Vehicle Electronic Mirror Device

Abstract

To provide an electronic mirror device for making the driver of a vehicle aware of the fact that a vehicle in the video in the mirror and a vehicle that has come in a direct vision of sight of the driver are the same vehicle by setting the angle of view so that the length of time from when an overtaking vehicle disappears from the video in the mirror to when the overtaking vehicle can be directly seen fits the calculation of the driver, and for reducing the load of grasping movements of the overtaking vehicle.SOLUTION: The present invention includes: a camera 20 arranged in a side of an owned vehicle 10, the camera taking a video of the region X covering the side to the back of the vehicle 10; a display 27 arranged in front of a driver seat 17; and a control unit 30 for displaying a flopped video of a video acquired by the camera 20 in a display 27. The control unit 30 displays the video in the display 27 with the angle of view θv2 increased so that the front edge Xb of the region X of the side to the front of the owned vehicle 10 to display in the display 27 in planer view of the vehicle moves forward as the difference in the relative speed between the overtaking vehicle 50 and the owned vehicle 10 is smaller.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an electronic mirror device for a vehicle, and more particularly, to an electronic mirror device for a vehicle including a camera disposed on a side portion of a vehicle body for imaging a side and a rear region of the host vehicle, a display disposed in front of a driver's seat, and a control unit for displaying an image acquired by the camera on the display after horizontally reversing it.

Background Art

[0002] Conventionally, as an electronic mirror device for a vehicle of the above example, there is one disclosed in Patent Document 1. That is, the conventional electronic mirror device for a vehicle disclosed in Patent Document 1 has a specification for projecting a door mirror viewing angle (a viewing angle with a sandwiching angle of about 30 degrees) that a driver has been familiar with conventionally and a wide viewing angle (a wide viewing angle of about 90 degrees) without an obliquely rear blind spot, and is configured to be able to switch the viewing angle according to a driving situation.

[0003] However, the conventional electronic mirror device for a vehicle does not consider any relationship with a direct field of view that a driver visually observes. For this reason, in the conventional device, the time from when a vehicle trying to overtake the host vehicle disappears from the mirror image until it enters the direct field of view may be different from the time assumed by the driver, and the driver's perception of determining that the vehicle in the mirror image and the vehicle that has entered the direct field of view are the same is delayed, resulting in a problem of an increased burden on grasping the behavior of the overtaking vehicle.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In order to solve such problems, the inventors of the present invention found that in the study of the viewing angle of the electronic mirror, the slower the vehicle speed of the overtaking vehicle reflected on the mirror surface, the shorter the time (perceived arrival time) until the overtaking vehicle that the driver assumes disappears from the indirect vision (mirror image) and enters the blind spot and then enters the direct vision of the side window again, compared to the time (physical time) until it actually enters the direct vision.

[0006] Specifically, as shown in FIG. 8, an experiment was conducted under direct vision conditions in which a subject SU (only the head is shown for the sake of illustration) seated in the driver's seat of the host vehicle was provided with an oncoming vehicle 100, the oncoming vehicle 100 was made to travel toward the side by one lane of the host vehicle, and the subject SU was given a task of pressing a switch at the timing when the oncoming vehicle 100 came directly alongside the host vehicle.

[0007] Then, as shown in FIG. 8, FIG. 9 shows the results of estimating the perceived arrival time by changing the vehicle speed of the oncoming vehicle 100 with respect to the rate of change of the azimuth angle θ, which is the angle formed by the line of sight e1 when the subject SU is looking straight ahead of the vehicle and the line of sight e2 when the subject SU is looking at the approaching oncoming vehicle 100.

[0008] The characteristic diagram shown in FIG. 9 is a characteristic diagram of the perceived characteristic α with the rate of change of the azimuth angle on the horizontal axis and the perceived arrival time on the vertical axis. Note that the characteristic β shown by the dotted line in FIG. 9 shows the relationship between the physical movement (i.e., the rate of change of the azimuth angle) of the oncoming vehicle 100 and the physical time. As shown in FIG. 9, the perceived characteristic α shows that the larger the rate of change of the azimuth angle (the smaller the relative speed difference), the shorter the perceived arrival time with respect to the characteristic β (the oncoming vehicle 100 is felt to come directly alongside the host vehicle at a timing earlier than the actual physical time).

[0009] It was also found that the change in the rate of change of the azimuth angle is more sensitive to the subject SU than the change in the apparent size of the oncoming vehicle 100. Although the above experiment was conducted using the oncoming vehicle 100, the results of this experiment can also be applied to the case of an overtaking vehicle attempting to overtake the host vehicle. The present invention was made based on such findings.

[0010] That is, the present invention aims to provide an in-vehicle electronic mirror device that can reduce the burden of grasping the behavior of the overtaking vehicle by causing the driver to perceive that the vehicle in the mirror image is the same as the vehicle that has entered the direct field of view by setting the viewing angle so that the time until the overtaking vehicle disappears from the mirror image and becomes directly visible matches the driver's assumption.

Means for Solving the Problems

[0011] The in-vehicle electronic mirror device according to the present invention includes a camera disposed on the side portion of the vehicle body for imaging the side and rear regions of the host vehicle, a display disposed in front of the driver's seat, and a control unit for displaying the image acquired by the camera on the display after horizontally inverting it. The control unit increases the viewing angle so that the leading edge of the side and rear regions of the host vehicle displayed on the display advances in a plan view of the vehicle as the relative speed difference between the overtaking vehicle and the host vehicle becomes smaller, and displays it on the display. Then, the control unit refers to the relationship between the rate of change of the azimuth angle of the overtaking vehicle that moves within the display with the driver's viewpoint in the vehicle's plan view as the origin, which occurs according to the relative speed difference between the overtaking vehicle and the host vehicle, and the rate of change of the azimuth angle of the overtaking vehicle that is stored in advance, and the perceived arrival time that the driver perceives when the overtaking vehicle appears directly in the field of view, and changes the viewing angle so as to obtain the corresponding perceived arrival time It is such.

[0012] As the above-described camera, a camera composed of a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS imaging element (CMOS means Complementary Metal Oxide Semiconductor) may be adopted. Also, the above-described display may be configured by a liquid crystal display device or an EL (Electroluminescence) element.

[0013] Furthermore, as a method for obtaining the above-described relative speed difference, the speed difference between the overtaking vehicle and the host vehicle may be calculated by a rear side radar unit based on the Doppler effect and transmitted to the control unit, or the relative speed difference may be calculated by image processing from the movement of the overtaking vehicle in the mirror image generated by the control unit.

[0014] Note that the above-mentioned rear side radar unit (Doppler radar) emits radio waves with a constant frequency from the host vehicle toward another vehicle (overtaking vehicle), and determines the relative speed difference between the host vehicle and the other vehicle based on the frequency difference between the emitted radio waves and the reflected radio waves.

[0015] According to the above configuration, the above-mentioned camera images the side to rear area of the host vehicle, and the above-mentioned control unit flips the image acquired by the camera horizontally and displays it on the above-mentioned display. At this time, the above-mentioned control unit increases the viewing angle so that the leading edge of the side to rear area of the host vehicle displayed on the display advances in the plan view of the vehicle as the relative speed difference between the overtaking vehicle and the host vehicle becomes smaller, and displays it on the display.

[0016] In this way, as the vehicle speed of the overtaking vehicle is slower and the relative speed difference is smaller, the time (perception arrival time) until the vehicle disappears from the mirror image (the image on the display) and enters the driver's direct field of view becomes shorter, which matches the driver's assumption. Therefore, the driver's perception that the vehicle in the mirror image and the vehicle that has entered the direct field of view are the same occurs (perceptual grouping occurs), and the burden of grasping the behavior of the overtaking vehicle can be reduced.

[0017] Here, the above-mentioned direct field of view refers to the field of view of 180 degrees to 200 degrees that can be visually observed when the driver is facing the front of the vehicle or the direction of the above-mentioned display without turning around to the rear of the vehicle.

[0018] In one embodiment of the present invention, the above-mentioned control unit refers to the relationship between the rate of change of the azimuth angle of the overtaking vehicle that moves within the above-mentioned display with the driver's viewpoint at the origin in the plan view of the vehicle, which occurs according to the relative speed difference between the overtaking vehicle and the host vehicle, and the rate of change of the azimuth angle of the overtaking vehicle stored in advance, and the perception arrival time that the driver perceives when the overtaking vehicle appears in the direct field of view, and changes the above-mentioned viewing angle so as to obtain the corresponding perception arrival time.

[0019] The relationship between the rate of change of the azimuth angle of the overtaking vehicle and the perception arrival time that the driver perceives when the overtaking vehicle appears in the direct field of view can be stored in the RAM (Random Access Memory) so that it can be read as a map.

[0020] According to the above configuration, since the viewing angle is changed so that a desired perception arrival time can be obtained according to the magnitude of the relative speed difference described above, regardless of the magnitude of the relative speed difference, the driver's perception that the vehicle in the mirror image and the vehicle that has entered the direct field of view are the same occurs (perceptual grouping occurs), and the burden of grasping the behavior of the overtaking vehicle can be reduced.

Effect of the Invention

[0021] According to this invention, by setting the viewing angle so that the time until the overtaking vehicle disappears from the mirror image and can be directly seen matches the driver's assumption, the driver's perception that the vehicle in the mirror image and the vehicle that has entered the direct field of view are the same occurs, and there is an effect that the burden of grasping the behavior of the overtaking vehicle can be reduced.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

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Figure 8

Figure 9

Embodiment for Carrying Out the Invention

[0023] By setting the viewing angle so that the time until the overtaking vehicle disappears from the mirror image and becomes directly visible matches the driver's assumption, the driver perceives that the vehicle in the mirror image and the vehicle that has entered the direct line of sight are the same, and the purpose of reducing the burden of grasping the behavior of the overtaking vehicle is achieved. A vehicle electronic mirror device includes a camera disposed on the side portion of the vehicle body for imaging the side and rear regions of the host vehicle, a display disposed in front of the driver's seat, and a control unit for displaying the image acquired by the camera on the display after horizontally inverting it. The control unit increases the viewing angle so that the leading edge of the side and rear regions of the host vehicle displayed on the display advances in the plan view of the vehicle as the relative speed difference between the overtaking vehicle and the host vehicle becomes smaller, and displays it on the display Then, the control unit refers to the relationship between the rate of change of the azimuth angle of the overtaking vehicle that moves within the display with the driver's viewpoint in the vehicle's plan view as the origin, which occurs according to the relative speed difference between the overtaking vehicle and the host vehicle, and the rate of change of the azimuth angle of the overtaking vehicle that is stored in advance, and the perceived arrival time that the driver perceives when the overtaking vehicle appears directly in the field of view, and changes the viewing angle so as to obtain the corresponding perceived arrival time with the above-described configuration.

Example

[0024] One embodiment of the present invention will be described in detail below with reference to the drawings. The drawings show a vehicle electronic mirror device. FIG. 1 is a plan view of a vehicle equipped with the electronic mirror device, FIG. 2 is an explanatory diagram showing the viewing angle setting of the side and rear regions of the host vehicle displayed on the display, FIG. 3 is a control circuit block diagram, and FIG. 4 is an explanatory diagram showing the arrangement position of the display and the state in which an overtaking vehicle is displayed on the display.

[0025] In FIG. 1, a vehicle 10 (hereinafter referred to as the host vehicle 10 in order to distinguish it from an overtaking vehicle as a moving object) is provided with a roof panel 11 that covers the upper part of the vehicle cabin. A front windshield glass 12 having a front-tilt structure that is inclined forward low and backward high is disposed at the front of the roof panel 11, while a rear windshield glass 13 having a rear-tilt structure that is inclined forward high and backward low is disposed at the rear of the roof panel 11.

[0026] In addition, corresponding to the lower edge portions of the left and right side window portions composed of the front side window glass 14 (so-called front door glass), the rear side window glass 15 (so-called rear door glass), and the quarter window portion 16, belt line portions (BL) extending in the front-rear direction of the vehicle are formed on both left and right sides of the vehicle.

[0027] On the other hand, on the upper portion of the floor panel in the vehicle interior, there are provided a front seat composed of a driver's seat 17 (driver's seat) and a passenger seat (passenger seat), and a rear seat (however, for each seat other than the driver's seat 17, its illustration is omitted for the sake of convenience). In addition, door mirror portions 19 are provided on the outer sides of the front end portions of the left and right front doors 18 of the vehicle.

[0028] As shown in FIG. 1, a camera 20 for imaging a side to rear region X (see FIG. 2) of the host vehicle 10 is disposed in the door mirror portion 19 on the driver's seat 17 side. In this embodiment, since a right-hand drive vehicle is exemplified as the host vehicle 10, the above-described camera 20 is provided in the door mirror portion 19 on the right side (driver's seat 17 side) of the vehicle among the pair of left and right door mirror portions 19, 19.

[0029] As the above-described camera 20, a camera composed of a solid-state imaging device such as a CCD or CMOS imaging element is adopted, and as shown in FIG. 2, an outside image can be acquired at a predetermined viewing angle in a plan view of the vehicle in the side to rear region X of the host vehicle 10.

[0030] On the other hand, as shown in FIG. 4, an instrument panel 22 extending in the vehicle width direction is provided in front of the front seat in the vehicle interior. In a portion in front of the steering wheel corresponding to the steering wheel 23 (see FIG. 1) in the instrument panel 22, a meter hood 24 is integrally formed.

[0031] Further, as shown in FIG. 4, a front pillar portion 25 is provided to connect the upper end of a hinge pillar (not shown) extending in the vehicle up-and-down direction and the front end of a roof side rail extending in the vehicle front-and-rear direction in an inclined manner with the front lower and the rear higher. A front header portion 26 is provided to connect the upper end portions of the pair of left and right front pillar portions 25 in the vehicle width direction.

[0032] On the other hand, as shown in FIGS. 1 and 4, in front of the driver's seat 17 and at a position closer to the front pillar portion 25 than the center in the vehicle width direction of the driver's seat 17, a display 27 as display means is arranged. In this embodiment, the display 27 is supported by the front header portion 26 via a ball joint (not shown), and is configured to be three-dimensionally adjustable according to the physique of the driver.

[0033] The above-described display 27 displays an out-of-vehicle image (image of the side or rear region X of the host vehicle 10) acquired by the camera 20. The display 27 can be configured by a liquid crystal display device, a so-called LCD (Liquid Crystal Display), or an EL (Electroluminescence) element.

[0034] In FIG. 1, for convenience of explanation, it is illustrated in a state where the structure below the front windshield glass 12 is seen through. Also in FIG. 4, for convenience of explanation, it is illustrated in a state where the front of the front windshield glass 12 is seen through, and at the same time, it is illustrated in a state where the outside of the front side window glass 14 is seen through.

[0035] FIG. 3 is a control circuit block diagram of an electronic mirror device for a vehicle. The CPU 30 (Central Processing Unit) as a control unit drives and controls the display 27, the inversion unit 31, the relative speed difference calculation unit 32, and the viewing angle change unit 33 according to a program stored in the ROM 28 (Read Only Memory) based on the input from the above-described camera 20. The RAM 29 (Random Access Memory) stores necessary data and the map 40 so that they can be read out.

[0036] Here, the above-described map 40 stores in a data form and can read out the relationship between the change rate Δθa of the azimuth angle θa (see FIG. 4) of the overtaking vehicle 50 (see FIG. 2) and the perception arrival time T that the driver D perceives when the overtaking vehicle 50 appears at the trailing edge Zb (see FIG. 2) of the direct visibility area Z of the host vehicle 10. The details of the above-described map 40 are the same as those in FIG. 9, but the perception characteristic α stored in this map 40 is a non-linear characteristic.

[0037] The above-described camera 20 images the side to rear area X (see FIG. 2) of the host vehicle 10. The above-described display 27 is a display means for displaying the video acquired by the camera 20 after being horizontally reversed by the inversion unit 31 to form a mirror image.

[0038] The above-described inversion unit 31 horizontally reverses the video acquired by the camera 20 to form a mirror image. The above-described relative speed difference calculation unit 32 calculates the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10.

[0039] Here, the relative speed difference calculation unit 32 may be configured to calculate based on the Doppler effect by a unit of the rear side radar and input the calculation result to the CPU 30, or may calculate the relative speed difference ΔV by image processing from the movement of the overtaking vehicle 50V (see FIG. 4) in the video of the display 27 generated by the CPU 30.

[0040] The above-mentioned viewing angle changing unit 33 changes the viewing angle so that the corresponding perceived arrival time T can be obtained by referring to a map 40 stored in advance in the RAM 29 for the change rate Δθa of the azimuth angle θa of the overtaking vehicle 50V (see FIG. 4) that moves within the display 27 with the driver's viewpoint in the vehicle's plan view as the origin, which occurs according to the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10.

[0041] The azimuth angle θa shown in FIG. 4 is the angle formed by the line of sight e11 when the driver D (see FIG. 1) seated in the driver's seat 17 is looking straight ahead of the vehicle and the line of sight e12 when the driver D is looking at the overtaking vehicle 50V moving within the display 27. The change rate Δθa of the azimuth angle θa is the degree to which the azimuth angle θa changes according to the vehicle speed of the overtaking vehicle 50V moving within the display 27.

[0042] As shown in FIG. 2, the above-mentioned CPU 30 makes the leading edge (the leading edge of the mirror image) Xa of the lateral to rear region X of the host vehicle 10 displayed on the display 27 in the vehicle's plan view retreat with respect to the trailing edge Zb of the direct visibility region Z by reducing the viewing angle θV1 so as to display it on the display 27 (see FIG. 6) as the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10 becomes larger (that is, the vehicle speed of the overtaking vehicle 50 is relatively larger).

[0043] On the other hand, as shown in FIG. 2, the above-mentioned CPU 30 increases the viewing angle θV2 (where θV2 > θV1) so that the leading edge (the leading edge of the mirror image) Xb of the lateral to rear region X of the host vehicle 10 displayed on the display 27 in the vehicle's plan view advances in the direction of the trailing edge Zb of the direct visibility region Z as the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10 becomes smaller (that is, the vehicle speed of the overtaking vehicle 50 is relatively smaller), and displays it on the display 27 (see FIG. 5).

[0044] In this embodiment, when reducing the viewing angle θV1 and displaying it on the display 27, as shown in FIG. 6, it is configured to form a mask 35 in front of the traveling direction of the overtaking vehicle 50V within the display 27. The masking area by the mask 35 formed in the above display 27 becomes wider as the relative speed difference ΔV increases.

[0045] As shown in FIG. 3, the video processing means 34 is formed by each element of the above CPU 30, the inversion unit 31, the relative speed difference calculation unit 32, and the viewing angle change unit 33. Note that the symbol L shown in FIG. 2 is the interval between the fields of view corresponding to the front edge Xa of the lateral or rear region X corresponding to the indirect field of view and the rear edge Zb of the direct field of view region Z. Further, the symbol 10V shown in FIGS. 4, 5, and 6 is the video of the rear side portion of the host vehicle 10 imaged by the camera 20.

[0046] FIG. 7 is a flowchart showing display control. In step S1 of the flowchart shown in the figure, the CPU 30 drives the camera 20 to image the lateral or rear region X of the host vehicle 10 by the camera 20.

[0047] In step S2, the CPU 30 takes in the out-of-vehicle imaging data imaged by the camera 20 into the CPU 30. In step S3, the CPU 30 reverses the video acquired by the camera 20 left and right by the inversion unit 31 of the video processing means 34 to form a mirror image.

[0048] In step S4, the CPU 30 calculates the relative speed difference ΔV between the host vehicle 10 and the overtaking vehicle 50 by the relative speed difference calculation unit 32 of the video processing means 34, and estimates the change rate Δθa of the azimuth angle θa from the calculated relative speed difference ΔV.

[0049] In step S5, the CPU 30 drives the viewing angle change unit 33 of the video processing means 34. The viewing angle change unit 33 refers to the map 40 stored in the RAM 29 in a readable manner, and changes the viewing angle so as to obtain the perception arrival time T perceived by the driver D according to the azimuth angle change rate Δθa.

[0050] That is, the greater the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10 (i.e., the smaller the azimuth change rate Δθa), the smaller the viewing angle θV1 is set so that the leading edge (the leading edge of the mirror image) Xa of the lateral to rear region X of the host vehicle 10 displayed on the display 27 in the plan view of the vehicle retreats from the trailing edge Zb of the direct vision region Z (see FIG. 2).

[0051] Conversely, the smaller the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10 (i.e., the greater the azimuth change rate Δθa), the larger the viewing angle θV2 (where θV2 > θV1) is set so that the leading edge (the leading edge of the mirror image) Xb of the lateral to rear region X of the host vehicle 10 displayed on the display 27 in the plan view of the vehicle advances in the direction of the trailing edge Zb of the direct vision region Z (see FIG. 2).

[0052] In FIG. 2, for the sake of convenience, only two viewing angles θV1 and θV2 are illustrated, but any viewing angle including these viewing angles θV1 and θV2 is set according to the difference in the magnitude of the relative speed difference ΔV.

[0053] In step S6, the CPU 30 displays the image 50V of the overtaking vehicle 50 on the display 27 with the viewing angle set in step S5 above. That is, when the viewing angle θV1 is set small due to the large relative speed difference ΔV, the overtaking vehicle 50 is displayed as shown in FIG. 6, while when the viewing angle θV2 is set large due to the small relative speed difference ΔV, the overtaking vehicle 50 is displayed as shown in FIG. 5. Here, when the viewing angle θV1 shown in FIG. 6 is small, the mask 35 is also displayed in front of the traveling direction of the overtaking vehicle 50V in the display 27.

[0054] As described above, the vehicle electronic mirror device of the above embodiment includes a camera 20 disposed on the side of the vehicle body (door mirror portion 19 on the driver's seat 17 side) for imaging the lateral to rear region X of the host vehicle 10, a display 27 disposed in front of the driver's seat 17, and a control unit (CPU 30) for displaying the image acquired by the camera 20 on the display 27 with left-right inversion. The control unit (CPU 30) increases the viewing angle θV2 so that the leading edge Xb of the lateral to rear region X of the host vehicle 10 displayed on the display 27 advances in a plan view of the vehicle as the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10 becomes smaller, and displays it on the display 27 (see FIGS. 1 to 3, FIG. 5, and FIG. 7).

[0055] According to this configuration, the above-described camera 20 images the lateral to rear region X of the host vehicle 10, and the above-described control unit (CPU 30) displays the image acquired by the camera 20 on the above-described display 27 with left-right inversion.

[0056] At this time, the above-described control unit (CPU 30) increases the viewing angle θV2 so that the leading edge Xb of the lateral to rear region X of the host vehicle 10 displayed on the display 27 advances in a plan view of the vehicle as the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10 becomes smaller, and displays it on the display 27 (see FIG. 5).

[0057] In this way, as the vehicle speed of the overtaking vehicle 50 is slower and the relative speed difference ΔV is smaller, the time (perception arrival time T) until it disappears from the mirror image (the image on the display 27) and enters the driver's direct field of view (especially the trailing edge Zb of the direct field of view region Z) becomes shorter, which matches the driver's assumption. Therefore, the driver's perception that the vehicle in the mirror image and the vehicle that has entered the direct field of view are the same occurs (perceptual grouping occurs), and the burden of grasping the behavior of the overtaking vehicle 50 can be reduced.

[0058] In addition, in one embodiment of the present invention, the control unit (CPU 30) refers to a relationship (map 40 stored in RAM 29) that stores in advance the rate of change Δθa of the azimuth angle θa of the overtaking vehicle 50 that moves within the display 27 with the driver's viewpoint in the vehicle's plan view as the origin, which occurs according to the relative speed difference ΔV between the overtaking vehicle 50 and the host vehicle 10, and changes the viewing angle so as to obtain the corresponding perception arrival time T. (See FIGS. 2 and 3).

[0059] According to this configuration, since the viewing angle is changed so as to obtain the expected perception arrival time T according to the magnitude of the relative speed difference ΔV described above, regardless of the magnitude of the relative speed difference ΔV, the driver D perceives that the vehicle in the mirror image and the vehicle that has entered the direct field of view are the same, and the burden of grasping the behavior of the overtaking vehicle 50 can be reduced.

[0060] In the correspondence between the configuration of the present invention and the above-described embodiment, The side portion of the vehicle body of the present invention corresponds to the door mirror portion 19 on the driver's seat 17 side in the embodiment. Similarly hereinafter, The control unit corresponds to the CPU 30. The direct field of view corresponds to the field of view in the direct field of view region Z. The present invention is not limited to only the configuration of the above-described embodiment.

Industrial Applicability

[0061] As described above, the present invention is useful for a vehicle electronic mirror device including a camera disposed on a side portion of a vehicle body for imaging a side or rear region of the host vehicle, a display disposed in front of a driver's seat, and a control unit that displays an image acquired by the camera on the display after horizontally inverting it.

Explanation of Reference Numerals

[0062] 10…Host vehicle 17…Driver's seat 19…Door mirror part (side part of vehicle body) 20…Camera 27…Display 30…CPU (control unit) 50…Overtaking vehicle T…Perception arrival time X…Lateral to rear area Xb…Leading edge Z…Direct vision area θa…Azimuth angle △θa…Azimuth angle change rate θV1,θV2…Viewing angle △V…Relative speed difference

Claims

【Claim 1】 A camera disposed on a side portion of a vehicle body for imaging a side or rear region of the host vehicle, a display disposed in front of a driver's seat, and a control unit for displaying the image acquired by the camera on the display after horizontally inverting it. A vehicle electronic mirror device, wherein the control unit increases an angle of view so that a leading edge of a side or rear region of the host vehicle displayed on the display in a plan view of the vehicle advances as a relative speed difference between a vehicle overtaking the host vehicle and the host vehicle becomes smaller, and displays the image on the display, wherein the control unit refers to a relationship between a rate of change of an azimuth angle of the overtaking vehicle that moves within the display with the driver's viewpoint in the plan view of the vehicle as an origin, which occurs according to the relative speed difference between the overtaking vehicle and the host vehicle, and a perception arrival time that the driver perceives when the overtaking vehicle appears in a direct field of view, which are stored in advance, and changes the angle of view so as to obtain a corresponding perception arrival time. Vehicle electronic mirror device.

Images