Vehicle periphery monitoring system

Abstract

To prevent a user from having difficulty in monitoring the condition of a road surface due to a display drawn on the road surface when the user of the vehicle monitors the periphery of a vehicle through an image captured by a camera outside the vehicle.SOLUTION: A vehicle periphery monitoring system that displays a captured image including a road surface around a vehicle captured by a camera of the vehicle to a user of the vehicle includes a road surface drawing unit that draws an external notification display having a predetermined shape on the road surface around the vehicle with light, and a drawing range recognition unit that recognizes a drawing range of the external notification display in the captured image and recognizes luminance or a color value around the drawing range, the road surface drawing unit adjusts the luminance of the external notification display so as to approach the luminance around the drawing range of the captured image, or adjusts the color value of the external notification display so as to approach the color value of the drawing range of the captured image.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle surroundings monitoring system. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2014-120113 is a known technical document relating to a vehicle surroundings monitoring system. This publication discloses a road surface drawing device that uses light to draw a notification display of a predetermined shape on the road surface in the traveling direction of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-120113 A Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, there is a known vehicle surroundings monitoring system that displays images captured by a camera outside the vehicle on an in-vehicle display to support the user in monitoring the surroundings of the vehicle. However, when the vehicle surroundings monitoring system is used in combination with the above-mentioned road surface drawing device, there is a problem that it becomes difficult for the user to monitor the road surface conditions due to the display drawn on the road surface by the road surface drawing device. [Means for solving the problem]

[0005] One aspect of the present invention is a vehicle surroundings monitoring system that displays to a user of the vehicle an image including the road surface surrounding the vehicle captured by the vehicle's camera, and includes a road surface drawing unit that draws an external notification display of a predetermined shape on the road surface surrounding the vehicle using light, and a drawing range recognition unit that recognizes the drawing range of the external notification display in the captured image and recognizes the luminance or color value of the surroundings of the drawing range, and the road surface drawing unit adjusts the luminance of the external notification display so that it approaches the luminance of the surroundings of the drawing range of the captured image, or adjusts the color value of the external notification display so that it approaches the color value of the drawing range of the captured image.

[0006] Another aspect of the present invention is a vehicle surroundings monitoring system that displays to a user of the vehicle an image including the road surface around the vehicle captured by a camera on the vehicle, and includes a road surface drawing unit that draws an external notification display of a predetermined shape on the road surface around the vehicle using light, and a drawing range recognition unit that recognizes the drawing range of the external notification display in the captured image before the external notification display is drawn by the road surface drawing unit, and recognizes the brightness or color value of the drawing range before the external notification display is drawn, and the road surface drawing unit draws an external notification display with its brightness adjusted to approach the brightness of the drawing range of the captured image, or draws an external notification display with its color value adjusted to approach the color value of the drawing range of the captured image. Effect of the Invention

[0007] According to each aspect of the present invention, when a vehicle user monitors the area around the vehicle through images captured by a camera outside the vehicle, it is possible to prevent the user from having difficulty monitoring the road conditions due to displays drawn on the road surface. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a vehicle surroundings monitoring system according to a first embodiment. [Diagram 2] 1A is a plan view illustrating an example of an external notification display, and FIG. [Diagram 3]13A is a flowchart illustrating an example of a pre-drawing process for an external notification display, and FIG. [Figure 4] FIG. 11 is a block diagram showing a vehicle surroundings monitoring system according to a second embodiment. [Diagram 5] FIG. 11 is a plan view for explaining the next drawing range. [Figure 6] 13 is a flowchart showing an example of a drawing process for a next drawing range. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [First embodiment] FIG. 1 is a block diagram showing a vehicle periphery monitoring system 100 according to a first embodiment. The vehicle periphery monitoring system 100 is an in-vehicle system that allows a vehicle user to monitor the situation around the vehicle by displaying an image captured by a camera 1 that captures an image of the outside of the vehicle on a display 2 inside the vehicle. The user may be the driver of the vehicle, or may be a passenger of the autonomous vehicle. The passenger may include a person sitting in the passenger seat, or may include a person sitting in the back seat.

[0011] In addition, the vehicle surroundings monitoring system 100 uses light to draw an external notification display on the road surface around the vehicle. The external notification display is a display for notifying, for example, pedestrians and other vehicles around the vehicle of the vehicle's behavior in advance.

[0012] Here, Fig. 2(a) is a plan view for explaining an example of an external notification display. In Fig. 2(a), external notification displays P1 to P3 are drawn on the road surface ahead of the vehicle 50. The external notification displays P1 to P3 shown in Fig. 2(a) are, for example, L-shaped displays that are drawn when the turn signal on the right side of the vehicle 50 is turned on. This allows pedestrians and other vehicles around the vehicle 50 to know that the vehicle 50 is planning to turn right.

[0013] The external notification displays P1 to P3 may be drawn on the road surface so as to extend in a direction corresponding to the steering angle when the parked vehicle 50 starts, regardless of whether the turn signal is on or off. The shape of the external notification displays P1 to P3 is not limited to an L-shape. The external notification displays P1 to P3 may be triangular, square, or arch-shaped. The external notification displays P1 to P3 do not need to be divided into multiple displays, and may be represented as a single arrow shape.

[0014] The shape and arrangement of the external notification display are not limited to the embodiment shown in Fig. 2(a). The external notification display may include a backing up notification display drawn on the road surface behind the vehicle 50 to notify the surroundings that the vehicle 50 is planning to back up or is currently backing up. In addition, the external notification display may include a display indicating the traveling direction of the low-speed vehicle 50 or a planned lane change.

[0015] In addition, the other vehicle to be notified by the external notification display is not limited to a manually driven vehicle driven by a human driver, but may include an autonomous vehicle. In this case, the autonomous vehicle recognizes the next behavior of the vehicle 50 by recognizing the external notification display drawn on the road surface in the image captured by the camera.

[0016] Next, a description will be given of the structure of the vehicle periphery monitoring system 100 in the first embodiment. As shown in Fig. 1, the vehicle periphery monitoring system 100 includes an ECU 10 (Electronic Control Unit) that performs overall control of the system.

[0017] The ECU 10 is an electronic control unit having a central processing unit (CPU) and a storage unit. The storage unit is composed of a read-only memory (ROM), a random access memory (RAM), an electrically erasable programmable read-only memory (EEPROM), etc. In the ECU 10, for example, various functions are realized by the CPU executing a program stored in the storage unit. The ECU 10 may be composed of multiple electronic units. The ECU 10 is connected to a camera 1, a display 2, and a display lamp 3.

[0018] The camera 1 is an imaging device that captures images of the situation outside the vehicle 50. The camera 1 includes, for example, a front camera provided on the back side of the windshield of the vehicle 50, a rear camera provided on the back side of the rear windshield of the vehicle 50, and the like. The imaging 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 transmits captured images of the surroundings of the vehicle 50 to the ECU 10.

[0019] The display 2 is a display device provided in the cabin of the vehicle 50, and provides image information to a user such as a driver. The display 2 is provided, for example, on a dashboard between the driver's seat and the passenger seat. The display 2 may be incorporated behind the steering wheel of the driver's seat or as part of the instrument panel. There is no need for a single display 2, and multiple displays may be provided.

[0020] The drawing lamps 3 are provided on the outside of the vehicle 50 and are signal lamps for drawing an external notification display on the road surface. The drawing lamps 3 can be provided, for example, near turn signal lamps provided on the left and right sides of the front and the left and right sides of the rear of the vehicle 50. The drawing lamps 3 may be provided only on the front side of the vehicle 50 or only on the rear side of the vehicle 50. The drawing lamps 3 may be shared with other lighting devices.

[0021] The light source of the drawing lamp 3 is not particularly limited, but may be an LED [Light Emitting Diode], a light source laser light, a halogen bulb, an HID [High-Intensity Discharge] lamp, or the like. The drawing lamp 3 is controlled by a control signal from the ECU 10. For details of the drawing lamp 3 and the method of drawing the external notification display, refer to JP 2023-81413 A.

[0022] Next, a description will be given of the functional configuration of the ECU 10. The ECU 10 has an image acquisition unit 11, a drawing range recognition unit 12, and a road surface drawing unit 13.

[0023] The image acquiring unit 11 acquires an image captured by the camera 1 and displays the image captured by the camera 1 on the display 2. The image acquiring unit 11 may combine images captured by a plurality of cameras and display the combined images on the display 2. The image acquiring unit 11 may constitute a part of a vehicle surroundings monitoring system such as a panoramic view monitor.

[0024] 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 in which the external notification display is drawn. Here, FIG. 2(b) is a plan view for explaining the drawing range and the surrounding area of ​​the drawing range. The drawing range and the surrounding area of ​​the drawing range are included in the captured range of the camera 1. The drawing range recognition unit 12 recognizes the drawing range when a drawing start condition for the external notification display, which will be described later, is satisfied. The drawing range recognition unit 12 recognizes the drawing range, for example, based on table data in which the type of external notification display and the drawing range are previously associated with each other.

[0025] FIG. 2(b) shows drawing ranges D1 to D3 and a drawing range surrounding area C. The drawing ranges D1 to D3 are areas corresponding to the external notification displays P1 to P3 in FIG. 2(a). The drawing range surrounding area C is an area around the drawing ranges D1 to D3 that is set to surround the drawing ranges D1 to D3. The drawing range surrounding area is set as an area in which the external notification displays P1 to P3 being drawn do not extend beyond the drawing ranges D1 to D3.

[0026] It should be noted that the drawing range D1 does not necessarily have to coincide with the external notification display P1, and may be set as an area including the external notification display P1. The same applies to the drawing ranges D2 and D3. The drawing range surrounding area C does not necessarily have to be a rectangular area, but may be an area in the vicinity of the drawing range that surrounds the drawing range. The drawing range surrounding area C may be set as an area within a certain distance from the drawing range. The drawing range surrounding area C may be set for each of the drawing ranges D1 to D3.

[0027] 2(b) shows drawing ranges D1 to D3 seen from above the vehicle 50, but the drawing range recognition unit 12 recognizes the drawing ranges D1 to D3 in the image captured by the camera 1. In the following description, the drawing ranges D1 to D3 and the drawing range surrounding area C refer to the ranges on the captured image.

[0028] Moreover, the drawing range recognition unit 12 recognizes the drawing range surrounding area C in the captured image of the camera 1. Furthermore, the drawing range recognition unit 12 recognizes the luminance and color values ​​of the drawing ranges D1 to D3 and the luminance and color values ​​of the drawing range surrounding area C from the captured image of the camera 1. The luminance is the degree of brightness of a pixel in the captured image. The color value is a color parameter of a pixel in the captured image. The color value can be, for example, an RGB value (Red, Green, Blue). The color value may be expressed as an HSL (Hue, Saturation, Lightness) parameter. The chromaticity may be expressed as a YUV (luminance signal, difference between the luminance signal and the blue component, difference between the luminance signal and the red component) parameter.

[0029] The road surface drawing unit 13 draws external notification displays on the road surface by controlling the drawing lamps 3. For example, when a turn indicator is turned on as a drawing start condition for an external notification display, the road surface drawing unit 13 draws external notification displays P1 to P3 shown in FIG. 2(a) on the road surface in front of the vehicle 50.

[0030] When the shift lever of the vehicle 50 is switched to reverse or when the vehicle 50 starts to reverse due to automatic driving, the road surface drawing unit 13 may draw a reverse notification display (external notification display) on the road surface behind the vehicle 50. In addition, as the drawing start condition of the external notification display, well-known conditions disclosed in JP2023-81413A and the like can be adopted.

[0031] Next, the process at the start of drawing an external notification display in the road surface drawing unit 13 will be described. At the start of drawing an external notification display, the road surface drawing unit 13 draws external notification displays P1 to P3 on the road surface with their brightness adjusted so as to approach the brightness of the drawing ranges D1 to D3 recognized before drawing. The brightness of the drawing range D1 can be, for example, the average value of the brightness of the pixels included in the drawing range D1. Instead of the average value, a minimum or maximum value may be used. The average value of the brightness of the pixels (the pixels on the outermost side) that make up the periphery of the drawing range D1 may also be used. The same applies to the drawing ranges D2 and D3.

[0032] Specifically, the road surface drawing unit 13 adjusts the brightness of the external notification display P1 so that it approaches the brightness of the drawing range D1 compared to the initial setting brightness. The road surface drawing unit 13 may or may not match the brightness of the drawing range D1 and the brightness of the external notification display P1. The road surface drawing unit 13 may divide the drawing range D1 into a plurality of blocks, and adjust the brightness of the area corresponding to each block of the external notification display P1 so that it approaches the average brightness of the blocks. The number of blocks is not particularly limited.

[0033] In addition, the road surface drawing unit 13 does not need to adjust the brightness when the difference between the initial brightness of the external notification display P1 and the brightness of the drawing range D1 is less than a certain value. The same applies to the external notification displays P2 and P3.

[0034] The road surface drawing unit 13 draws external notification displays P1 to P3 on the road surface with adjusted color values ​​based on the color values ​​of the drawing ranges D1 to D3 recognized before drawing the external notification displays. The road surface drawing unit 13 draws external notification displays P1 to P3 on the road surface with adjusted color values ​​so as to approach the color values ​​of the drawing ranges D1 to D3 before drawing. The color value of the drawing range D1 can be, for example, the average color value of the pixels included in the drawing range D1. The average color value of the pixels (the pixels on the outermost side) that form the periphery of the drawing range D1 may also be used. The same applies to the drawing ranges D2 and D3.

[0035] Specifically, the road surface drawing unit 13 adjusts the color value of the external notification display P1 so as to approach the color value of the drawing range D1 compared to the initial setting color value. The road surface drawing unit 13 may or may not match the color value of the drawing range D1 with the color value of the external notification display P1. The road surface drawing unit 13 may 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 so as to approach the average color value of each block. The number of blocks is not particularly limited.

[0036] In addition, the road surface drawing unit 13 does not need to adjust the color value if the difference between the initial setting color value of the external notification display P1 and the color value of the drawing range D1 is less than a certain value. The difference in color value can be, for example, the largest value among the differences of each parameter of the RGB value. The above points are similar to those for the external notification displays P2 and P3.

[0037] Next, a description will be given of processing during the continuation of drawing of the external notification display in the road surface drawing unit 13. During the continuation of drawing of the external notification display, the road surface drawing unit 13 adjusts the external notification display using the brightness and color value of the drawing range surrounding area C, rather than the drawing range D1-D3 in which the external notification displays P1-P3 are drawn.

[0038] The brightness of the drawing range surrounding area C can be, for example, the average brightness of the pixels included in the drawing range surrounding area C. Instead of the average, the minimum or maximum value may be used. The average brightness of the pixels that make up the inner periphery of the drawing range surrounding area C (pixels adjacent to the drawing ranges D1 to D3) may also be used.

[0039] The road surface drawing unit 13 adjusts the brightness of the external notification display P1 so that it approaches the brightness of the drawing range surrounding area C, for example, compared to the brightness of the current external notification display P1. The road surface drawing unit 13 may or may not match the brightness of the drawing range surrounding area C and the brightness of the external notification display P1. The road surface drawing unit 13 may not adjust the brightness if 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 above also applies to the external notification displays P2 and P3.

[0040] The road surface drawing unit 13 may also divide the drawing range surrounding area C into a plurality of blocks surrounding the drawing ranges D1 to D3, and adjust the brightness of the external notification displays P1 to P3 so as to approach the average brightness of each block. The road surface drawing unit 13 repeats the adjustment of the brightness and color value of the external notification displays at regular intervals while drawing continues.

[0041] The road surface drawing unit 13 may be configured to adjust only one of the luminance and chromaticity before drawing or while drawing is continuing. In that case, it is sufficient for the drawing range recognition unit 12 to be able to recognize only one of the luminance and chromaticity. The road surface drawing unit 13 may be configured to adjust both the luminance and chromaticity of the external notification display before drawing, and adjust only the luminance of the external notification display while drawing is continuing.

[0042] Next, the processing of the vehicle periphery monitoring system 100 in the first embodiment will be described. Fig. 3(a) is a flowchart showing an example of a drawing pre-processing of an external notification display. The drawing pre-processing of an external notification display is executed, for example, when a drawing start condition of the external notification display is satisfied.

[0043] 3(a), in S10, the ECU 10 of the vehicle surroundings monitoring system 100 recognizes the drawing ranges D1-D3 of the external notification display before drawing by the drawing range recognizing unit 12. The drawing range recognizing unit 12 recognizes the drawing ranges D1-D3 in the captured image based on, for example, table data in which the types of external notification displays are previously associated with the drawing ranges D1-D3. After that, the ECU 10 proceeds to S11.

[0044] In S11, the ECU 10 recognizes the luminance or color value of the drawing ranges D1 to D3 by the drawing range recognition unit 12. The drawing range recognition unit 12 recognizes the luminance and chromaticity of the drawing ranges D1 to D3 from the image captured by the camera 1. After that, the ECU 10 proceeds to S12.

[0045] In S12, the ECU 10 causes the road surface drawing unit 13 to draw the external notification displays. The road surface drawing unit 13 draws the external notification displays P1 to P3 on the road surface with the luminance adjusted so as to approach the luminance of the drawing ranges 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 with the color values ​​adjusted so as to approach the color values ​​of the drawing ranges D1 to D3 recognized before drawing. The road surface drawing unit 13 may adjust both the luminance and the color values. After that, the ECU 10 ends the drawing pre-processing.

[0046] Next, the external notification display drawing adjustment process will be described. Fig. 3(b) is a flowchart showing an example of the external notification display drawing adjustment process. The external notification display drawing adjustment process is executed while the external notification display drawing continues.

[0047] 3(b), in step S20, the ECU 10 recognizes the drawing range surrounding area C by the drawing range recognizing unit 12. The drawing range recognizing unit 12 recognizes the drawing range surrounding area C in the captured image, for example, based on table data in which the type of external notification display and the drawing range surrounding area C are previously associated with each other.

[0048] In S21, the ECU 10 recognizes the luminance 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 luminance or chromaticity of the drawing range surrounding area C from the image captured by the camera 1.

[0049] In S22, the ECU 10 adjusts the brightness and color value of the external notification display by the road surface drawing unit 13. The road surface drawing unit 13 adjusts the brightness of the external notification display P1 so that it approaches the brightness of the drawing range surrounding area C compared to the current brightness of the external notification display P1. The road surface drawing unit 13 may adjust both the brightness and the color value. The ECU 10 repeats the process from S20 at regular intervals while drawing continues.

[0050] According to the vehicle surroundings monitoring system 100 of the first embodiment described above, when a user of a vehicle 50 monitors the surroundings of the vehicle through the display 2 showing the image captured by the camera 1, the brightness or color value of the drawing range in the captured image is recognized before drawing, and an external notification display is drawn on the road surface with at least one of the brightness and color value adjusted to approach the brightness or color value of the drawing range in the captured image, thereby preventing the external notification display drawn on the road surface from making it difficult for the user to monitor the conditions of the road surface.

[0051] In addition, the vehicle surroundings monitoring system 100 recognizes the brightness or color value of the area surrounding the drawing range in the captured image while continuing to draw the external notification display, and adjusts at least one of the brightness and color value of the external notification display so that it approaches the brightness or color value of the area surrounding the drawing range in the captured image, thereby preventing the external notification display drawn on the road surface from making it difficult for the user to monitor the road surface conditions.

[0052] [Second embodiment] Next, a vehicle periphery monitoring system according to a second embodiment will be described with reference to the drawings. The same or corresponding components as those in the first embodiment are given the same reference numerals, and duplicated descriptions will be omitted. FIG. 4 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 differs from the first embodiment in that at least one of the luminance and chromaticity of the external notification display is adjusted in consideration of a change in the drawing position of the external notification display due to the movement of the vehicle 50.

[0053] Specifically, the ECU 20 of the vehicle surroundings monitoring system 200 is connected to a vehicle speed sensor 4 and a steering angle sensor 5. The vehicle speed sensor 4 is a sensor that detects the vehicle speed of the vehicle 50. The vehicle speed sensor 4 transmits information on the detected vehicle speed to the ECU 20. The steering angle sensor 5 is a sensor that detects the steering angle of the vehicle 50. The steering angle sensor 5 transmits information on the detected steering angle to the ECU 20.

[0054] The ECU 20 of the second embodiment differs 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 in that a next drawing range estimation unit 21 is newly provided.

[0055] When the vehicle 50 that satisfies the drawing start condition for the external notification display is moving, the next drawing range estimation unit 21 estimates a next drawing range that will become the drawing range of the next external notification display due to the movement of the vehicle 50. First, the next drawing range estimation unit 21 recognizes the movement of the vehicle 50 based on information on the vehicle speed detected by the vehicle speed sensor 4 and information on the steering angle detected by the steering angle sensor 5. The movement of the vehicle 50 includes the traveling direction and the vehicle speed.

[0056] The next drawing range estimation unit 21 estimates the next drawing range from the movement of the vehicle 50 and the captured image (image of the road surface) of the camera 1. "Next" means the next drawing timing of the external notification display that is 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.

[0057] The next drawing range estimation unit 21 may estimate the next drawing range by using table data in which the movement of the vehicle 50, the type of external notification display, and the next drawing range are previously associated with each other. Note that the image captured by the camera 1 in the second embodiment may be limited to an image capturing the traveling direction of the vehicle 50.

[0058] Here, Fig. 5 is a plan view for explaining the next drawing range. Fig. 5 shows the next drawing ranges F1 to F3 of the external notification displays P1 to P3. The movement of the vehicle 50 until the next drawing timing is indicated by an arrow. As shown in Fig. 5, the next drawing range estimation unit 21 estimates the next drawing ranges F1 to F3 of the external notification displays P1 to P3 from the movement of the vehicle 50 and the captured image of the camera 1.

[0059] 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 the external notification displays 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 from the image captured by the camera 1. The brightness of the next drawing range F1 to F3 can be defined in the same way as the brightness of the drawing range described above. The same applies to the color value.

[0060] When drawing 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 with their luminance adjusted to be closer to the luminance of the next drawing range F1 to F3. Also, when drawing 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 with their color values ​​adjusted to be closer to the color values ​​of the next drawing range F1 to F3. The adjustment of the luminance and color values ​​can be the same as in the first embodiment.

[0061] Next, the processing of the vehicle periphery monitoring system 200 according to the second embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart showing an example of drawing processing for the next drawing range.

[0062] 6, in 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 from the movement of the vehicle 50 and the captured image of the camera 1. Thereafter, the ECU 20 proceeds to S31.

[0063] In S31, the ECU 20 recognizes the luminance or color value of the next drawing range F1 to F3 by the drawing range recognizing unit 22. The drawing range recognizing unit 22 recognizes the luminance or color value of the next drawing range F1 to F3 from the image captured by the camera 1. After that, the ECU 20 proceeds to S32.

[0064] In S32, the ECU 20 draws the external notification displays P1 to P3 in the next drawing range F1 to F3, with the brightness or color value adjusted by 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 be closer to the brightness of 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 be closer to the color value of the next drawing range F1 to F3. The road surface drawing unit 23 may adjust both the brightness and the color value.

[0065] According to the vehicle surroundings monitoring system 200 of the second embodiment described above, the next drawing range F1 to F3 is estimated, and the external notification displays P1 to P3 are adjusted and drawn so as to approach the brightness or color values ​​of the next drawing range F1 to F3, thereby preventing the external notification displays P1 to P3 drawn on the road surface from making it difficult for the user to monitor the road surface conditions.

[0066] Although the embodiment of the present invention has been described above, the present invention is not limited to the above-mentioned embodiment. The present invention can be embodied in various forms including the above-mentioned embodiment and various modifications and improvements based on the knowledge of those skilled in the art.

[0067] The vehicle surroundings monitoring systems 100 and 200 do not need to be capable of executing both the process at the start of drawing an external notification display and the process while drawing an external notification display is continuing, but only need to be capable of executing one of them. [Explanation of symbols]

[0068] 1...camera, 2...display, 3...drawing lamp, 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 surroundings monitoring system, D1, D1 to D3...drawing range, C...area surrounding the drawing range, F1 to F3...next drawing range, P1 to P3...external notification display.

Claims

1. A vehicle surroundings monitoring system that displays an image including a road surface around a vehicle captured by a camera of the vehicle to a user of the vehicle, a road surface drawing unit that draws an external notification display having a predetermined shape on a road surface around the vehicle using light; a drawing range recognition unit that recognizes a drawing range of the external notification display in the captured image and recognizes a luminance or color value of a periphery of the drawing range; Equipped with A vehicle surroundings monitoring system in which the road surface drawing unit adjusts the brightness of the external notification display so that it approaches the brightness of the surroundings of the drawing range of the captured image, or adjusts the color value of the external notification display so that it approaches the color value of the drawing range of the captured image.

2. A vehicle surroundings monitoring system that displays an image including a road surface around a vehicle captured by a camera of the vehicle to a user of the vehicle, a road surface drawing unit that draws an external notification display having a predetermined shape on a road surface around the vehicle using light; a drawing range recognition unit that recognizes a drawing range of the external notification display in the captured image before the road surface drawing unit draws the external notification display, and recognizes a luminance or color value of the drawing range before the external notification display is drawn; Equipped with A vehicle surroundings monitoring system in which the road surface drawing unit draws the external notification display with the brightness adjusted to approach the brightness of the drawing range of the captured image, or draws the external notification display with the color value adjusted to approach the color value of the drawing range of the captured image.

3. A next drawing range estimation unit is configured to estimate a next drawing range that will be a drawing range of the next external notification display due to movement of the vehicle, The drawing range recognition unit recognizes a luminance or a color value of the next drawing range in the captured image before the external notification display is drawn in the next drawing range, The vehicle surroundings monitoring system of claim 1 or 2, wherein the road surface drawing unit draws the external notification display with its brightness adjusted to approach the brightness of the next drawing range when drawing the external notification display in the next drawing range, or draws the external notification display with its color value adjusted to approach the color value of the next drawing range when drawing the external notification display in the next drawing range.

Images