Vehicle Vision Device

Abstract

To assist an occupant's visual recognition by suppressing deterioration of the visibility of a rear vehicle.SOLUTION: A visual recognition device for a vehicle 10 detects the image of a rear vehicle from an image taken by a rear camera 14A, sets the image boundary by a boundary setting unit 42 so as not to overlap the image of the vehicle behind. An image extracting unit 24 extracts a display image from each of the captured images on the basis of the set image boundary, and a display processing unit 26 displays the rear image generated by connecting the display images at the image boundary on a monitor 16. As a result, it is possible to suppress the deterioration of the visibility of the vehicle behind the vehicle, and to assist the visibility of the rear of the vehicle with the images captured by the rear camera 14A and the side cameras 14L and 14R.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a visual recognition device for a vehicle that assists a vehicle occupant in visual recognition. [Background technology]

[0002] Patent Document 1 discloses a vehicle display device that crops rear images, left rear side images, and right rear side images captured by the vehicle's rear camera, left rear side camera, and left rear side camera to a predetermined angle of view, and displays a composite image obtained by combining the cropped images on a display inside the vehicle cabin.

[0003] In this vehicle display device, when a rear vehicle sensor detects a rear vehicle located behind the vehicle, the distance between the vehicle and the rear vehicle is determined, and the shorter the distance between the vehicles, the larger the rear image field angle is set, and the proportion of the area occupied by the rear image in the composite image is increased. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-110492 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, if the proportion of the rear image is increased compared to the left and right side images in the composite image displayed on the display, the blind spots immediately behind the left and right sides of the vehicle body will become larger. The size of the image of the rear vehicle in the composite image depends not only on the distance between the vehicles but also on the size of the rear vehicle (size in the vehicle width direction). Therefore, if the proportion of the rear image in the composite image is determined according to the distance between the vehicles, the blind spots on the left and right sides of the vehicle will become larger or the image of the rear vehicle will be missing, which will affect the appearance of the image and the visibility behind the vehicle.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a vehicle visualization device that can assist occupants in viewing while suppressing a decrease in visibility of rear vehicles. [Means for solving the problem]

[0007] A first aspect of a vehicle visualizing device for achieving the above-mentioned object includes an imaging unit including a first imaging means that outputs a first captured image of the rear of the vehicle, and a second imaging means that outputs a second captured image of the rear of the vehicle from the side of the vehicle body so that a portion of the captured image area overlaps with the imaging area of ​​the first imaging means; a display unit that uses an image boundary set in the overlapping area of ​​the first captured image and the second captured image as a boundary, extracts a first display image from the first captured image and extracts a second display image from the second captured image according to the image boundary, and displays a rear image connecting the first display image and the second display image on a display medium so that it is visible to an occupant; an object detection means that detects an image of a vehicle rear of the vehicle included in the first captured image; and a setting means that sets the image boundary according to the image position of the rear vehicle so that the image of the rear vehicle detected by the object detection means is positioned in the first display image.

[0008] The vehicle visual recognition device of the second aspect is the first aspect, wherein the object detection means detects the rear vehicle from the first captured image and the second captured image.

[0009] In the third aspect of the vehicular visualization device, in the first or second aspect, the setting means changes the position of the image boundary when the ratio of the image size of the rear vehicle on the first displayed image in the rear image to the image size of the rear vehicle on the first captured image becomes equal to or less than a predetermined ratio.

[0010] In a fourth aspect of the vehicle visualization device, in the first or second aspect, the setting means changes the position of the image border so that it moves outward in the vehicle width direction to a predetermined position when the distance between the image of the rear vehicle on the rear image and the image border becomes a first distance or less.

[0011] A fifth aspect of the vehicle visualizing device is any one of the first to fourth aspects, in which the setting means changes the position of the image boundary so that it moves outward in the vehicle width direction by a predetermined amount when moving the position of the image boundary.

[0012] A sixth aspect of the vehicle visualizing device is any one of the first to fifth aspects, wherein the setting means changes the position of the image boundary to a standard position that is set in advance within the overlap area when an image of the rear vehicle is not detected on the first captured image.

[0013] A seventh aspect of the vehicle visualizing device is any one of the first to sixth aspects, wherein the setting means changes the position of the image border to approach a predetermined standard position within the overlap area when the distance between the image of the rear vehicle and the image border exceeds a predetermined second distance.

[0014] The visual recognition device for a vehicle of an eighth aspect is any one of the first to seventh aspects, wherein the setting means changes the position of the image boundary by a preset amount to be inward in the vehicle width direction. Effect of the Invention

[0015] In a first aspect of the present invention, the vehicle visual confirmation device includes a first imaging means of an imaging unit that outputs a first captured image of the rear of the vehicle, and a second imaging means that outputs a second captured image of the rear of the vehicle from a vehicle side such that a part of the captured area overlaps with the captured area of ​​the first imaging means. The display unit extracts a first display image from the first captured image and a second display image from the second captured image according to an image boundary set in an overlapping area between the first captured image and the second captured image, and displays a rear image in which the first display image and the second display image are connected by the image boundary on a display medium so as to be visible to an occupant. and a setting means for setting the image boundary in accordance with an image position of the rear vehicle detected by the object detection means so that the image of the rear vehicle detected by the object detection means is positioned in the first display image.

[0016] Here, the object detection means detects a rear vehicle and detects an image of the rear vehicle included in the first captured image. When setting an image boundary within an overlapping area between the first captured image and the second captured image, the setting means sets the image boundary such that the detected image of the rear vehicle is positioned in the first display image.

[0017] This prevents the image boundary of the rear image displayed on the display medium from overlapping with the image of the rear vehicle traveling directly behind the vehicle and displayed on the first display image, thereby assisting the occupants' visibility while preventing a decrease in visibility of the rear vehicle.

[0018] In the vehicle visual recognition device of the second aspect, the object detection means detects a rear vehicle from the first captured image and the second captured image, thereby effectively detecting the rear vehicle traveling behind the vehicle and effectively assisting the occupant in visual recognition.

[0019] In the vehicle visual confirmation device of the third aspect, when the ratio of the image size of the rear vehicle on the first display image in the rear image to the image size of the rear vehicle on the first captured image becomes equal to or smaller than a preset ratio, the position of the image boundary is changed, thereby effectively suppressing a decrease in visibility caused by a large portion of the rear vehicle being missing from the rear image.

[0020] In the fourth aspect of the vehicle visual confirmation device, when the distance between the image of the rear vehicle on the rear image and the image boundary is equal to or smaller than the first distance, the position of the image boundary is moved outward in the vehicle width direction to a predetermined position, thereby effectively suppressing a decrease in visibility of the rear vehicle.

[0021] In the fifth aspect of the vehicle visual confirmation device, when the position of the image boundary is moved, it is changed so as to move outward in the vehicle width direction by a preset amount. This makes it possible to prevent the position of the image boundary from moving significantly when preventing the image boundary from overlapping with the image of the rear vehicle, and to prevent a blind spot occurring near the vehicle body from changing significantly, thereby more effectively assisting the occupant in visual confirmation behind the vehicle.

[0022] In the sixth aspect of the vehicle visual recognition device, a standard position for the position of the image boundary is set within the overlapping region. When an image of a rear vehicle is not extracted from the first captured image, the setting means changes the position of the image boundary to the standard position. This makes it possible to prevent the position of the image boundary from being moved outward in the vehicle width direction from the standard position even when a rear vehicle is not detected directly behind the vehicle, thereby making it possible to prevent blind spots occurring near the vehicle body.

[0023] In the seventh aspect of the vehicle visual recognition device, when the distance between the image of the rear vehicle and the image boundary exceeds a preset second distance, the position of the image boundary is changed to approach a preset standard position. This makes it possible to prevent the position of the image boundary from remaining away from the standard position when the distance between the image of the rear vehicle and the image boundary increases due to the rear vehicle moving away from the vehicle itself, and effectively reduces blind spots occurring near the vehicle body.

[0024] In the eighth aspect of the vehicle visual confirmation device, the position of the image boundary is changed so as to move inward in the vehicle width direction by a preset amount. This makes it possible to effectively move the image boundary when the distance between the image of the rear vehicle and the image boundary increases, thereby effectively reducing blind spots occurring near the vehicle body and effectively supporting the visibility of the occupants. [Brief description of the drawings]

[0025] [Figure 1] 1 is a schematic diagram of a vehicle visual recognition device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a plan view showing an outline of the vehicle as viewed from above. [Diagram 3] 3 is a schematic diagram showing a captured image and a display image on a monitor; FIG. [Figure 4] 13A is a flowchart showing an example of a display process, and FIG. 13B is a flowchart showing an example of a boundary setting process. [Diagram 5] (A) to (D) are schematic diagrams showing examples of rear vehicle displays, with (A) showing the closest rear vehicle, (B) showing the closest rear vehicle, (C) showing the closest rear vehicle, and (D) showing the closest rear vehicle. [Figure 6]13 is a flowchart showing an example of a boundary setting process according to a modified example. [Figure 7] (A) to (D) are schematic diagrams showing examples of the display of a rear vehicle traveling in the same lane as the vehicle itself and a rear vehicle traveling in an adjacent lane, with (A), (B), (C), and (D) showing the approaching rear vehicle in the adjacent lane in that order. [Figure 8] (A) to (D) are schematic diagrams showing examples of the display of a rear vehicle traveling in the same lane as the vehicle itself and a rear vehicle traveling in an adjacent lane, with (A), (B), (C), and (D) showing a rear vehicle in the adjacent lane moving away in that order. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. The vehicular visual confirmation device 10 according to this embodiment is provided in a vehicle 12 (own vehicle) and assists occupants such as a driver in visually confirming the area behind the vehicle. Fig. 1 shows a schematic configuration of the vehicular visual confirmation device 10 according to this embodiment in a block diagram, and Fig. 2 shows a schematic top plan view of the vehicle 12 provided with the vehicular visual confirmation device 10. In the drawing, the front side of the vehicle is indicated by an arrow FR, and the right side in the vehicle width direction is indicated by an arrow RH.

[0027] As shown in FIG. 1, the vehicle visualizing device 10 includes a plurality of cameras 14 as imaging means constituting an imaging section, a monitor 16 as a display medium constituting a display section, and a visualizing processing device 18 including a display section (display control section) for displaying a rear image corresponding to the image captured by the camera 14 on the monitor 16.

[0028] The camera 14 uses a rear camera 14A as a first imaging means and side cameras 14L and 14R as a second imaging means, and the camera 14 captures an image (video) using an imaging element. As shown in Fig. 2, the rear camera 14A is disposed at the rear of the vehicle 12 and in the center in the vehicle width direction (for example, the center in the vehicle width direction of the rear bumper), and captures an image of the rear of the vehicle 12 at a predetermined angle of view (imaging area).

[0029] The side cameras 14L, 14R are arranged such that the side camera 14L is attached to the door 12L on the left side in the vehicle width direction of the vehicle 12, and the side camera 14R is attached to the door 12R on the right side in the vehicle width direction of the vehicle 12. If the vehicle 12 is equipped with door mirrors, the side cameras 14L, 14R may be attached to the door mirrors (not shown) of the vehicle 12. Also, the side cameras 14L, 14R may be attached to any side of the vehicle body of the vehicle 12, for example, to the front fenders.

[0030] The side cameras 14L and 14R each capture an image of the rear of the vehicle 12 from the side (outside of the vehicle body side) at a predetermined angle of view (photographing area). The side cameras 14L and 14R are arranged so that a part of each of their photographing areas overlaps with the photographing area of ​​the rear camera 14A. Therefore, the rear side of the vehicle 12 is photographed at a wide angle by the rear camera 14A and the side cameras 14L and 14R over a range from the left rear to the right rear of the vehicle body, including the immediate rear of both the left and right sides of the vehicle body. As a result, the vehicular visual confirmation device 10 can capture images of almost the entire area of ​​the vehicle 10 from the left rear side to the right rear side of the vehicle body by the rear camera 14A and the side cameras 14L and 14R.

[0031] The monitor 16 is thin and rectangular and is elongated in the vehicle width direction, and is disposed inside the vehicle cabin near the upper portion of the front windshield glass at the front of the vehicle (at a position corresponding to the inner mirror). The display surface of the monitor 16 faces toward the rear of the vehicle so that it can be viewed by passengers inside the vehicle cabin, and the monitor 16 functions as an inner mirror by displaying an image captured by the camera 14. The monitor 16 may be provided on the instrument panel, and can be provided at any position that does not impede the visibility of the passengers and is easily viewable by the passengers.

[0032] The visual recognition processing device 18 synthesizes (connects) the images captured by the rear camera 14A and the side cameras 14L, 14R to generate a rear image (exterior rear image) capturing the rear of the vehicle at a wide angle, and controls to display the generated rear image on the monitor 16. In this embodiment, the rear image displayed on the monitor 16 is an image obtained by connecting (combining) display images extracted from the images captured by the rear camera 14A and the side cameras 14L, 14R. The vehicular visual recognition device 10 may also display on the monitor 16 an image of the interior of the vehicle captured by an interior camera superimposed on the rear image.

[0033] The visual recognition processing device 18 includes a microcomputer (not shown) in which a CPU, a ROM, a RAM, a storage as a non-volatile storage medium, an input / output interface, etc. are interconnected by a bus. In the visual recognition processing device 18, a program stored in the ROM, storage, etc. is read by the CPU and executed while being expanded in the RAM, thereby realizing a function according to the program. Note that the visual recognition processing device 18 is not limited to a CPU, and a GPU (Graphic Processing Unit), FPGA (Field Programmable Gate Array), etc. can also be used.

[0034] 1, the visual processing device 18 includes an image processing unit 20, a viewpoint conversion unit 22, an image extraction unit 24, and a display processing unit 26. In the visual processing device 18, a CPU executes a predetermined program, thereby functioning as the image processing unit 20, the viewpoint conversion unit 22, the image extraction unit 24, and the display processing unit 26.

[0035] The visual recognition processing device 18 is connected to the rear camera 14A, the side cameras 14L, 14R, and the monitor 16, and generates a rear image to be displayed on the monitor 16 from images captured by the rear camera 14A and the side cameras 14L, 14R. Fig. 3 is a schematic diagram showing an outline of the captured images and the rear image displayed on the monitor 16. Note that, on the monitor 16, the images captured by the rear camera 14A and the side cameras 14L, 14R are displayed in a horizontally inverted manner, and the images captured by the left and right side cameras 14L and 14R are displayed interchangeably (inverted horizontally as a whole).

[0036] 3, the image processing unit 20 reads the captured images of the rear camera 14A and the side cameras 14L and 14R, and executes a predetermined image processing to output a captured image (image data) 28A as a first captured image captured by the rear camera 14A, and captured images (image data) 28L and 28R as second captured images captured by the side cameras 14L and 14R. The image processing unit 20 processes the captured images 28A, 28L, and 28R so that the sizes of the images of the same object are similar.

[0037] The viewpoint positions of the captured images 28A, 28L, and 28R are different between the rear camera 14A and the side cameras 14L and 14R. From this, the viewpoint conversion unit 22 performs a viewpoint conversion process on the captured images 28A, 28L, and 28R. In the viewpoint conversion process, for example, a virtual viewpoint is set on the front side of the vehicle from the center position of the monitor 16 (the center position in the vehicle width direction and the vertical direction), and the captured images 28A, 28L, and 28R are converted into images viewed from the virtual viewpoint.

[0038] In the viewpoint conversion process, a virtual screen is set as a virtual surface at a predetermined position behind the vehicle 12 together with the virtual viewpoint. The virtual screen may be a flat surface or a curved surface, but when the monitor 16 is curved in a convex shape toward the rear of the vehicle, it is preferable that the virtual screen is a curved surface that is convex toward the rear of the vehicle (a curved surface that is concave when viewed from the vehicle 12). In the viewpoint conversion process, any method can be applied for converting each of the captured images 28A, 28L, and 28R into an image projected on the virtual screen when viewed from a virtual viewpoint.

[0039] As a result, the captured images 28A, 28L, and 28R are subjected to viewpoint conversion processing by applying the same virtual viewpoint and virtual screen in the viewpoint conversion unit 22, so that if the same object is captured in the captured images 28A, 28L and 28A or 28R, the object appears to overlap.

[0040] The image extraction unit 24 extracts display images 30A, 30L, and 30R to be displayed on the monitor 16 from each of the photographed images 28A, 28L, and 28R. In the visual recognition processing device 18, an image boundary 32L between the photographed images 28A and 28L and an image boundary 32R between the photographed images 28A and 28R are set as the image boundary 32. The image extraction unit 24 performs a trimming process on each of the photographed images 28A, 28L, and 28R according to the image boundary 32 (image boundaries 32L and 32R) and the display area on the monitor 16. As a result, the image extraction unit 24 extracts a display image 30A as a first display image from the photographed image 28A, and extracts display images 30L and 30R as second display images from the photographed images 28L and 28R.

[0041] The image boundaries 32L, 32R are substantially linear or strip-shaped (strip-shaped with a width of a predetermined number of pixels) along the vertical direction, and the image extraction unit 24 extracts the display images 30A, 30L, 30R by changing the trimming positions of the captured images 28A, 28L, 28R by moving (changing) the positions of the image boundaries 32L, 32R in the vehicle width direction. The image boundaries 32L, 32R correspond to the boundaries of the display images 30A, 30L and the display images 30A, 30R on the virtual screen, and the boundaries between the display images 30A and 30L and the boundaries between the display images 30A and 30R on the virtual screen are moved in the vehicle width direction by moving the image boundaries 32L, 32R.

[0042] Image boundary 32L is set within the overlapping region between photographed image 28A and photographed image 28L, and image boundary 32R is set within the overlapping region between photographed image 28A and photographed image 28L. Image boundaries 32L, 32R (image boundary 32L and image boundary 32R) are each set within a range from an inner position (positions Lin, Rin) in the vehicle width direction to an outer position (positions Lout, Rout) in the vehicle width direction. That is, the position of image boundary 32L is set within a range from position Lin to Lout, and the position of image boundary 32R is set within a range from position Rin to Rout.

[0043] The display image 30A is narrowest in the vehicle width direction by positioning the image boundaries 32L, 32R at the inner positions Lin, Rin in the vehicle width direction, and is widest in the vehicle width direction by positioning the image boundaries 32L, 32R at the outer positions Lout, Rout in the vehicle width direction.

[0044] The display processing unit 26 joins the display image 30L and the display image 30R to the display image 30A at the image boundaries 32L and 32R on both the left and right sides of the display image 30A to generate a rear image (image data of the rear image) to be displayed on the monitor 16. As a result, the rear image displayed on the monitor 16 is a composite image in which the display images 30A, 30L, and 30R are joined together at the image boundaries 32L and 32R.

[0045] Generally, near image boundary 32R (and the same applies to image boundary 32L), there is an area (a so-called blind spot) where no image appears in the composite image obtained by joining display image 30A and display image 30R trimmed at image boundary 32R, even though the area appears in at least one of the captured images 28A, 28R. In other words, when projected onto a virtual screen and trimmed at image boundary 32R, among objects on the viewpoint side (camera 14 side) of the virtual screen, images of objects (or parts of objects) on the outer side in the vehicle width direction of image boundary 32R (on the photographed image 28R side) are excluded from photographed image 28A (display image 30A), and images of objects (or parts of objects) on the inner side in the vehicle width direction of image boundary 32R (on the photographed image 28A side) are excluded from photographed image 28R (display image 30R). For this reason, by trimming photographed images 28A, 28R at image boundary 32R, the area removed by trimming becomes a blind spot (blind spot area) in the rear image formed by combining display images 30A, 30R.

[0046] In the vehicular visual recognition device 10, when the image boundaries 32L, 32R are located at the outer positions Lout, Rout in the vehicle width direction, the areas in the captured images 28L, 28R that are far from the vehicle body are extracted in the displayed images 30L, 30R. Therefore, in the rear image displayed on the monitor 16, the blind spots occurring on the sides of the vehicle body become large (wide).

[0047] In addition, when the positions of the image boundaries 32L, 32R of the vehicle visualizing device 10 are moved from positions Lout, Rout to positions Lin, Rin (inner in the vehicle width direction) to predetermined positions, the blind spots gradually narrow, and the blind spots on the left rear and right rear sides immediately adjacent to the vehicle body are narrowest.

[0048] Here, in the vehicular visual recognition device 10, standard positions (original positions, default positions, for example, positions shown in FIG. 3) L0, R0 of the image boundaries 32L, 32R are set. The standard positions L0, R0 of the image boundaries 32L, 32R are set to positions where the blind spots on the left rear side and the right rear side immediately adjacent to the vehicle body are narrowest on the rear image (see FIG. 3). As a result, in the rear image displayed on the monitor 16, the image boundaries 32L, 32R are set to the standard positions L0, R0, thereby preventing the vicinity of the sides of the vehicle body from becoming blind spots.

[0049] On the other hand, in the vehicular visual confirmation device 10, a vehicle (rear vehicle) traveling behind the vehicle 12 is imaged, and the rear vehicle is displayed on the monitor 16. In the vehicular visual confirmation device 10, an image of the rear vehicle is included in any one of the display images 30A, 30L, and 30R and displayed on the monitor 16, allowing the occupant to visually confirm the rear vehicle.

[0050] The vehicle visual recognition device 10 is provided with an object detection means. The object detection means detects a rear vehicle traveling behind the vehicle 12. The object detection means may be a method using a millimeter wave radar that uses radio waves with a frequency of 30 GHz to 300 GHz called millimeter waves and can measure the position and distance of an object. The object detection means may be a known method such as a LiDAR (Light Detection Ranging) method that uses light such as infrared light (laser light) to measure the direction of light irradiation and the time it takes for the light reflected by the object to be received.

[0051] The vehicle visual recognition device 10 is provided with a rear camera 14A and side cameras 14L and 14R as imaging means, and at least a part of the imaging area is overlapped (overlapping) between the rear camera 14A and the side cameras 14L and 14R. In this way, when detecting the distance (inter-vehicle distance) of the rear vehicle to the rear vehicle 34 and the vehicle 12, a stereo camera method may be applied.

[0052] In this embodiment, a rear vehicle (hereinafter referred to as rear vehicle 34) traveling directly behind the vehicle 12 is used as the detection target of the target detection means, and the target rear vehicle 34 is imaged by the rear camera 14A as it travels behind (mainly directly behind) the vehicle 12.

[0053] The object detection means only needs to be capable of detecting at least the rear vehicle 34, and in this embodiment, the object detection means detects the rear vehicle 34 using the captured image 28A captured by the rear camera 14A. Note that a plurality of methods may be applied to the object detection means, and for example, the captured image 28A of the rear camera 14A and a millimeter wave radar method, or the captured image 28A of the rear camera 14A and a LiDAR method may be used in combination, thereby improving the detection accuracy.

[0054] The visual recognition processing device 18 of the vehicle visual recognition device 10 is formed with a target detection section 38 constituting a target detection means, a target extraction section 40 as an image detection means, and a boundary setting section 42 as a setting means. In the visual recognition processing device 18, a CPU executes a predetermined program, thereby functioning as the target detection section 38, the target extraction section 40, and the boundary setting section 42.

[0055] The target detection unit 38 reads the captured image 28A by the rear camera 14A and the captured images 28L, 28R by the side cameras 14L, 14R, searches for an image (vehicle image 34A) of the rear vehicle 34 from the captured image 28A, and detects the rear vehicle 34 shown in the captured image 28A. Note that, for the detection of the rear vehicle 34, various known methods can be applied, such as a pattern matching method that searches for an image of a pattern similar to a plurality of pattern images of a vehicle (rear vehicle) that are stored in advance.

[0056] Furthermore, the object extraction unit 40 reads the captured image 28A by the rear camera 14A and the captured images 28L, 28R by the side cameras 14L, 14R, and extracts the position (outline and outline area) on the captured image 28A for the vehicle image 34A of the rear vehicle 34 detected by the object detection unit 38. At this time, when multiple rear vehicles 34 are detected, the object extraction unit 40 detects the rear vehicle 34 closest to the vehicle 12 as the object.

[0057] Furthermore, white lines (lane lines) 46L, 46R are marked on the left and right of the lane 44 on the road on which the vehicle 12 is traveling, and the rear camera 14A and the side cameras 14L, 14R capture images of the rear of the vehicle including the lane 44 (white lines 46L, 46R) (see FIG. 3). Whether or not a vehicle detected by the target detection unit 38 is a target rear vehicle 34 can be determined by extracting the white lines 46L, 46R indicating the lane 44 on the captured images 28A, 28L, 28R, and determining that the rear vehicle is a rear vehicle 34 if it can be considered that the rear vehicle is traveling in the same lane 44 as the vehicle 12.

[0058] Furthermore, the imaging range of the rear camera 14A is predetermined with respect to the center line in the vehicle width direction of the vehicle 12, and for example, the center position in the vehicle width direction on the captured image 28A overlaps with the center line of the vehicle 12. From this, the determination of whether or not the vehicle detected by the target detection unit 38 is the target rear vehicle 34 is made such that, when the size of the image of the rear vehicle on the captured image 28A is equal to or larger than a predetermined size, and the center position in the vehicle width direction of the image of the rear vehicle on the captured image 28A is within a predetermined range with respect to the center position of the captured image 28A (for example, within a range where the vehicle can be considered to be traveling in the same lane 44), the vehicle can be determined to be the rear vehicle 34.

[0059] When the target rear vehicle 34 is set (identified), the boundary setting unit 42 sets the position of the image boundary 32L between the display image 30A and the display image 30L, and the position of the image boundary 32R between the display image 30A and the display image 30L, based on the image position of the rear vehicle 34 on the captured image 28A (the position of the vehicle image 34A).

[0060] The boundary setting unit 42 sets the image boundaries 32L, 32R in the ranges of positions Lin to Lout and Rin to Rout, respectively. At this time, if there is no other vehicle traveling (not shown) behind the vehicle 12, or if the other vehicle is traveling in an adjacent lane and is in a position that cannot be considered to be directly behind the vehicle 12, the boundary setting unit 42 sets the positions of the image boundaries 32L, 32R to standard positions.

[0061] Furthermore, the boundary setting unit 42 sets each of the image boundaries 32L, 32R at a position where the vehicle image 34A of the following vehicle 34 does not become difficult to see due to overlapping with the vehicle image 34A of the following vehicle 34. For example, as the following vehicle 34 approaches, the boundary setting unit 42 causes the vehicle image 34A displayed on the monitor 16 to become larger, narrowing the distance d between the vehicle image 34A and at least one of the image boundary 32L and the image boundary 32R.

[0062] When the interval d becomes equal to or less than a given interval d1 (d≦d1) that is the first interval, the boundary setting unit 42 sets the corresponding image boundary 32 (at least one of the image boundary 32L and the image boundary 32R) to move outward in the vehicle width direction (toward the position Lout side or the position Rout side) by a predetermined movement amount (a predetermined distance on the monitor 16 such as a predetermined number of pixels, hereinafter referred to as distance dsa). Also, when the image boundary 32 (at least one of the image boundary 32L and the image boundary 32R) overlaps with the vehicle image 34A of the rear vehicle 34, the boundary setting unit 42 sets the corresponding image boundary 32 to move outward in the vehicle width direction by the distance dsa.

[0063] In addition, the boundary setting unit 42 prevents the image boundaries 32L, 32R from being positioned more outward than necessary in the vehicle width direction. For example, when the rear vehicle 34 moves away and the vehicle image 34A displayed on the monitor 16 becomes smaller, the interval d between the vehicle image 34A and the image boundaries 32L, 32R increases. As a result, when the interval d becomes equal to or larger than the interval d2, which is the second interval, the boundary setting unit 42 sets the positions of the image boundaries 32L, 32R so that the image boundaries 32L, 32R approach the standard positions L0, R0 (so that they are on the inside in the vehicle width direction). At this time, the boundary setting unit 42 sets the image boundaries 32L, 32R to move by a predetermined movement amount (a predetermined distance on the monitor 16, such as a predetermined number of pixels, hereinafter referred to as distance dsb).

[0064] Such intervals d1, d2, distance dsa, and distance dsb are preset within a range that does not impair the visibility of the occupants or the appearance of the rear image in the rear image displayed on the monitor 16. Note that the intervals d, distance dsa, etc. can be the dimensions (number of pixels) between the center positions of the image boundaries 32L, 32R or the ends of the image boundaries 32L, 32R on the vehicle image 34A side and the ends of the vehicle image 34A in the vehicle width direction.

[0065] The image extraction unit 24 of the visual recognition processing device 18 extracts the display images 30A, 30L, and 30R from the captured images 28A, 28L, and 28R, respectively, based on the image boundaries 32L and 32R set by the boundary setting unit 42. As a result, a rear image in which the display images 30A, 30L, and 30R are combined is displayed on the monitor 16.

[0066] Next, the operation of this embodiment will be described. The vehicular visual confirmation device 10 starts operation when an instruction to start displaying an image on the monitor 16 is given, for example, by turning on an ignition switch (IG switch) of the vehicle 12, and ends operation after a predetermined time has elapsed when an instruction to end image display is given, for example, by turning off the IG switch. When an instruction to start operation is given in the vehicular visual confirmation device 10, the rear camera 14A and the side cameras 14L, 14R are operated, and the visual confirmation processing device 18 is operated so that images captured by the rear camera 14A and the side cameras 14L, 14R are displayed on the monitor 16.

[0067] Fig. 4(A) shows an outline of the display process executed by operating the visual recognition processing device 18 in a flow chart, and Fig. 4(B) shows an example of the image boundary setting process in a flow chart. Fig. 5(A) to Fig. 5(D) show, as an example, a display on the monitor 16 according to a vehicle image 34A in the case where a vehicle 34 behind the vehicle 12 is captured in the captured image 28A. Note that the image boundaries 32L and 32R are set separately, but one of the image boundaries 32L and 32R may be set to match the other of the image boundaries 32L and 32R that has been set.

[0068] The flowchart in Fig. 4(A) is executed at preset time intervals when the visual recognition processing device 18 is operated. In the first step 100, images captured by each camera 14 (rear camera 14A and side cameras 14L, 14R) are read and predetermined image processing is performed (step 102). As a result, a captured image 28A of the rear of the vehicle and captured images 28L, 28R from the sides of the vehicle to the rear are acquired. In the next step 104, a predetermined viewpoint conversion process is performed on the captured images 28A, 28L, 28R.

[0069] In addition, the visual processing device 18 sets the image boundary 32 (image boundary 32L, 32R) in step 106, and performs trimming processing on each of the viewpoint converted captured images 28A, 28L, 28R according to the set image boundary 32L, 32R in step 108 to extract the display images 30A, 30L, 30R. Next, in step 110, the visual processing device 18 joins the display images 30A, 30L, 30R at the image boundary 32L, 32R to generate a rear image to be displayed on the monitor 16, and in step 112 causes the monitor 16 to display the rear image.

[0070] As a result, the rear image of the vehicle 12 obtained from the images 28A, 28L, 28R captured by the rear camera 14A and the side cameras 14L, 14R is displayed as a moving image on the monitor 16 attached to the front side of the vehicle from the occupant inside the vehicle cabin, and the occupant inside the vehicle cabin can see the rear of the vehicle with the rear image displayed on the monitor 16. Moreover, the occupant can see a wide range from the rear left side of the vehicle to the rear right side of the vehicle.

[0071] On the other hand, in the visual recognition device 10 for a vehicle, the visual recognition processing device 18 detects a rear vehicle 34 traveling behind (substantially directly behind) the vehicle 12, and when the rear vehicle 34 is detected, sets image boundaries 32L, 32R according to a vehicle image 34A of the rear vehicle 34. As a result, in the visual recognition device 10 for a vehicle, the vehicle image 34A is effectively displayed on the monitor 16.

[0072] The flowchart in Fig. 4(B) is executed by moving to step 106 in Fig. 4(A), and in the first step 120, the visual recognition processing device 18 detects a vehicle traveling behind the vehicle 12, and in step 122, it is confirmed whether or not a rearward vehicle 34 traveling approximately directly behind (a position that can be considered as directly behind) the vehicle 12 has been detected. Since the rearward vehicle 34 is a vehicle that is at least imaged by the rear camera 14A, the captured image 28A is used to detect the rearward vehicle 34, and the visual recognition processing device 18 searches the captured image 28A to detect the rearward vehicle 34 (vehicle image 34A of the rearward vehicle 34).

[0073] In the visual recognition processing device 18, if the rear vehicle 34 is not detected from the captured image 28A (including the case where the rear vehicle 34 is far away backward), a negative determination is made in step 122, and the process proceeds to step .

[0074] In step 124, the visual recognition processing device 18 sets the image border 32 (image borders 32L, 32R) to the standard positions L0, R0, and then proceeds to the next process. As a result, the monitor 16 normally displays a rear image in which the image borders 32L, 32R are set to the standard positions L0, R0 (not shown).

[0075] In the vehicular visual confirmation device 10, the standard positions L0, R0 of the image boundaries 32L, 32R are set to positions where the blind spots near the rear sides of the vehicle body of the vehicle 12 are narrowed. Therefore, the monitor 16 displays the immediate vicinity on both the left and right sides of the vehicle body and the immediate rear on both the left and right sides with the blind spots narrowed, so that the immediate vicinity and the immediate rear of the vehicle body are prevented from becoming blind spots in the rear image displayed on the monitor 16. This allows the vehicular visual confirmation device 10 to effectively assist the occupant in viewing the rear and the vicinity of the vehicle body.

[0076] On the other hand, if a rear vehicle 34 traveling directly behind the vehicle 12 (in the same lane as the vehicle 12) is detected, the visual recognition processing device 18 makes a positive determination in step 122 and proceeds to step 126. In step 126, the visual recognition processing device 18 identifies a vehicle image 34A of the rear vehicle 34 in the captured image 28A in which the rear vehicle 34 appears. In other words, the position and image range (image size) of the vehicle image 34A on the captured image 28A are identified.

[0077] When the vehicle image 34A of the rear vehicle 34 is identified on the captured image 28A, the visual recognition processing device 18 sets the image border 32 (image borders 32L, 32R) in accordance with the vehicle image 34A in step 128. At this time, the image border 32 is set at a position that does not impair at least the appearance of the vehicle image 34A of the rear vehicle 34. In addition, it is preferable that the image border 32 is set at a position that does not overlap (a position that is out of) the vehicle image 34A of the rear vehicle 34.

[0078] For example, the image boundaries 32L, 32R are set to standard positions L0, R0 or to the outside of the standard positions L0, R0 in the vehicle width direction on the captured image 28A relative to the vehicle image 34A of the rear vehicle 34. In this case, if the image boundaries 32L, 32R overlap the vehicle image 34A of the rear vehicle 34, or if the distance d between the image boundaries 32L, 32R and the vehicle image 34A of the rear vehicle 34 is equal to or less than the distance d1 (d≦d1), the vehicular visual recognition device 10 sets the position of the corresponding image boundary 32 to be moved by a distance dsa from the current position outward in the vehicle width direction (in the direction away from the standard positions L0, R0).

[0079] Figure 5 shows a case in which a rear vehicle 34 is traveling in the same lane 44 as vehicle 12 and approaches vehicle 12 as time passes (as time T passes), from time T0 (see Figure 5(A)), time T1 (see Figure 5(B)), time T2 (see Figure 5(C)), and time T3 (see Figure 5(D)).

[0080] As shown in FIG. 5(A), when the rear vehicle 34 is relatively far away from the vehicle 12, and the vehicle image 34A of the rear vehicle 34 shown in the captured image 28A (display image 30A) is relatively small and falls between (does not overlap) the image boundaries 32L, 32R at the standard positions L0, R0, the image boundaries 32L, 32R are set to the standard positions L0, R0, respectively.

[0081] Furthermore, when the rear vehicle 34 approaches, the vehicle image 34A displayed on the monitor 16 gradually becomes larger. As a result, as shown in Fig. 5(B), when the vehicle image 34A approaches so as to contact the image boundaries 32L and 32R (for example, when at least one of the distance d between the image boundary 32L and the vehicle image 34A and the distance d between the image boundary 32R and the vehicle image 34A becomes equal to or smaller than d1 (d≦d1)), the visual recognition processing device 18 sets the corresponding image boundary 32 (for example, the image boundary 32R) to move outward in the vehicle width direction by the distance dsa.

[0082] In the visual recognition processing device 18, the image borders 32L, 32R are set to move in accordance with the distance d from the vehicle image 34A, but the image borders 32L, 32R may also be set to move in parallel (at the same timing) by a similar movement amount (distance dsa. Furthermore, the movement of the image border 32 may be set in accordance with the degree of change in size of the vehicle image 34A (amount of change per unit time), so that when the degree of change is large, the movement distance dsa is larger than when the degree of change is small. This makes it possible to prevent the position of the image border 32 from changing frequently, which may be annoying to the occupants.

[0083] 5C, the image border 32R is moved outward in the vehicle width direction by a predetermined amount (for example, distance dsa). At this time, if the condition for the image border 32L to move is not satisfied, the position of the image border 32L is not changed and remains at the standard position L0. This makes it possible to prevent the image border 32 from overlapping the vehicle image 34A and impairing the appearance of the vehicle image 34A even if the rear vehicle 34 approaches the vehicle 12 further.

[0084] Furthermore, as the rear vehicle 34 approaches the vehicle 12 and the vehicle image 34A becomes larger, for example, the vehicle image 34A overlaps with the image boundaries 32L, 32R, or the distance d between the vehicle image 34A and the image boundaries 32L, 32R becomes equal to or smaller than the distance d1. In this case, the visual recognition processing device 18 sets each of the image boundaries 32L, 32R to move further outward in the vehicle width direction by, for example, a distance dsa.

[0085] 5(D), the image border 32L is set to move from the standard position L0 toward the position Lout, and the image border 32R is set to move to a position (e.g., position Rout) further away from the vehicle image 34A. This moves the image borders 32L, 32R away from the vehicle image 34A, suppressing the image borders 32L, 32R from reducing the occupant's visibility of the rear vehicle 34.

[0086] On the other hand, when the rear vehicle 34 moves away from the vehicle 12, the vehicle image 34A displayed on the monitor 16 gradually becomes smaller, and the distance d between the vehicle image 34A and the image boundary 32 becomes larger (widens). In the visual recognition processing device 18, when the distance d between the image boundary 32 and the vehicle image 34A becomes equal to or larger than the distance d2, the corresponding image boundary 32 is moved inward in the vehicle width direction by the distance dsb. As a result, as the vehicle image 34A becomes smaller, the image boundaries 32L, 32R are moved (set) so as to approach the standard positions L0, R0. That is, in the visual recognition processing device 18, the image boundaries 32L, 32R that were away from the standard positions L0, R0 are moved stepwise (or may be continuously) toward the standard positions L0, R0 until they reach the standard positions L0, R0.

[0087] In this way, the vehicular visual confirmation device 10 can prevent the vehicle image 34A of the rear vehicle 34 from overlapping with the image boundary 32 in the rear image displayed on the monitor 16, thereby preventing the vehicle image 34A from becoming difficult to see. As a result, the vehicular visual confirmation device 10 can effectively prevent a decrease in visibility of the rear vehicle 34 displayed on the monitor 16, and effectively support the rearward visibility of the occupants.

[0088] The vehicular visual confirmation device 10 extracts display images 30A, 30L, and 30R from the captured images 28A, 28L, and 28R of the rear camera 14A and the side cameras 14L and 14R, respectively, and generates a rear image to be displayed on the monitor 16. At this time, the vehicular visual confirmation device 10 detects a vehicle image 34A of a rearward vehicle 34 from the captured image 28A, and sets an image boundary 32 so as not to overlap with the vehicle image 34A displayed on the monitor 16.

[0089] As a result, in the vehicle visualization device 10, the overlap of the image border 32 on the vehicle image 34A in the rear image displayed on the monitor 16 is prevented, thereby preventing a decrease in visibility of the vehicle image 34A (rear vehicle 34) displayed on the monitor 16, and assisting the occupants in viewing the rear vehicle 34 while preventing a decrease in appearance due to the image border 32 overlapping the vehicle image 34A of the rear vehicle 34.

[0090] In addition, the vehicle visualizing device 10 detects the rear vehicle 34 (vehicle image 34A) from the captured image 28A of the rear camera 14A, so that the rear vehicle 34 can be detected efficiently without providing a detection means for detecting the rear vehicle 34 in addition to the imaging means.

[0091] Furthermore, when the image boundary 32 is set to move in accordance with the vehicle image 34A of the rear vehicle 34, the vehicular visual confirmation device 10 prevents the vehicle image 34A and the image boundary 32 from becoming too far apart. This prevents the image boundary 32 (image boundaries 32L, 32R) from becoming too far away from the standard positions L0, R0, which would result in an increase in blind spots, thereby reliably assisting the occupants in viewing.

[0092] Meanwhile, in the above explanation, the image boundaries 32L, 32R are set (moved) within the range from the standard positions L0, R0 to the positions Lout, Rout so that the image boundaries 32L, 32R do not overlap the vehicle image 34A. At this time, the image boundaries 32L, 32R are set so as not to be too far away or too close to the vehicle image 34A. However, even if the image boundaries 32L, 32R overlap the vehicle image 34A, if the overlap is small, there is little effect on visibility and appearance.

[0093] For example, when the image boundary 32 overlaps the vehicle image 34A, the image size (e.g., the dimension of the vehicle image 34A in the vehicle width direction; this may also be the image area of ​​the vehicle image 34A) of the vehicle image 34A (vehicle image 34A of the display image 30A) displayed on the monitor 16 changes.

[0094] From this, it is possible to determine whether or not to move the image border 32 for the vehicle image 34A of the rear vehicle 34 from the ratio of the image size of the vehicle image 34A on the display image 30A to the image size of the vehicle image 34A on the captured image 28A. In this case, a ratio (threshold value) is set in advance at which it can be determined that the visibility of the occupants and the appearance of the rear image are not impaired even if the image border 32 overlaps with the vehicle image 34A in the rear image displayed on the monitor 16. In the vehicular visualizing device 10, this threshold value may be changeable.

[0095] The vehicular visualizing device 10 obtains the image size of the vehicle image 34A in the captured image 28A of the rear camera 14A, and also obtains the image size of the vehicle image 34A in the display image 30A. The vehicular visualizing device 10 also calculates the ratio of the image size of the vehicle image 34A in the display image 30A to the image size of the vehicle image 34A in the captured image 28A of the rear camera 14A. Thereafter, the vehicular visualizing device 10 sets a new image boundary 32 when the calculated ratio becomes equal to or smaller than a threshold value.

[0096] As a result, the calculated ratio becomes equal to or less than the threshold value and the image boundary 32 is set, thereby preventing the vehicle image 34A from being significantly missing from the rear image displayed on the monitor 16 and preventing the image boundary 32 from being annoying to the occupants, and the rear image displayed on the monitor 16 can assist the occupants in viewing.

[0097] In addition, the vehicles traveling behind vehicle 12 are not limited to those traveling in the same lane 44 as vehicle 12, but also include vehicles traveling in the lane adjacent to vehicle 12's lane 44, and vehicles traveling across lane 44 and the adjacent lane.

[0098] Whether or not the rear vehicle is the rear vehicle 34 traveling directly behind the vehicle 12 (in the same lane 44) may be determined from the image in the captured image 28A of the rear camera 14A. In this case, even if the rear vehicle is approaching the vehicle 12 and the white lines 46L, 46R are difficult to see, for example, it is possible to accurately determine whether or not the rear vehicle is the rear vehicle 34, and it is possible to prevent the image boundaries 32L, 32R from impairing the appearance of the vehicle image 34A of the rear vehicle 34.

[0099] On the other hand, on a road where the lane 44 is divided into multiple lanes, a rear vehicle (hereinafter, referred to as a rear vehicle 48) may be traveling closer to the vehicle 12 than the rear vehicle 34 on the same lane 44 as the vehicle 12.

[0100] Here, as a modified example of the process for setting the image boundary 32 in the on-vehicle visual recognition device 10, a case in which a vehicle 34 and a vehicle 48 are traveling behind the vehicle 12 will be described.

[0101] An example of an image boundary setting process according to the modified example is shown in a flow chart in Fig. 6. Also, Figs. 7(A) to 7(D) and 8(A) to 8(D) are schematic diagrams showing the display on the monitor 16 when the rear vehicle 34 is traveling in the same lane 44 as the vehicle 12 and the rear vehicle 48 is traveling in the lane 44A next to (to the right of) the vehicle 12.

[0102] The captured images 28L, 28R are used to detect the rear vehicle 48 (detect the vehicle image 48A of the rear vehicle 48). In Fig. 6, the same processes as those in Fig. 4(B) are given the same step numbers (reference characters) as those in Fig. 4(B) and detailed descriptions thereof are omitted. Furthermore, in the modified example, the setting of one image boundary 32R is described, and the illustration and description of the other image boundary 32L are omitted, but the other image boundary 32L may be set to match the image boundary 32R.

[0103] Fig. 6 is used in place of Fig. 4(B) and is executed by moving to step 106 in Fig. 4(A). In the first step 130 of the flowchart in Fig. 6, the visual recognition processing device 18 performs a process of detecting a rear vehicle (rear vehicle 34, 48) traveling behind the vehicle 12 from the captured images 28A, 28R (which may include the captured image 28L of the side camera 14L) of the rear camera 14A and the side camera 14R. In addition, the vehicular visual recognition device 10 checks in step 132 whether or not a rear vehicle (at least one of the rear vehicle 34 and the rear vehicle 48) has been detected, and in step 134 checks whether or not the rear vehicle 34 traveling in the same lane 44 as the vehicle 12 has been detected.

[0104] In detecting the rear vehicle 34 and the rear vehicle 48, the visual recognition processing device 18 identifies the lanes 44, 44A from the captured images 28A, 28R, which are the white lines 46L, 46R on the left and right sides of the lane 44 in which the vehicle 12 is traveling. In addition, the visual recognition processing device 18 identifies a vehicle traveling in the lane 44 (between the white lines 46L, 46R) as the rear vehicle 34, and identifies a vehicle traveling in the lane 44A on the opposite side of the lane 44 across the white line 46R as the rear vehicle 48.

[0105] Here, if neither of the rear vehicles 34, 48 is detected (including the case where they are far behind), the visual recognition processing device 18 makes a negative determination in step 132 and proceeds to step 124. As a result, the image borders 32R are each set to the standard position R0.

[0106] Furthermore, if the detected vehicles include the rear vehicle 34 traveling in the lane 44, the visual recognition processing device 18 makes an affirmative determination in step 132 and also makes an affirmative determination in step 134, and proceeds to step 126. The visual recognition processing device 18 sequentially executes step 126 and step 128, sets the image boundary 32R based on the traveling state of the rear vehicle 34, and proceeds to step 138. As a result, the visual recognition processing device 18 sets the image boundary 32R in the range from the standard position R0 to the position Rout according to the vehicle image 34A of the rear vehicle 34.

[0107] If the rear vehicle 34 is not detected, the visual processing device 18 makes a negative determination in step 134, proceeds to step 136, sets the image boundary 32R to the standard position R0, and proceeds to step 138. Also, in step 138, the visual processing device 18 checks whether or not the rear vehicle 48 (vehicle image 48A of the rear vehicle 48) traveling in the adjacent lane 44A is detected, and in step 140, checks whether or not the rear vehicle 48 in the lane 44A is closer to the vehicle 12 than the rear vehicle 34. At this time, if the rear vehicle 48 is not detected, the visual processing device 18 makes a negative determination in step 138 and starts the next process. Also, if the rear vehicle 48 is farther away from the vehicle 12 than the rear vehicle 34, the visual processing device 18 makes an affirmative determination in step 138, and makes a negative determination in step 140, proceeds to the next process.

[0108] On the other hand, when the rear vehicle 48 is closer to the vehicle 12 than the rear vehicle 34, the vehicle image 48A of the rear vehicle 48 is displayed larger on the monitor 16 compared to the vehicle image 34A of the rear vehicle 34. In this case, the visual processing device 18 makes a positive determination in each of steps 138 and 140 and proceeds to step 142. In step 142, the visual processing device 18 identifies a photographed image in which the full width of the rear vehicle 48 is shown, and sets the position of the image boundary 32R so as not to overlap the vehicle image 48A of the rear vehicle 48 on the identified photographed image. At this time, when the vehicle image 48A of the rear vehicle 48 is shown in the photographed image 28A or is shown straddling the photographed images 28A and 28R and the proportion of the vehicle image 48A shown in the photographed image 28A is large, the visual processing device 18 identifies the photographed image 28A as the photographed image in which the rear vehicle 48 is shown. In addition, when the vehicle image 48A of the rear vehicle 48 is shown in the photographed image 28R, or is shown straddling the photographed images 28A and 28R and is shown in the photographed image 28R to a large extent, the visual recognition processing device 18 identifies the photographed image 28R as the photographed image in which the rear vehicle 48 is shown.

[0109] In the next step 144, the visual processing device 18 sets the image boundary 32R according to the identified captured image (vehicle image 48A on the captured image. At this time, if the captured image 28A is identified as the captured image, the visual processing device 18 sets the image boundary 32R to a position (for example, position Rout) that is further outward in the vehicle width direction than the standard position R0. Furthermore, if the captured image 28R is identified as the captured image, the visual processing device 18 sets the image boundary 32R to the standard position R0.

[0110] By setting the image boundary 32R in this manner, when the rear vehicle 48 is closer to the vehicle 12 than the rear vehicle 34, the image boundary 32R changes as shown in Figures 7(A) to 7(D) or 8(A) to 8(D). Note that Figures 7 and 8 show cases in which the traveling position of the rear vehicle 48 changes over time, such as time T0 (see Figures 7(A) and 8(A)), time T4 (see Figures 7(B) and 8(B)), time T5 (see Figures 7(C) and 8(C)), and time T6 (see Figures 7(D) and 8(D)).

[0111] 7(A) to 7(D) show a case where the rear vehicle 48 approaches the vehicle 12. As shown in FIG. 7(A) to FIG. 7(C), when the rear vehicle 48 is relatively far from the vehicle 12 and the vehicle image 48A of the rear vehicle 48 displayed on the monitor 16 is relatively small (when the vehicle image 48A is on the photographed image 28A), the image boundary 32R is set to a position (for example, position Rout) that is outward in the vehicle width direction from the standard position R0, and the vehicle image 48A of the rear vehicle 48 is displayed on the display image 30A. In contrast, as shown in FIG. 7(D), when the rear vehicle 48 approaches the vehicle 12 and the vehicle image 48A of the rear vehicle 48 displayed on the monitor 16 becomes relatively large (when the vehicle image 48A is on the photographed image 28R), the image boundary 32R is moved to the standard position R0.

[0112] As a result, the vehicular visual recognition device 10 can prevent the image border 32R from overlapping with the vehicle image 48A of the rear vehicle 48 approaching the vehicle 12 and being displayed on the monitor 16, thereby preventing the image border 32R from impairing the appearance (making it difficult to see) of the vehicle image 48A of the rear vehicle 48, and effectively assisting the occupant in visualizing the rear. Moreover, when the rear vehicle 48 approaches the vehicle 12, the image border 32R becomes the standard position R0, so that in the rear image displayed on the monitor 16, the blind spot near the right rear side of the vehicle body is narrowed, effectively assisting the occupant in visual recognition.

[0113] On the other hand, when the rear vehicle 48 leaves the vehicle 12 and is captured in the captured image 28R as shown in Fig. 8(A) to Fig. 8(C), the vehicular visualizing device 10 sets the image boundary 32 on the inside in the vehicle width direction (on the standard position R0 side) of the position Rout. As a result, the monitor 16 displays a rear image in which the vehicle image 48A of the rear vehicle 48 is captured in the display image 30R. At this time, as shown in Fig. 8(B) and Fig. 8(C), the vehicular visualizing device 10 sets (maintains) the image boundary 32R on the inside in the vehicle width direction of the position Rout while the rear vehicle 48 is mainly captured in the captured image 28R, even if the rear vehicle 48 leaves the vehicle 12.

[0114] In contrast, as shown in Fig. 8(D), when the rear vehicle 48 moves away from the vehicle 12 and appears in the captured image 28A, the vehicular visualizing device 10 is set so that the image boundary 32 moves toward the position Rout (or may be the position Rout). As a result, a rear image in which the vehicle image 48A of the rear vehicle 48 is shown in the display image 30A is displayed on the monitor 16. At this time, as shown in Fig. 8(C), when the rear vehicle 48 straddles the captured images 28A and 28R, the vehicular visualizing device 10 may hold the image boundary 32R on the inside in the vehicle width direction of the position Rout.

[0115] In this manner, in the modified example, the vehicular visualizing device 10 can effectively prevent each of the vehicle images 34A, 48A of the rear vehicles 34, 48 from overlapping with the image boundary 32R. This can prevent deterioration in appearance caused by the vehicle images 34A, 48A of the rear vehicles 34, 48 overlapping with the image boundary 32R, and can prevent deterioration in visibility for the occupants, thereby effectively assisting the occupants in viewing the rear vehicles 34, 44. [Explanation of symbols]

[0116] 10...vehicle visual recognition device, 12...vehicle (host vehicle), 14A rear camera (first imaging means), 14L, 14R...side camera (second imaging means), 16...monitor (display medium, display unit), 18...visual recognition processing device, 28A...captured image (first captured image), 28L, 28R...captured image (second captured image), 30...display image (rear image), 30L, 30R...display image (second display image), 32 (32L, 32R)...image boundary, 34...rear vehicle, 38...target detection unit (target detection means), 40...target extraction unit (target detection means, setting means), 42...boundary setting unit (setting means).

Claims

1. an imaging unit including a first imaging means for outputting a first captured image of an area behind the vehicle, and a second imaging means for outputting a second captured image of an area behind the vehicle from a side of the vehicle body such that a part of an imaging area overlaps with an imaging area of ​​the first imaging means; a display unit that uses an image boundary set in an overlapping region between the first captured image and the second captured image as a boundary, extracts a first display image from the first captured image and extracts a second display image from the second captured image according to the image boundary, and displays a rear image obtained by connecting the first display image and the second display image on a display medium so that the rear image can be viewed by an occupant; an object detection means for detecting an image of a vehicle behind the host vehicle included in the first captured image; a setting means for setting the image boundary in accordance with a position of the image of the rear vehicle detected by the object detection means so that the image of the rear vehicle is positioned in the first display image; A vehicle visibility device comprising:

2. The visual recognition device for a vehicle according to claim 1 , wherein the object detection means detects the rear vehicle from the first captured image and the second captured image.

3. The vehicle visualizing device of claim 1 or claim 2, wherein the setting means changes the position of the image boundary when a ratio of the image size of the rear vehicle on the first display image in the rear image to the image size of the rear vehicle on the first captured image becomes equal to or less than a predetermined ratio.

4. 3. The vehicle visualizing device according to claim 1, wherein the setting means changes the position of the image border so as to move the image border outward in the vehicle width direction to a predetermined position when the distance between the image of the rear vehicle on the rear image and the image border becomes a first distance or less.

5. 5. The visual recognition device for a vehicle according to claim 1, wherein the setting means changes the position of the image boundary so as to move the image boundary outward in the vehicle width direction by a preset amount when the position of the image boundary is moved.

6. The vehicle visualizing device according to any one of claims 1 to 5, wherein the setting means changes the position of the image boundary to a standard position that is preset within the overlapping area when an image of the rear vehicle is not detected on the first captured image.

7. The vehicle visualizing device according to any one of claims 1 to 6, wherein the setting means changes the position of the image border to approach a predetermined standard position within the overlapping area when the distance between the image of the rear vehicle and the image border exceeds a predetermined second distance.

8. The visual recognition device for a vehicle according to claim 7 , wherein the setting means changes the position of the image boundary by a preset amount so as to be inward in the vehicle width direction.

Images