System for monitoring vehicle peripherals, procedure for monitoring vehicle peripherals, and program

Abstract

Vehicle peripheral monitoring system (10), comprising: a reverse image capture area (14) which is configured to capture a reverse image of a vehicle in a vehicle width direction center section; a first side image acquisition area (16) which is configured to acquire a rear image of the vehicle in a vehicle width direction on one side; a second side image capture area (18) which is configured to capture a reverse image of the vehicle in a vehicle width direction from another side; a video processing area (44) configured to generate a virtual mirror video in which a virtual vehicle image representing the vehicle virtually and a left-right direction indicator image indicating the vehicle's left-right directions are superimposed on a synthesized video synthesized to combine videos captured by the reverse image capture area (14), the first side image capture area (16), and the second side image capture area (18), and reversed in one vehicle width direction; and a display (20) arranged in a position visible to a driver of the vehicle and configured to display the virtual mirror video, characterized by a display change area (40) which is configured to change between a first state in which the virtual mirror video is displayed on the display (20) and a second state in which the virtual mirror video is not displayed on the display (20) based on an operation by the driver, wherein the display change area (40) changes between the first state and the second state based on an operation of a turn signal lever (22) by the driver.

Description

BACKGROUND Technical area

[0001] The present disclosure relates to a system for monitoring the periphery of vehicles, as well as to a method and a program for monitoring the periphery of vehicles. State of the art

[0002] The technology for a device for displaying the situation in the periphery of a vehicle is disclosed in the published Japanese patent application JP H10 - 257 482 A.

[0003] In this device for displaying the situation in the periphery of the vehicle, images of the left and right sides of the vehicle, taken by cameras located near the left and right doors, and an image of the rear of the vehicle, taken by a camera located in the rear of the vehicle, are synthesized so that they can be viewed from a single virtual viewpoint and displayed on a liquid crystal panel.

[0004] While the technology according to JP H10 - 257 482 A can represent the state of the rear of one's own vehicle, there is room for improvement in terms of representing a relative positional relationship between the own vehicle and an object located in the periphery of the own vehicle and at the rear of the own vehicle.

[0005] Furthermore, US 2021 / 0 206 318 A1 discloses an electronic mirror system for a vehicle, comprising a rear imaging unit configured to capture an image of the rear of the vehicle, a pair of left and right rear side imaging units, each configured to capture images of the rear on the left and right sides of the vehicle, and an image processing unit. Additionally, US 2019 / 0 135 180 A1 discloses an electronic mirror device, wherein an electronic control unit is configured to display on the image an auxiliary image that expresses at least an outer portion of an area in which the vehicle occupies a road surface in the top view of the vehicle, and an outer position at a predetermined distance from the outer portion of the area in which the vehicle occupies the road surface in the top view of the vehicle.Furthermore, DE 11 2018 007 360 T5 discloses an image display system with an image processor which performs image processing, cuts out a second image with an area corresponding to the face position from an object image containing a first image according to the face position detected by a position sensor, and superimposes a position image on a second image at a position corresponding to the face position, and outputs a third image resulting from the image processing, wherein the position image indicates a position in the vehicle. INVENTION SUMMARY

[0006] In view of the foregoing circumstances, it is an objective of the present disclosure to provide a system for monitoring the periphery of a vehicle, as well as a method and a program for monitoring the periphery of a vehicle, which are capable of representing a relative positional relationship between the vehicle itself and an object located at a periphery of the vehicle itself and at the rear of the vehicle itself.

[0007] According to the invention, the problem is solved by a vehicle peripheral monitoring system according to claim 1, a vehicle peripheral monitoring method according to claim 2, and a program according to claim 3.

[0008] A vehicle peripheral monitoring system of a first aspect of the present disclosure comprises a reverse image acquisition area configured to acquire an image of a reverse image of a vehicle in a vehicle width-direction center area, a first side image acquisition area configured to acquire an image of the reverse image of the vehicle in a vehicle width direction of one side, a second side image acquisition area configured to acquire an image of the reverse image of the vehicle in a vehicle width direction of another side, and a video processing area configured to generate a virtual mirror video in which a virtual vehicle image representing the vehicle and a left-right direction indicator image indicating the left-right directions of the vehicle are superimposed on a synthesized video that has been synthesized to combine videos.which were captured by the rear image capture area, by the first side image capture area and by the second side image capture area, and such that it is reversed in a vehicle width direction, and a display which is arranged in a position visible to a driver of the vehicle and is set up to display the virtual mirror video.

[0009] In the vehicle peripheral monitoring system of the first viewpoint, the image behind the vehicle is captured by the rear image capture area in the middle area of ​​the vehicle width direction, the image behind the vehicle is captured by the first side image capture area in the vehicle width direction of one side, and the image behind the vehicle is captured by the second side image capture area in the vehicle width direction of another side.

[0010] Furthermore, in the video processing area, the virtual mirror video is generated, in which the virtual vehicle image, which virtually represents the vehicle, and the left-right direction indicator image, which shows the left-right direction of the vehicle, are superimposed and displayed on the synthesized video, which was synthesized in such a way that the videos recorded by the reverse image capture area, the first side image capture area, and the second side image capture area are combined and reversed in a vehicle width direction.

[0011] The virtual mirror video generated by the video processing area is then displayed on the display area located at the position visible to the driver of the vehicle.

[0012] This means that, in the present disclosure, if, for example, another vehicle is driving behind one's own vehicle, the virtual image of the other vehicle and a video of it are displayed in the virtual mirror video. As a result, the driver is able to determine the relative positional relationship between their own vehicle and the other vehicle by viewing the virtual mirror video displayed on the screen.

[0013] A system for monitoring the periphery of a vehicle from a second perspective is the system for monitoring the periphery of a vehicle from a first perspective, further comprising a display switching area configured to switch between a first state in which the video of the virtual mirror is displayed on the display and a second state in which the video of the virtual mirror is not displayed on the display, based on the operation of the driver.

[0014] In the vehicle peripheral monitoring system of the second viewpoint, the display switching area is able to switch between the first state, in which the virtual mirror video is displayed on the display, and the second state, in which the virtual mirror video is not displayed on the display, based on the operation of the driver.

[0015] This means that in the present disclosure, in the second state, various pieces of information, which can be used, for example, by the driver of the vehicle, can be displayed on the screen.

[0016] A third-point vehicle peripheral monitoring system is the second-point vehicle peripheral monitoring system, wherein the display switching range between the first state and the second state is based on the operation of a turn signal lever by the driver.

[0017] In the vehicle peripheral monitoring system of the third aspect, the display change area switches between the first state, in which the virtual mirror video is displayed on the display area, and the second state, in which the virtual mirror video is not displayed on the display area, when the turn signal lever is activated by the driver.

[0018] In the present disclosure, the virtual mirror video is displayed on the screen during a left turn or a right turn of the vehicle, enabling the driver to determine the condition behind the vehicle.

[0019] A method for monitoring the periphery of a vehicle according to a fourth aspect comprises generating a synthesized video, which has been synthesized to combine a first reverse video of a vehicle in a vehicle width-direction center section, a second reverse video of the vehicle in a vehicle width direction on one side, and a third video of the rear part of the vehicle in a vehicle width direction on the other side and in such a way that it is reversed in a vehicle width direction, to generate a virtual mirror video in which a virtual vehicle image representing the vehicle virtually and a left-right direction indicator image showing the left-right directions of the vehicle are superimposed on the synthesized video, and to display the virtual mirror video on a display.

[0020] A fifth-viewpoint program initiates processing performed by at least one processor in a computer. This processing includes generating a synthesized video, synthesized to combine a first reverse video of a vehicle in a vehicle-width-direction center section, a second reverse video of the vehicle in a vehicle-width direction on one side, and a third reverse video of the vehicle in a vehicle-width direction on another side, such that it is reversed in one vehicle-width direction; generating a virtual mirror video in which a virtual vehicle image, representing the vehicle virtually, and a left-right direction indicator image, indicating the vehicle's left-right directions, are superimposed on the synthesized video; and performing display control of the virtual mirror video.

[0021] As described above, the system for monitoring the periphery of a vehicle, as well as the method and program for monitoring the periphery of a vehicle according to the present disclosure, have the outstanding advantageous effect that a relative positional relationship between the vehicle itself and an object located at a periphery of the vehicle itself and at a rear of the vehicle itself can be displayed. BRIEF DESCRIPTION OF THE DRAWING

[0022] Exemplary embodiments of the present disclosure are described in more detail with reference to the following figures, wherein: Fig. Figure 1 is a perspective view that schematically represents a state in which one looks from inside a vehicle cabin equipped with a system for monitoring the periphery of the vehicle according to the present embodiment to the front of the vehicle; Fig. Figure 2 is a top view showing the image capture areas of cameras that form part of a monitoring system for the periphery of a vehicle according to the present embodiment; Fig. Figure 3 is a conceptual diagram representing an example of a virtual mirror video generated in a system for monitoring the periphery of a vehicle according to the present embodiment; Fig. Figure 4 is a block diagram representing a hardware configuration of a system for monitoring the peripherals of a vehicle according to the present embodiment; Fig. Figure 5 is a block diagram representing a functional configuration of a control device that configures part of a system for monitoring the periphery of a vehicle according to the present embodiment; and Fig. Figure 6 is a flowchart that represents a control flow of a system for monitoring the periphery of a vehicle according to the present embodiment. DETAILED DESCRIPTION

[0023] The following is a description of an exemplary embodiment of a system for monitoring the periphery of a vehicle, with reference to the Fig. 1 to Fig. 6. As in Fig. As shown in Figure 4, a “vehicle peripheral monitoring system 10” according to the present embodiment comprises a “reversing camera 14” which is installed as a reversing image capture area on a “vehicle 12” (hereinafter also referred to as its own vehicle 12), a “first side camera 16” which serves as the first side image capture area, a “second side camera 18” which serves as the second side image capture area, a “touch panel display 20” which serves as the display area, a “turn signal lever 22”, a turn signal switch 24 and a “control device 26” which serves as a computer.

[0024] Note that in the drawings, an arrow FR indicates the front of vehicle 12, an arrow UP indicates the upward direction of vehicle 12, and an arrow LH indicates the width direction on the left side of vehicle 12.

[0025] The reversing camera 14, for example, is equipped with a digital camera that has a fixed optical axis and a lens with a fixed focal point and a wide-angle view. As in Fig. As shown in Figure 2, the reversing camera 14 is mounted on a vehicle width-direction center section at a rear side end section of a trunk lid 28 in a state in which its optical axis is aligned in a front and rear direction, viewed along a vehicle height direction. The reversing camera 14 is capable of capturing images via an image acquisition area R1 at the rear of the vehicle. The reversing camera 14 is configured to transmit a video signal from a video recorded by the reversing camera 14 to the control device 26.

[0026] The first side camera 16 is essentially set up the same way as the rear camera 14. As in Fig. As shown in Figure 1, the first side camera 16 is mounted on a side mirror 30 on the left side of the vehicle in a state in which its optical axis is inclined in the left direction of the vehicle's width relative to the front and rear of the vehicle along the vehicle's height. The first side camera 16 is capable of capturing images over an image acquisition area R2 on the left rear of the vehicle. The first side camera 16 is configured to transmit a video recorded by the first side camera 16 as a video signal to the control device 26.

[0027] The second side camera 18 is essentially configured in the same way as the rear-view camera 14. The second side camera 18 is mounted on a side mirror 32 on the right side of the vehicle in a position where its optical axis is inclined in the right direction of the vehicle's width relative to the front-to-rear direction along the vehicle's height. The second side camera 18 is capable of capturing images via an image capture area R3 on the right rear of the vehicle. The second side camera 18 is configured to transmit a video recorded by the second side camera 18 as a video signal to the control device 26.

[0028] The touch panel display 20 is arranged in a vehicle width-oriented central section of an instrument panel 34, which is located in a front side area of ​​the vehicle cabin 12A of the vehicle 12. The touch panel display 20 is capable of displaying various videos and images under the control of the control device 26 and is also configured to send an operation signal to the control device 26 based on contact operation by a driver.

[0029] The turn signal lever 22 extends from a steering column (not shown) in the vehicle's width direction and, when operated by the driver, can pivot about one side of the steering column as its pivot point in the vehicle's height direction. It should be noted that the present embodiment is a right-hand drive vehicle 12 and the turn signal lever 22 extends from the steering column to the right in the vehicle's width direction. The direction of operation of the turn signal lever 22 by the driver is detected by the turn signal switch 24.

[0030] The turn signal switch 24 is configured to include a left turn signal switch (not shown) and a right turn signal switch. The left turn signal switch makes an electrical contact in a specific circuit when the driver has actuated the turn signal lever 22 to cause a left turn signal indicator (not shown) of the vehicle 12 to flash, thereby inputting a left turn signal signal to the control device 26.

[0031] The right turn signal switch establishes an electrical contact in the specific circuit when the driver has actuated the turn signal lever 22 to cause a right turn signal light of the vehicle 12 (not shown) to flash, so that a right turn signal can be input into the control device 26.

[0032] The present embodiment comprises a steering angle sensor (not shown) that detects the steering angle of a steering wheel 36 and is configured to input a steering angle detection signal based on the steering angle into the control device 26. Based on the steering angle detection signal, the control device 26 is able to detect the completion of a lane change, a left turn, and a right turn of the vehicle 12.

[0033] Back to Fig. 4: The control device 26 is configured to include a “central processing unit (CPU) 26A” as an example of a processor, a read-only memory (ROM) 26B, a random access memory (RAM) 26C, a communication interface (I / F) 26E, and an input / output interface 26F. The CPU 26A, the ROM 26B, the RAM 26C, the memory 26D, the communication interface 26E, and the input / output interface 26F are interconnected via a bus 26G so that they can communicate with each other.

[0034] The CPU 26A is a central processing unit capable of executing various programs on the touch panel display 20 according to different controllers. More precisely, the CPU 26A is configured to read a program from the ROM 26B and execute the program using the RAM 26C as its working area. The controller 26 is configured to perform various functions, as described later, by having the CPU 26A read an execution program stored in the ROM 26B and execute the program.

[0035] Memory 26D is set up to include a hard disk drive (HDD) or a solid-state drive (SSD) and is stored with various programs, including an operating system, and with various data, including map data and various image data for display on the touch panel display 20.

[0036] The communication interface 26E is designed as an interface used to connect the control device 26 to a network N. The communication interface 26E enables the updating and similar of various data stored on the memory 26D by communicating with a server or similar device via the network N. It should be noted that a communication standard that can be adopted for communication via the communication interface 26E is, for example, Ethernet (registered trademark), LTE, FDDI, or Wi-Fi (registered trademark).

[0037] The input / output interface 26F is configured as an interface for the control device 26 to communicate with other devices installed on the vehicle 12, namely the reversing camera 14, the first side camera 16, the second side camera 18, the touch panel display 20, and the turn signal switch 24, etc., described above. The control device 26 is connected to each of the devices described below via the input / output interface 26F, enabling them to communicate with each other. It should be noted that these devices can also be connected directly to the bus 26G.

[0038] Next, a functional configuration of the control device 26 will be described with reference to Fig. 5 described. In the control device 26, the CPU 26A reads an execution program stored in the ROM 26B and, by executing the program, acts as a combined body of a communication area 38, a “display switching area 40”, a display video storage area 42 and a “video processing area 44”.

[0039] Communication area 38 is capable of exchanging various pieces of information with a server via network N.

[0040] The display switching area 40 is able to switch, based on the driver's operation, between a reverse video display mode, which serves as a first state in which a reverse video of the vehicle 12, which will be described later, is displayed on the touch panel display 20, and a normal video display mode, which serves as a second state in which information other than the reverse video of the vehicle 12, such as map information or similar, is displayed on the touch panel display 20.

[0041] More precisely, the display change area 40 is designed to switch between the reverse video display mode and the normal video display mode by the driver performing a contact operation on a display change switch symbol 46 (see Fig. 1) executes, which is always displayed on the touch panel display 20. Note that the display switching area 40 may be configured to allow switching between the reversing video display mode and the second state by the driver operating a mechanical toggle switch capable of inputting a specific signal into the control device 26.

[0042] Furthermore, the display switching area 40 is set up to switch between the reverse video display mode and the normal video display mode when the left or right flashing signal is entered from the turn signal switch 24.

[0043] More precisely, the display change area 40 is configured to switch the touch panel display 20 to the reverse video display mode when the left turn signal or the right turn signal is received while the touch panel display 20 is in normal video display mode. The display change area 40 determines whether a lane change, left turn, or right turn of the vehicle 12 is complete or not, based on a steering angle detection signal received from the steering angle sensor, and is configured to switch to normal video display mode when these are determined to be complete and to maintain the reverse video display mode when they are determined to be incomplete.

[0044] As in Fig. As shown in Figure 3, the display video storage area 42 contains image data of a “virtual vehicle image 50”, a “left-right direction indicator image 52”, a driver symbol 54 and a blinker effect 56 for display in a “virtual mirror video 48” described later.

[0045] More precisely, the virtual vehicle image 50 is established using three-dimensional image data when the user's own vehicle 12 is viewed from the front (when the user views the vehicle 12 in a state where it is facing the other vehicle 12). Note that the virtual vehicle image 50 may be a simplified representation of the exterior appearance of the vehicle 12.

[0046] A left-right direction indicator image 52 is configured from two-dimensional image data representing the left and right directions of a virtual mirror image 48. The left-right direction indicator image 52 includes an arrow and a text string indicating the vehicle width direction on the left side, displayed at a position on the vehicle width direction on the left side of the virtual vehicle image 50 with respect to the vehicle 12 when the driver looks at the touch panel display 20, and an arrow and a text string indicating the vehicle width direction on the right side, displayed at a position on the vehicle width direction on the right side of the virtual vehicle image 50.

[0047] The driver symbol 54 is a symbol that indicates the driver's position in the virtual mirror image 48 and is configured to be displayed virtually inside the virtual vehicle image 50. The driver symbol 54 is configured to be displayed on the driver's seat position side in their own vehicle 12 when the driver is looking at the touch panel display 20.

[0048] The blinker effect 56 is set up by a computer graphic that represents a blinking state of a flashing light.

[0049] The video processing area 44 performs a synthesis processing of the videos recorded by the rear camera 14, the first side camera 16 and the second side camera 18 to produce a “synthesized video 58” which is a rear-view video representing the rear of the vehicle 12 and is synthesized in such a way that the recorded videos are combined and reversed in the direction of the vehicle width.

[0050] The video processing area 44 is set up to generate the virtual mirror image 48, in which the virtual vehicle image 50, the left-right direction indicator image 52, the driver symbol 54 and the turn signal effect 56 are superimposed on the synthesized video 58, and to display this virtual mirror image 48 on the touch panel display 20.

[0051] More precisely, the video processing area 44 generates a virtual three-dimensional space based on the videos recorded by the rear camera 14, the first side camera 16 and the second side camera 18 and, for example, sets a position of the virtual vehicle image 50 on the synthesized video 58 with reference to positions of a part of the vehicle 12, a vehicle lane 60 (see Fig. 2) and the like, which are shown in this video. The video processing area 44 then sets a position of the left-right direction indicator image 52 with respect to the synthesized video 58 with respect to the position of the virtual vehicle image 50 with respect to the synthesized video 58.

[0052] The video processing area 44 is configured to detect the flashing state of the left and right turn signals based on the left and right turn signal signals and the steering angle detection signal. Then, when the left turn signal of the vehicle 12 is illuminated, the video processing area 44 is configured to superimpose the flashing effect 56 on a turn signal 50A on the left side of the virtual vehicle image 50 (in the vehicle width direction) relative to the vehicle 12, as seen by the driver looking at the touch panel display 20.

[0053] In a state where the right turn signal of the vehicle 12 is illuminated, the video processing area 44 is configured to superimpose the turn signal effect 56 of a turn signal 50B on the right side of the virtual vehicle image 50 (in the direction of vehicle width) with reference to the driver looking at the touch panel display 20 into the virtual vehicle image 50. Fig. Figure 3 shows, as an example, the virtual mirror video 48, which is displayed to the right of vehicle 12 during a lane change in the direction of vehicle width. Operation and advantageous effects of the present embodiment

[0054] The operation and the advantageous effects of the present embodiment are described below.

[0055] The following is a description of a control flow through the system for monitoring the periphery of vehicle 10, mainly the one in Fig. The flowchart shown in Figure 6 is used. This control flow is started when the CPU 26A of the control device 26 receives a specific command signal.

[0056] After the control flow starts, CPU 26A operates in step S100 in display switching area 40 and determines whether an operation has occurred on the display switching symbol 46. CPU 26A then sets the reverse video display mode on the touch panel display 20 if it detects that there has been a contact operation on the display switching symbol 46 (step S100: YES), and proceeds to step S102. It proceeds to step S101 if it detects that there has been no contact operation on the display switching symbol 46 (step S100: NO).

[0057] In step S101, the CPU 26A acts as display switching area 40 and determines the presence or absence of a left turn signal or a right turn signal from the turn signal switch 24. The CPU 26A sets the reverse video display mode on the touch panel display 20 when it is determined that the left turn signal or the right turn signal has been received from the turn signal switch 24 (step S101: YES), and proceeds to step S102, and returns to step S100 when it is determined that the left turn signal or the right turn signal has not been received from the turn signal switch 24 (step S101: NO).

[0058] In step S102, the CPU 26A acts as video processing area 44 and displays the virtual mirror video 48 on the touch panel display 20 and ends this control flow.

[0059] More precisely, in the present embodiment, as in Fig. 2 shown, a reverse image of the vehicle is captured by the reversing camera 14 in a vehicle width direction center section of the vehicle 12, a reverse image of the vehicle is captured by the first side camera 16 in the vehicle width direction of one side and a reverse image of the vehicle is captured by the second side camera 18 in the vehicle width direction of another side.

[0060] In addition, as in Fig. 3 shown, the virtual mirror image 48 is generated by the video processing area 44, in which the virtual vehicle image 50, which virtually represents the vehicle 12, and the left-right direction indicator image 52, which shows the left and right direction of the vehicle 12, are superimposed on the synthesized video 58, which is synthesized in such a way that it combines the videos recorded with the rear camera 14, the first side camera 16 and the second side camera 18 and is reversed in the direction of vehicle width.

[0061] The virtual mirror video 48 generated by the video processing area 44 is displayed on the touch panel display 20, which is located in a position visible to the driver of the vehicle 12.

[0062] This means that in the present embodiment, for example, as in Fig. 2 and Fig. Figure 3 shows that when another vehicle 62 is driving behind the ego vehicle 12, the virtual vehicle image 50 and a video of the other vehicle 62 are displayed on the virtual mirror video 48. This allows the driver to determine a relative positional relationship between their own vehicle 12 and the other vehicle 62 by viewing the virtual mirror video 48 displayed on the touch panel display 20.

[0063] Furthermore, in the present embodiment, in addition to the left-right direction indicator image 52, the driver symbol 54 and the turn signal effect 56 are also displayed in the virtual mirror image 48. This means that a relative relationship between the left-right directions of the virtual vehicle image 50 and the left-right directions of the driver's own vehicle 12 can be easily determined when the driver of the driver's own vehicle 12 has viewed the virtual mirror video 48.

[0064] Furthermore, in the present embodiment, as in Fig. 4 and Fig. As shown in Figure 5, the display switching area 40 is able to switch between the first state in which the virtual mirror video 48 is displayed on the touch panel display 20 and the second state in which the virtual mirror video 48 is not displayed on the touch panel display 20, based on the operation of the driver.

[0065] This means that, in the present embodiment, for example, various pieces of information usable by the driver of the vehicle 12 can be displayed on the touch panel display 20 in the second state.

[0066] Furthermore, in the present embodiment, the display switching area 40 switches between the first state, in which the virtual mirror video 48 is displayed on the touch panel display 20, and the second state, in which the virtual mirror video 48 is not displayed on the touch panel display 20, by the driver operating the turn signal lever 22.

[0067] In the present embodiment, during a left or right turn of the vehicle 12, the virtual mirror video 48 is displayed on the touch panel display 20, so that the driver can determine the condition behind the vehicle.

[0068] As described above, the present embodiment is able to display a relative positional relationship between the ego vehicle 12 and an object located at the periphery of the ego vehicle and at a rear side of the ego vehicle 12.

[0069] Supplementary description of the above embodiment (1) Although in the embodiment described above the virtual mirror video 48 is displayed on the touch panel display 20, depending on the specifications etc. of the vehicle 12 the virtual mirror video 48 can also be displayed on a counter display 64 (see Fig. 1) or displayed on a head-up display. (2) The control area and the associated method described in this disclosure can be implemented by a customer-specific computer that configures a processor programmed to perform one or more functions that are updated by a computer program. Alternatively, the device and method described in this disclosure can be implemented by a customer-specific computer that configures a processor with a customer-specific hardware logic circuit. Furthermore, the device and method described in this disclosure can be implemented by one or more customer-specific computers configured by combining a processor that executes a computer program with one or more hardware logic circuits.The computer program can be stored on a non-transient, computer-readable recording medium in the form of instructions to be executed by a computer. (3) The system for monitoring the periphery of the vehicle, as well as the method and program for monitoring the periphery of the vehicle according to the present disclosure, are applicable to a vehicle capable of autonomous driving.

[0070] In a video processing area 44 of a system for monitoring the periphery of a vehicle (10), a virtual mirror image (48) is generated in which a virtual vehicle image (50), which virtually represents a vehicle (12), and a left-right direction indicator image (52), which indicates the left-right direction of the vehicle (12), are superimposed on a synthesized video (58) which has been synthesized to combine the videos recorded by a rear-view camera (14), a first side camera (16), and a second side camera (18) and is reversed in a vehicle width direction.

Claims

[1] Vehicle peripheral monitoring system (10), comprising: a rear image sensing section (14) configured to capture a rear image of a vehicle in a vehicle width direction center section; a first side image sensing section (16) configured to capture a rearward image of the vehicle in a vehicle width direction of one side; a second side image sensing section (18) configured to capture a rearward image of the vehicle in a vehicle width direction of another side; a video processing section (44) configured to generate a virtual mirror video in which a virtual vehicle image virtually representing the vehicle and a left-right direction display image indicating the left-right directions of the vehicle are superimposed on a synthesized video synthesized to connect videos acquired by the rearward image acquiring section (14), the first side image acquiring section (16), and the second side image acquiring section (18), and to be reversed in a vehicle width direction; and a display (20) arranged at a position visible to a driver of the vehicle and arranged to display the virtual mirror video, characterized by a display switching section (40) configured to switch between a first state in which the virtual mirror video is displayed on the display (20) and a second state in which the virtual mirror video is not displayed on the display (20) based on an operation by the driver, wherein the display switching section (40) switches between the first state and the second state based on an operation of a turn signal lever (22) by the driver. [2] Vehicle peripheral monitoring method, comprising: Generating a synthesized video that has been synthesized to connect a first rearward video of a vehicle in a vehicle width direction center portion, a second rearward video of the vehicle in a vehicle width direction of one side, and a third rearward video of the vehicle in a vehicle width direction of another side, and to be reversed in the vehicle width direction; Generating a virtual mirror video in which a virtual vehicle image virtually representing the vehicle and a left-right direction display image indicating left-right directions of the vehicle are superimposed on the synthesized video; and Displaying the virtual mirror video on a display (20), characterized by Switching between a first state in which the virtual mirror video is displayed on the display (20) and a second state in which the virtual mirror video is not displayed on the display (20) based on an operation by the driver, wherein a display switching range switches between the first state and the second state based on an operation of a turn signal lever (22) by the driver. [3] A program that causes processing to be carried out by at least one processor in a computer, the processing comprising: Generating a synthesized video that has been synthesized to connect a first rearward video of a vehicle in a vehicle width direction center portion, a second rearward video of the vehicle in a vehicle width direction of one side, and a third rearward video of the vehicle in a vehicle width direction of another side, and to be reversed in the vehicle width direction; Generating a virtual mirror video in which a virtual vehicle image virtually representing the vehicle and a left-right direction display image indicating left-right directions of the vehicle are superimposed on the synthesized video; and Performing display control of the virtual mirror video, characterized by Switching between a first state in which the virtual mirror video is displayed on a display (20) and a second state in which the virtual mirror video is not displayed on the display (20) based on an operation by the driver, wherein a display switching range switches between the first state and the second state based on an operation of a turn signal lever (22) by the driver.

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