deleting portions of the rear-left-facing image and the rear-right-facing image that overlap with the rear image on the virtual projection plane 66, and then synthesizing the remaining portions thereof with the rear image. As a result, the normal synthesized image is formed as an image in which the rear image region seamlessly continues with the rear-left-facing image region and the rear-right-facing image region, and is analogous to an image that would be visible if a vehicle occupant of the vehicle 50 were to look directly backward and toward the rear sides of the vehicle 50.It is therefore possible to prevent a peripheral situation outside the vehicle 50 from being misinterpreted by a vehicle occupant who viewed the normal synthesized image displayed on the display unit 18. Note that the normal synthesized image is an example of a first synthesized image, and steps 100 to 104 are examples of processing corresponding to the display control unit.

[0031] Next, the electronic mirror ECU 22 determines in step 106 whether a following vehicle 52 (see Fig. 10) exists at a comparatively short distance to the rear of the vehicle 50, or behind the vehicle 50. Note that the presence of the following vehicle 52 can be determined by analyzing the rear images. For example, it can be determined whether the following vehicle 52 exists at a comparatively short distance or not based on whether the size of an image area corresponding to the following vehicle 52 included in the rear image is larger than a predefined value. In addition, the determination in step 106 can also be made based on detection results of a radar or the like whose detection range includes the area behind the vehicle 50. In this case, the distance between the vehicle 50 and the following vehicle 52 can be determined more accurately.

[0032] If the determination in step 106 is negative, the routine proceeds to step 108. In step 108, the electronic mirror ECU 22 determines whether an object is in a first blind spot area 80 (see Fig. 4) that does not appear in the normal synthesized image (i.e., it is a blind spot). The first blind spot area 80 is generated by deleting the areas of the rear-left-facing image and the rear-right-facing image that overlap with the rear image on the virtual projection plane 66 during generation of the normal synthesized image.

[0033] The detection in step 108 can be achieved by determining whether or not an area corresponding to an object (e.g., a two-wheeled vehicle or a person) exists in at least the area of ​​the rearward-left side image that was deleted during generation of the normal synthesized image or the area of ​​the rearward-right side image that was deleted during generation of the normal synthesized image. Note that if an area corresponding to the object exists, then it is also possible to determine whether the proportion of this area existing in the first blind spot area 80 is equal to or greater than a predetermined value. The determination can also be additionally performed based on detection results of a radar or the like whose detection range includes the area behind the vehicle 50.

[0034] If the determination in step 108 is negative, the routine returns to step 100, and steps 100 through 108 are repeated until the determination in either step 106 or step 108 is positive. During this time, the generation and display of the normal synthesized image continues.

[0035] On the other hand, as it is mentioned as an example in Fig. 6, if an object (in the Fig. 6, a two-wheeled vehicle 54) is present in the first blind spot area 80, the determination in step 108 is positive, and the routine proceeds to step 112. As in Fig. 6, if the two-wheeled vehicle 54 is present in the first blind spot area 80, then, as shown as an example in Fig. 7, the normal synthesized image is an image in which a portion of the two-wheeled vehicle 54 is missing. As a result, there is a possibility that the presence of the two-wheeled vehicle 54 may not be recognized by a vehicle occupant viewing the image displayed on the display unit 18. Therefore, as described below, in the steps following step 112, a blind spot priority synthesized image in which a display area corresponding to the two-wheeled vehicle 54 appears is generated and displayed.

[0036] If the following vehicle 52 is present at a comparatively short distance to the rear of the vehicle 50, the determination in step 106 is affirmative, and the routine proceeds to step 110. In step 110, the electronic mirror ECU 22 determines whether the object is approaching from the second blind spot area 82 (see Fig. 10) or not. The second blind spot area 82 is generated as a result of the following vehicle 52 being present at a comparatively short distance to the rear of the vehicle 50, and the object present in the second blind spot area 82 not appearing in the normal synthesized image (i.e., being in a blind spot).

[0037] The determination of step 110 can be achieved by determining whether or not an area corresponding to an object (e.g., a two-wheeled vehicle or a person) exists in at least the area of ​​the rear-left side image that was deleted during generation of the normal synthesized image or the area of ​​the rear-right side image that was deleted during generation of the normal synthesized image, and additionally, whether or not the size of this area increases over time. Note that the determination can also be made based on detection results of a radar or the like whose detection range includes the areas on the rear sides of the vehicle 50.

[0038] As an example in Fig. 10, if an object (in the Fig. 10, this is the two-wheeled vehicle 54) is present in the second blind spot area 82, then, as shown as an example in Fig. 11, the normal synthesized image becomes an image in which the two-wheeled vehicle 54 is absent. As a result, there is a possibility that the presence of the two-wheeled vehicle 54 approaching the vehicle 50 may not be recognized by a vehicle occupant viewing the image displayed on the display unit 18. Therefore, if the determination in step 110 is also affirmative, the routine proceeds to step 112.

[0039] In step 112, the electronic mirror ECU 22 determines whether the object present in the first blind spot area 80 or the second blind spot area 82 is positioned on the rear left side of the vehicle 50. If the determination in step 112 is affirmative, the routine proceeds to step 114. In step 114, the electronic mirror ECU 22 moves the range over which an image is to be extracted from the rear-left side image to the right to include an image area corresponding to an object positioned to the left side of the vehicle 50 and also present in either the first blind spot area 80 or the second blind spot area 82. The electronic mirror ECU 22 then extracts an image from the rear-left side image.

[0040] For example, as in Fig. 10 and Fig. 12, if an object (ie, the two-wheeled vehicle 54) is present in the second blind spot area 82 on the rear left side of the vehicle 50, then, as clearly seen by comparing Fig. 12 with Fig. 10, the position of the extraction area 70 in the image pickup area 62 of the rear-left side image is moved to the right, and the deletion area 68 is moved to the left side end of the image pickup area 62. As a result, an image including an image area corresponding to an object positioned on the rear left side of the vehicle 50 and also present in either the first blind spot area 80 or the second blind spot area 82 is extracted from the rear-left side image.

[0041] If the determination in step 112 is negative, the routine proceeds to step 116. In step 116, in the same manner as when generating a normal synthesized image, the electronic mirror ECU 22 extracts an image from which the area of ​​the rear-left side image that overlaps with the rear image on the virtual projection plane 66 has been deleted. Once the processing of step 114 or step 116 has been executed, the routine proceeds to step 118.

[0042] In step 118, the electronic mirror ECU 22 determines whether the object present in the first blind spot area 80 or the second blind spot area 82 is positioned on the rear right side of the vehicle 50. If the determination in step 118 is affirmative, the routine proceeds to step 120. In step 120, the electronic mirror ECU 22 moves the range over which an image is to be extracted from the rear-right side image to the left to include an image area corresponding to an object positioned on the rear right side of the vehicle 50 and also present in either the first blind spot area 80 or the second blind spot area 82. The electronic mirror ECU 22 then extracts an image from the rear-right side image.

[0043] For example, as in Fig. 6 and Fig. 8, if an object (ie, the two-wheeled vehicle 54) is present in the first blind spot area 80 on the rear right side of the vehicle 50, then, as clearly seen by comparing Fig. 8 with Fig. 6, the position of the extraction region 74 in the image pickup area 64 of the rear-right side image is moved to the left, and the deletion region 72 is moved to the right side end of the image pickup area 64 (not claimed). As a result, an image including an image area corresponding to an object positioned on the rear right side of the vehicle 50 and also present in either the first blind spot area 80 or the second blind spot area 82 is extracted from the rear-right side image.

[0044] If the determination in step 118 is negative, the routine proceeds to step 122. In step 122, in the same manner as when generating a normal synthesized image, the electronic mirror ECU 22 extracts an image from which the area of ​​the rearward-right image that overlaps with the rear image on the virtual projection plane 66 has been deleted. Once the processing of step 120 or step 122 has been executed, the routine proceeds to step 124.

[0045] In step 124, the electronic mirror ECU 22 synthesizes the image extracted from the rearward-left-facing image in step 114 or step 116 with the left side of the rear image, and also synthesizes the image extracted from the rearward-right-facing image in step 120 or step 122 with the right side of the rear image to generate a blind-spot priority synthesized image. Next, in step 126, the electronic mirror ECU 22 causes the blind-spot priority synthesized image to be displayed on the display unit 18.

[0046] As an example in Fig. 6, if the object (ie, the two-wheeled vehicle 54) is present in the first blind spot area 80 on the rear right side of the vehicle 50, then, as shown as an example in Fig. 7, the normal synthesized image is an image in which a portion of the two-wheeled vehicle 54 is missing. In contrast, in the above-described processing as shown in Fig. 8 appears as a result of the position of the extraction area 74 being moved to the left in the image pickup area 64 of the rear-right side image, as shown as an example in Fig. 9, the two-wheeled vehicle 54 is shown in the blind spot priority synthesized image generated and displayed on the display unit 18. As a result, the presence of the two-wheeled vehicle 54 can be reliably recognized by a vehicle occupant viewing the image displayed on the display unit 18.

[0047] In addition, as it is mentioned as an example in Fig. 10, if the object (ie, the two-wheeled vehicle 54 in the Fig. 10) is present in the second blind spot area 82 on the rear left side of the vehicle 50, then, as shown as an example in Fig. 11, the normal synthesized image is an image in which the two-wheeled vehicle 54 does not appear. In contrast, in the above-described processing, when the two-wheeled vehicle 54 has approached close to the vehicle 50, as shown in Fig. 12 appears as a result of the position of the extraction area 74 in the image pickup area 62 of the rear-left-side image being moved to the right, as shown as an example in Fig.13, the two-wheeled vehicle 54 is shown in the blind spot priority synthesized image generated and displayed on the display unit 18. As a result, the presence of the two-wheeled vehicle 54 approaching the vehicle 50 from the rear right side of the vehicle 50 can be reliably recognized by a vehicle occupant viewing the image displayed on the display unit 18.

[0048] Once the processing of step 126 has ended, the routine proceeds to step 128. In step 128, the electronic mirror ECU 22 determines whether or not the object present in the first blind spot area 80 or the second blind spot area 82 has disappeared from the first blind spot area 80 or the second blind spot area 82. If the determination in step 128 is negative, the routine returns to step 106. The generation and display of the blind spot priority synthesized image is then continued by repeating steps 106 to 128 until either the determination in step 108 is negative or the determination in step 128 is positive. Once the determination in step 108 is negative or the determination in step 128 is positive, the routine returns to step 100, and the processing returns to a state of generating and displaying a normal synthesized image.

[0049] In this way, in the present exemplary embodiment, a blind spot priority synthesized image is generated when an object is present in the first blind spot area 80 and when an object present in the second blind spot area 82 approaches the vehicle 50. The blind spot priority synthesized image is an image in which a rear-side image including an image area corresponding to an object present in either the first blind spot area 80 or the second blind spot area 82 is superimposed on the rear image, and the image displayed on the display unit 18 is switched from the normal synthesized image to the blind spot priority synthesized image.

[0050] Consequently, by viewing the synthesized image with blind spot priority in which the image area corresponding to an object present in either the first blind spot area 80 or the second blind spot area 82 appears, a viewer of the display image can be made to recognize the peripheral situation outside the vehicle, namely, a situation in which an object is present in the first blind spot area 80 or a situation in which an object present in the second blind spot area 82 is approaching the vehicle 50.Furthermore, because switching the image displayed on the display unit 18 from the normal synthesized image to the blind spot priority synthesized image is performed only when an object is present in the first blind spot area 80 and when an object present in the second blind spot area 82 approaches the vehicle 50, the frequency with which the image displayed on the display unit 18 is reshaped is reduced. As a result, it is possible to prevent a viewer of the display image from feeling that the image switching is too complex and to prevent a viewer from misinterpreting the peripheral situation outside the vehicle.

[0051] Note that in the above description, an example is described in which generation of a synthesized image with blind spot priority in which an image area corresponding to an object existing in either the first blind spot area 80 or the second blind spot area 82 appears is achieved by moving the extraction areas 70 and 74 of the rear-side images superimposed on the rear image, but the present disclosure is not limited thereto.According to the invention, a synthesized image with blind spot priority is generated by compressing the rear-side images in the vehicle width direction so as to overlap with the rear image, to thereby widen the area of ​​the image corresponding to the extraction area of ​​the rear-side images as far as an area in which an image area corresponding to an object existing in either the first blind spot area 80 or the second blind spot area 82 appears.

[0052] Additionally, the above description describes an example in which a blind spot priority synthesized image is generated and displayed when an object present in the second blind spot area 82 approaches the vehicle 50, but the present disclosure is not limited thereto. For example, if an object is present in the second blind spot area 82, it is also possible for a blind spot priority synthesized image to be generated and displayed regardless of whether that object is approaching the vehicle 50 or not.

[0053] A rear-facing camera of an electronic mirror device captures a rear-view image of an area behind a vehicle, and a rear-left camera and a rear-right camera capture rear-side-view images of areas to the rear sides of the vehicle. An electronic mirror ECU then generates a normal synthesized image by synthesizing the rear image captured by the rear-facing camera with the rear-side-view images captured by the side-rear cameras, and then displaying the normal synthesized image on a display unit.In addition, the electronic mirror ECU generates a blind spot priority synthesized image in which the rear-side image including an image area corresponding to the object is superimposed on the rear image, and switches the image displayed on the display unit to the blind spot priority synthesized image.

Claims

[1] Peripheral display device (10) for a vehicle, comprising a rear-facing image pickup unit (12) which captures a rear image of a rear area of ​​the vehicle, rear-side-facing image pickup units (14, 16) which capture rear-side-facing images of areas to the rear sides of the vehicle, a display control unit that generates a first synthesized image by synthesizing the rear image captured by the rear-facing image pickup unit (12) with the rear-facing images captured by the rear-facing image pickup units (14, 16), and then displays the first synthesized image on a display unit (18), and a switching unit which, when an object is present in an image pickup range of the rear-side image pickup units (14, 16) and is also in a first blind spot area (80) that does not appear in the first synthesized image, and when, due to an approach of another vehicle from a rear side of the vehicle, the object is present in the image pickup range of the rear-side image pickup units (14, 16) and is also in a second blind spot area (82) that does not appear in the first synthesized image, generates a second synthesized image in which the rear-side image including an image range corresponding to the object is superimposed on the rear image, and switches the image displayed on the display unit (18) to the second synthesized image, and wherein: a portion of the image pickup areas of the rear-facing image pickup unit (12) and the rear-side-facing image pickup units (14, 16) overlap each other, and the display control unit (22) generates the first synthesized image by first deleting the areas of the rear-side-facing images that overlap with the rear image on a virtual projection plane and then synthesizing the remaining areas of the rear-side-facing images with the rear image, characterized by , that the switching unit generates the second synthesized image in which the image area appears by compressing the rear-side images in the vehicle width direction so that the area of ​​the rear-side images superimposed on the rear image includes the image area. [2] A peripheral display device (10) for a vehicle according to claim 1, wherein the switching unit executes the generation of the second synthesized image and the display of the second synthesized image on the display unit (18) when the object is present in the second blind spot area (82) when the object approaches the vehicle. [3] A peripheral display device (10) for a vehicle according to any one of claims 1 to 2, wherein the peripheral display device for a vehicle is an electronic mirror device (10) mounted on the vehicle.

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