Vehicle Image Memory Device

Abstract

To provide an image storage device for a vehicle capable of including a storage request section in a cut-out image even when distance to an object becomes short and surely storing the storage request section in a storage device.SOLUTION: An image storage device for a vehicle is configured to include: imaging unit for capturing a rear side of an own vehicle to acquire a rear side image; a cut-out unit for acquiring a cut-out image obtained by cutting out a predetermined cut-out range from the rear side image; a storage unit for storing the cut-out image; and a position change unit for changing a position of the cut-out range according to distance between a rear object located behind the own vehicle and the own vehicle.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a vehicle image storage device that stores a rear image behind a vehicle.

Background Art

[0002] Conventionally, a vehicle image storage device that stores a rear image has been known. For example, a vehicle image storage device described in Patent Document 1 (hereinafter referred to as the "conventional device") determines whether a following vehicle is performing a tailgating operation based on the distance between the host vehicle and the following vehicle. When the following vehicle is performing a tailgating operation, the conventional device stores the rear image in a predetermined storage device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] In order to increase the time for which the storage device can store rear images by reducing the storage capacity for rear images in the storage device, the following vehicle image storage device (hereinafter referred to as the "device under consideration") has been considered. The device under consideration cuts out a predetermined cutout area of the rear image and stores the image of the cutout area (cutout image) in the storage device.

[0005] In such a device under consideration, when the distance between the host vehicle and the following vehicle becomes short, the license plate of the following vehicle is not included in the cutout image, and there is a problem that the license plate of the following vehicle cannot be stored in the storage device. A part that the user wants to surely store in the storage device, such as this license plate, is referred to as a "memory request part".

[0006] The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to provide a vehicle image storage device that can include a memory request portion in a cutout image even when the distance to an object is shortened, and can surely store the memory request portion in a storage device.

[0007] The vehicle image storage device of the present invention (hereinafter referred to as "the device of the present invention") includes an imaging unit (22, step 700) that captures the rear of the host vehicle (VA) to obtain a rear image (IGr), a cutout unit (20, 22, step 720) that obtains a cutout image (IGm) by cutting out a predetermined cutout range (MR) from the rear image, a storage unit (20, 32) that stores the cutout image, and a position changing unit (20, 22, steps 535, 715, 730, FIGS. 6 and 9) that changes the position of the cutout range according to the distance between a rear object located behind the host vehicle and the host vehicle.

[0008] According to the device of the present invention, the position of the cutout range is changed according to the distance between the rear object and the host vehicle. Thereby, even when the distance between the rear object and the host vehicle is shortened, the memory request portion of the rear object can be surely stored.

[0009] In one aspect of the device of the present invention, the position changing unit is configured to change the position of the cutout range in a height direction preset as a direction representing the height from the ground in the rear image according to the distance (steps 530, 715, 720).

[0010] In the above aspect, when the distance is less than a predetermined threshold distance (Drth) (step 525 "Yes"), the position changing unit changes the position of the cutout range downward in the height direction compared to when the distance is greater than or equal to the threshold distance (step 525 "No") (steps 530, 715, 730, FIGS. 6 and 9).

[0011] For example, when the memory request part is the license plate of the following vehicle, as the distance between the following vehicle and the own vehicle shortens, the position of the license plate in the rear image moves downward in the height direction. According to the above aspect, when the distance becomes less than the threshold distance, the position of the cut-out range is changed downward in the height direction compared to when the distance is greater than or equal to the threshold distance. Therefore, even if the distance becomes short, the license plate can be included in the cut-out image, and the license plate can be reliably memorized.

[0012] Incidentally, when the memory request part is "the face of a pedestrian", as the distance to the pedestrian shortens, the position of the face of the pedestrian in the rear image moves upward in the height direction. When the memory request part is such a part, when the distance becomes less than the threshold distance, the position of the cut-out range may be changed upward compared to when the distance is greater than or equal to the threshold distance.

[0013] In the above aspect, when the distance becomes less than the threshold distance, the position changing unit is configured to change the position of the cut-out range downward as the distance becomes shorter (step 530, step 715, step 730, FIG. 6, FIG. 9).

[0014] Thereby, even when the distance becomes less than the threshold distance, a memory request part such as a license plate can be surely included in the cut-out image.

[0015] In the above aspect, the position changing unit when the distance is greater than or equal to a predetermined threshold distance (step 525 "No"), sets the position of the cut-out range to a preset initial position regardless of the type of the rear object (step 710 "No", step 715), and when the distance is less than the threshold distance (step 525 "Yes"), If the type of the rear object is a vehicle (step 515, "Yes"), as the distance becomes shorter, change the position of the cutout range to a lower side than the initial position (steps 530, step 710, "Yes", step 730, FIGS. 6 and 9). If the type of the rear object is other than the vehicle (step 515, "No"), set the position of the cutout range to the initial position (step 710, "No", step 715). It is configured as described above.

[0016] Accordingly, when the distance is less than the threshold distance, if the type of the rear object is a vehicle, the position of the cutout range is changed to the lower side, and if the type of the rear object is not a vehicle, the position of the cutout range is not changed. Thus, even when a following vehicle approaches, the license plate of the following vehicle can be included in the cutout image. Further, when an object other than a vehicle approaches, the position of the cutout range is not changed, so the position of the cutout range is not changed when there is no need to change it. Accordingly, the cutout image can be confirmed without a sense of discomfort.

[0017] One aspect of the device of the present invention is further comprising a display unit (20, 34) that displays a display image (IGd) obtained by cutting out a display range (DR) set at a predetermined position from the rear image in the vehicle interior of the host vehicle on a display disposed in the vehicle interior of the host vehicle. The cutout unit is configured to cut out the display range from the rear image to obtain the display image (step 720 and step 810 in FIG. 8).

[0018] According to this aspect, the driver can grasp the situation behind the host vehicle by visually recognizing the display image displayed on the display. Further, since the storage of the cutout image and the display of the display image are realized based on the rear image captured by the imaging unit, when introducing one of the functions of storing the cutout image and displaying the display image, if the other function is already introduced, it is not necessary to introduce a new imaging unit.

[0019] In the above aspect, the cutout portion has a first cutout portion and a second cutout portion, a camera (22) having the imaging unit and the first cutout portion, a controller (20) connected to the camera so as to be capable of data exchange and having the storage unit, the display unit, and the second cutout portion, and is provided with when the distance becomes less than a predetermined threshold distance (step 525 “Yes”), the position changing unit changes the position of the cutout range according to the distance (step 530), the cutout range when the distance is greater than or equal to the threshold distance includes all ranges of the display range (MR and DR in FIG. 3), the first cutout portion when the cutout range includes all ranges of the display range (step 805 “Yes”), acquires the cutout image obtained by cutting out the cutout range from the rear image as a first cutout image (step 720 in FIG. 8), and transmits the first cutout image to the controller (step 725 in FIG. 8), when the cutout range does not include at least a part of the display range (step 805 “No”), acquires a second cutout image obtained by cutting out an integrated range (IR) obtained by integrating the cutout range and the display range from the rear image (step 810), and transmits the second cutout image to the controller (step 815), when the first cutout portion acquires the first cutout image, the second cutout portion cuts out the display range from the first cutout image to acquire the display image, the storage unit stores the cutout image which is the first cutout image, the display unit displays the display image acquired by the second cutout portion on the display, when the first cutout portion acquires the second cutout image, the second cutout portion cuts out the cutout range from the second cutout image to acquire the cutout image, and cuts out the display range from the second cutout image to acquire the display image, The memory unit stores the cut-out image acquired by the second cut-out unit. The display unit displays the display image acquired by the second cut-out unit on the display. It is configured as described above.

[0020] According to this aspect, when the cut-out range does not include at least a part of the display cut-out range, the camera acquires a second cut-out image obtained by cutting out an integration range from the rear image, and transmits the second cut-out image to the controller. The controller acquires a cut-out image and a display image from this second cut-out image, stores the cut-out image, and displays the display image. Since the camera transmits the second cut-out image instead of the rear image, the communication bandwidth between the camera and the controller can be reduced compared to the case where the camera transmits the rear image.

[0021] Furthermore, the device of the present invention includes an imaging unit (20) that images the front of the host vehicle (VA) to acquire a front image, a cut-out unit (22) that acquires a cut-out image obtained by cutting out a predetermined cut-out range from the front image, a memory unit (20, 32) that stores the cut-out image, and a position changing unit (20, 22) that changes the position of the cut-out range according to the distance between a front object located in front of the host vehicle and the host vehicle.

[0022] Thereby, even when the distance between the front object and the host vehicle becomes short, the memory required part of the front object can be surely stored.

[0023] In the above description, for the purpose of assisting the understanding of the invention, the names and / or reference numerals used in the embodiments are attached in parentheses to the configurations of the invention corresponding to the embodiments described later. However, each component of the invention is not limited to the embodiments defined by the above names and / or reference numerals. Other objects, other features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention described with reference to the following drawings.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

MODE FOR CARRYING OUT THE INVENTION

[0025] A vehicle image storage device (hereinafter referred to as "this storage device") 10 according to an embodiment of the present invention is mounted on the host vehicle VA. This storage device 10 includes an image storage ECU 20.

[0026] The image memory ECU 20 is an abbreviation for an electronic control unit, which is an electronic control circuit having a microcomputer including a CPU, a ROM, a RAM, and an interface (I / F), etc. as main components. The ECU may also be referred to as a "control unit", a "controller", or a "computer". The CPU realizes various functions by executing instructions (routines) stored in a memory (ROM). The functions of the image memory ECU 20 may be realized by a plurality of ECUs.

[0027] The present memory device 10 includes a rear camera 22, a left rear side radar 24L, a right rear side radar 24R, a memory device 32, and an electronic inner mirror 34. These are connected to the image memory ECU 20 so as to be capable of data exchange. Hereinafter, when the left rear side radar 24L and the right rear side radar 24R are not distinguished, the left rear side radar 24L and the right rear side radar 24R are referred to as the "rear side radar 24".

[0028] As shown in FIG. 2, the rear camera 22 is disposed near the center in the vehicle width direction at the rear end of the roof inside the passenger compartment of the host vehicle VA. The rear camera 22 acquires a rear image IGr (see FIG. 3) by imaging a region behind the host vehicle VA through the rear window RW. Note that the rear camera 22, like the image memory ECU 20, includes a microcomputer including a CPU, a ROM, a RAM, and an interface (I / F), etc. A part of the functions of the rear camera 22 may be realized by the image memory ECU 20, or a part of the functions of the image memory ECU 20 may be realized by the rear camera 22.

[0029] As shown in FIG. 2, the left rear side radar 24L and the right rear side radar 24R are respectively disposed on the left side and the right side behind the host vehicle VA. The left rear side radar 24L and the right rear side radar 24R respectively transmit millimeter waves to the detection ranges DR1 and DR2 (see FIG. 2), and detect objects located in the detection ranges DR1 and DR2 based on the reflection of the millimeter waves. More specifically, the rear side radar 24 acquires the distance to the objects located in the detection ranges DR1 and DR2, the lateral position of the objects, and the relative speed, and transmits the radar information including these to the image storage ECU 20. Further, the rear side radar 24 can identify the type of the object (such as a pedestrian or a vehicle) based on the reflection intensity of the millimeter wave, and also transmits the type of the object to the image storage ECU 20 including it in the radar information.

[0030] The storage device 32 has a non-volatile storage area, and in the storage area, a "cut-out image obtained by cutting out a predetermined cut-out range MR (see FIG. 3) of the rear image IGr" is stored. For example, the storage device 32 is an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like.

[0031] The electronic inner mirror 34 is a display disposed near the center in the vehicle width direction at the front end of the roof in the passenger compartment of the host vehicle VA. The electronic inner mirror 34 will be described in the first modification example described later.

[0032] (Outline of operation) The main storage device 10 acquires a cut-out image IGm obtained by cutting out the image of the cut-out range MR shown in FIG. 3 from the rear image IGr, and stores the cut-out image IGm in the storage device 32. The reason for storing only the cut-out image IGm in the storage device 32 instead of storing the entire range of the rear image IGr in the storage device 32 is to reduce the storage capacity of the storage device 32.

[0033] The memory device 10 changes the position of the cut-out range MR in the rear image IGr according to the distance (hereinafter referred to as the "rear distance") Dr between the rear object Or and the host vehicle VA. Note that the rear object Or is an object located in the rear area RA (see FIG. 2) set behind the host vehicle VA.

[0034] If the position of the cut-out range MR is always set at a fixed position regardless of the rear distance Dr, when the rear distance Dr becomes shorter, a part (or all) of the rear object Or will not be included in the cut-out image IGm. FIG. 4(A) shows a cut-out image IGm when the position of the cut-out range MR is always set at a fixed position (initial position) regardless of the rear distance Dr. In FIG. 4(A), when the rear distance Dr is equal to or greater than the distance Drth, the license plate of the rear object Or (a vehicle in FIG. 4) is included in the cut-out image IGm. However, when the rear distance Dr becomes equal to or less than the distance D2 (the distance D2 is shorter than the distance Drth), a part or all of the license plate is not included in the cut-out image IGm.

[0035] Since the automobile registration number described on the license plate serves as evidence in cases of hit-and-run driving or traffic accidents, there is a desire to reliably store the image of the license plate in the memory device 32. However, as described above, if the position of the cut-out range is always set at a fixed position regardless of the rear distance Dr, when the rear distance Dr becomes relatively short, the "memory required part such as this license plate" cannot be stored in the memory device 32.

[0036] Therefore, the memory device 10 is configured to move (change) the position of the cut-out range MR downward in the height direction of the rear image IGr according to the rear distance Dr (see FIG. 4(B)). The height direction represents the height from the ground in the rear image IGr and is preset. In this example, the height direction is preset in the vertical direction of the rear image IGr. Depending on the orientation of the rear image IGr, the height direction may be preset in the horizontal direction of the rear image IGr or in other directions.

[0037] When the rear distance Dr is equal to or greater than a predetermined threshold distance Drth, the memory device 10 sets the position of the cut-out range MR to the initial position. When the rear distance Dr is less than the threshold distance Drth, the memory device 10 changes the position of the cut-out range MR downward from the initial position. In other words, when the rear distance Dr is less than the threshold distance Drth, the memory device 10 changes the position of the cut-out range MR downward in the height direction in the rear image IGr as compared with the case where the rear distance Dr is equal to or greater than the threshold distance Drth.

[0038] As a result, as shown in FIG. 4(B), even when the rear distance Dr becomes equal to or less than the distance D2, since the cut-out image IGm includes the license plate, the memory device 10 can surely store the license plate in the storage device 32 even when the rear distance Dr becomes equal to or less than the distance D2.

[0039] (Specific operation) <Cut-out range setting routine> The CPU of the image storage ECU 20 (hereinafter referred to as "the first CPU") executes the cut-out range setting routine shown in the flowchart in FIG. 5 every time a predetermined time elapses.

[0040] Therefore, at a predetermined timing, the first CPU starts processing from step 500 in FIG. 5 and sequentially executes steps 505 and 510.

[0041] Step 505: The first CPU acquires radar information from the rear side radar 24. Step 510: The first CPU determines whether or not there is a rear object Or based on the radar information.

[0042] Specifically, when the position of the object specified based on the radar object information is included in the rear area RA, the first CPU determines that there is a rear object Or. As shown in FIG. 2, the rear area RA is set in a rectangular shape, the width thereof is set to about the road width of a general road, and the length thereof is set to an arbitrary value longer than the threshold distance Drth.

[0043] In addition, when the positions of a plurality of objects are included in the rear region RA, the first CPU specifies the object with the shortest rear distance Dr as the rear object.

[0044] When there is a rear object Or, the first CPU determines "Yes" in step 510 and proceeds to step 515. In step 515, the first CPU determines whether the type of the rear object Or is a vehicle based on the radar information.

[0045] When the type of the rear object Or is a vehicle, the first CPU determines "Yes" in step 515 and sequentially executes steps 520 and 525.

[0046] Step 520: The first CPU specifies the rear distance Dr based on the radar information. Step 525: The first CPU determines whether the rear distance Dr is less than the threshold distance Drth. The threshold distance Drth is preset to the distance at which a part of the license plate of the vehicle begins to be not included in the cut-out image IGm of the cut-out range MR set at the initial position.

[0047] When the rear distance Dr is greater than or equal to the threshold distance Drth, the first CPU determines "No" in step 525 and proceeds to step 595 to temporarily end this routine. In this case, since the setting command described later is not transmitted to the rear camera 22, the rear camera 22 sets the cut-out range MR to the initial position.

[0048] When the rear distance Dr is less than the threshold distance Drth, the first CPU determines "Yes" in step 525 and sequentially executes steps 530 and 535.

[0049] Step 530: The first CPU specifies the position of the cut-out range MR corresponding to the rear distance Dr by applying the rear distance Dr to the position setting table 60 shown in FIG. 6. Step 535: The first CPU transmits a setting command including the position of the cutout range MR to the rear camera 22. After that, the first CPU proceeds to step 595 and temporarily ends this routine.

[0050] The position setting table 60 is stored in the ROM of the image storage ECU 20 and is a look-up table that defines the relationship between the rear distance Dr and the position of the cutout range MR. As shown in FIG. 3, the position of the cutout range MR is represented by the coordinates of the reference point BPm of the cutout range MR in the coordinate system (X, Y) of the rear image IGr. The origin of the coordinate system (X, Y) is the lower left point of the rear image IGr. The X-axis of the coordinate system (X, Y) is the horizontal direction of the rear image IGr, and the Y-axis of the coordinate system (X, Y) is the vertical direction (i.e., the height direction) of the rear image IGr. The initial position of the cutout range MR is represented by the coordinates (0, Ymdf).

[0051] According to the position setting table 60, when the rear distance Dr is the threshold distance Drth, the Y coordinate of the reference point BP is set to "Ymdf". Further, according to the position setting table 600, the Y coordinate of the reference point BP continuously decreases from "Ymdf" as the rear distance Dr becomes shorter, and the Y coordinate of the reference point BP becomes "0" when the rear distance Dr reaches the distance D1. Note that the X coordinate of the reference point BP is set to "0" regardless of the rear distance Dr.

[0052] The first CPU applies the rear distance Dr to the position setting table 60 in step 530 to obtain the coordinates of the reference point BP as the position of the cutout range MR, and transmits a setting command including the coordinates of the reference point BP in step 535.

[0053] When the rear object Or is not a vehicle when the first CPU proceeds to step 515, the first CPU determines "No" in step 515 and proceeds to step 595 to temporarily end this routine. This is because when the rear object Or is not a vehicle, it is not necessary to include the license plate in the cutout image IGm.

[0054] When there is no rear object Or when the first CPU proceeds to step 510, the first CPU determines "No" in step 510 and proceeds to step 595 to temporarily end this routine.

[0055] According to the cut-out range setting routine, when the rear distance Dr is less than the threshold distance Drth, the position of the cut-out range MR is changed downward in the vertical direction of the rear image IGr compared to the case where the rear distance Dr is greater than or equal to the threshold distance Drth. Further, when the rear distance Dr is less than the threshold distance Drth, the position of the cut-out range MR is changed more downward as the rear distance Dr becomes shorter.

[0056] Thereby, even when the rear distance Dr is less than the threshold distance Drth, the image of the license plate of the vehicle behind the host vehicle VA can be included in the cut-out image IGm, and the image of the license plate can be reliably stored in the storage device 32.

[0057] <Image transmission routine> The CPU of the rear camera 22 (hereinafter referred to as "the second CPU") executes the image transmission routine shown by the flowchart in FIG. 7 every time a predetermined time elapses.

[0058] Therefore, at a predetermined timing, the second CPU starts processing from step 700 in FIG. 7 and executes steps 705 and 710 in order.

[0059] Step 705: The second CPU obtains a rear image IGr by causing the rear camera 22 to photograph the area behind the host vehicle VA. Step 710: The second CPU determines whether or not a setting command has been received between the execution of this routine and the current execution. Note that the execution time interval of the image transmission routine is longer than the execution time interval of the cut-out range setting routine.

[0060] When no setting command has been received, the second CPU determines "No" in step 710 and executes steps 715 to 725 in order. Step 715: The second CPU sets the position of the cutout range MR to the initial position. Step 720: The second CPU obtains, as a cutout image IGm, the image of the cutout range MR from the rear image IGr. Step 725: The second CPU transmits the cutout image IGm to the image storage ECU20. Thereafter, the second CPU proceeds to step 795 and temporarily ends this routine.

[0061] When the image storage ECU20 receives the cutout image IGm, the first CPU stores the received cutout image IGm in the storage device 32.

[0062] When the second CPU has received a setting command when proceeding to step 710, the second CPU determines "Yes" in step 710 and proceeds to step 730. In step 730, the second CPU sets the position of the cutout range MR to the position of the cutout range MR included in the setting command.

[0063] After executing step 730, the second CPU executes steps 720 and 725 to transmit the cutout image IGm to the image storage ECU20. Thereafter, the second CPU proceeds to step 795 and temporarily ends this routine.

[0064] As described above, since this storage device 10 changes the position of the cutout range MR downward in the height direction (the vertical direction in this example) of the rear image IGr according to the rear distance Dr, it is possible to reliably store the license plate of the vehicle behind the host vehicle VA in the storage device 32.

[0065] The rear camera 22 has the "imaging unit" and "cutout unit" described in the claims, and the image storage ECU20 has the "storage unit" of the claims. Furthermore, the configuration in which the image storage ECU20 transmits a setting command for the cutout range MR according to the rear distance Dr to the rear camera 22 in step 535 shown in FIG. 5, and the rear camera 22 sets the position of the cutout range MR based on the setting command in step 730 shown in FIG. 7 corresponds to the "position changing unit".

[0066] The present invention is not limited to the above-described embodiments, and various modifications of the present invention can be adopted.

[0067] (First Modification Example) The vehicle image storage device 10 according to this modification example displays a display image IGd obtained by cutting out a predetermined display range DR (see FIG. 3) of the rear image IGr on the electronic inner mirror 34. The driver can check the situation behind the host vehicle VA by looking at the display image IGd displayed on the electronic inner mirror 34.

[0068] The position of the display range DR is set at a constant position regardless of the rear distance Dr. As shown in FIG. 3, the display range DR is narrower than the cut-out range MR, and the cut-out range MR at the initial position includes all the ranges of the display range DR. In this case, the rear camera 22 transmits a cut-out image IGm (hereinafter, may also be referred to as the "first cut-out image") to the image storage ECU 20. Then, the image storage ECU 20 stores the cut-out image IGm in the storage device 32, and cuts out a display image IGd obtained by cutting out the display range DR from the cut-out image IGm, and displays the display image IGd on the electronic inner mirror 34.

[0069] However, when the rear distance Dr becomes short and the cut-out range MR is changed downward, the cut-out range MR no longer includes the display range DR. In this case, even if the rear camera 22 transmits the cut-out image IGm, since this cut-out image IGm does not include at least a part of the display range DR, the image of the entire area of the display range DR is not displayed on the electronic inner mirror 34.

[0070] Therefore, in this modification example, when at least a part of the display range DR is not included in the cut-out range MR, the rear camera 22 cuts out an integrated image IGi (hereinafter, may also be referred to as the "second cut-out image") obtained by cutting out an "integrated range IR obtained by integrating the cut-out range MR and the display range DR" from the rear image IGr, and transmits the integrated image IGi to the image storage ECU 20.

[0071] The image memory ECU 20 acquires the cut-out image IGm and the display image IGd from the integrated image IGi, stores the cut-out image IGm in the storage device 32, and displays the display image IGd on the electronic inner mirror 34.

[0072] The second CPU of this modified example executes the image transmission routine shown in FIG. 8 instead of the image transmission routine shown in FIG. 7. In the flowchart shown in FIG. 8, the same processes as those in the flowchart shown in FIG. 7 are given the same reference numerals and the description is omitted.

[0073] <Image Transmission Routine> Therefore, at a predetermined timing, the second CPU starts processing from step 800 in FIG. 8 and executes steps 705 and 710 in sequence.

[0074] When no setting command has been received (``No'' in step 710 shown in FIG. 8), the second CPU executes ``steps 715 to 725'' shown in FIG. 8 to transmit the cut-out image IGm to the image memory ECU 20. Thereafter, the second CPU proceeds to step 895 and temporarily ends this routine.

[0075] On the other hand, when a setting command has been received (``Yes'' in step 710 shown in FIG. 8), the second CPU sets the position of the cut-out range MR in step 730 shown in FIG. 8 and proceeds to step 805. In step 805, the second CPU determines whether or not the cut-out range MR includes all of the display range DR.

[0076] When the cut-out range MR includes the entire display range DR, the second CPU determines ``Yes'' in step 805 and executes ``steps 720 and 725'' shown in FIG. 8 to transmit the cut-out image IGm to the image memory ECU 20. Thereafter, the second CPU proceeds to step 895 and temporarily ends this routine.

[0077] When the cut-out range MR does not include at least a part of the display range DR, the second CPU determines "No" in step 805 and sequentially executes steps 810 and 815.

[0078] Step 810: The second CPU acquires, as an integrated image IGi, the image of the integration range IR from the rear image IGr. Step 815: The second CPU transmits the integrated image IGi to the image storage ECU20. After that, the second CPU proceeds to step 895 and once ends this routine.

[0079] When the image storage ECU20 receives the integrated image IGi, it acquires a cut-out image IGm and a display image IGd from the integrated image IGi, stores the cut-out image IGm in the storage device 32, and displays the display image IGd.

[0080] Thereby, in the vehicle image storage device 10 that changes the position of the cut-out range MR according to the rear distance Dr and displays a display image on the electronic inner mirror 34, the communication bandwidth between the rear camera 22 and the image storage ECU20 can be reduced as much as possible.

[0081] Note that the rear camera 22 may transmit the rear image IGr to the image storage ECU20 regardless of whether the cut-out range MR includes the display range DR. In this case, the image storage ECU20 acquires the cut-out image IGm and the display image IGd from the rear image IGr, stores the cut-out image IGm in the storage device 32, and displays the display image IGd on the electronic inner mirror 34. In this case, compared with the case where the rear camera 22 transmits the cut-out image IGm or the integrated image IGi, the communication bandwidth between the rear camera 22 and the image storage ECU20 becomes larger. This is because the data capacity of the rear image IGr is larger than the data capacity of the cut-out image IGm or the integrated image IGi.

[0082] (Second Modified Example) According to the position setting table 60 of the above embodiment, the Y coordinate of the reference point BP decreases in proportion to the rear distance Dr. According to the position setting table 70 of this modification, as shown in FIG. 9, the Y coordinate of the reference point BP gradually decreases as the rear distance Dr becomes shorter.

[0083] (Third Modification) In the above embodiment, since the memory desired part is the license plate, as the rear distance Dr becomes shorter, the position of the cut-out range MR is moved downward in the vertical direction of the rear image IGr. However, the present invention is not limited to this, and the moving direction of the position of the cut-out range MR may be changed according to the memory desired part.

[0084] For example, assume that the memory desired part is the face of a pedestrian. As the rear distance Dr becomes shorter, the face of the pedestrian comes to be located on the upper side of the rear image IGr. Therefore, when the rear object Or is a pedestrian, the first CPU moves the position of the cut-out range MR upward in the vertical direction of the rear image IGr when the rear distance Dr becomes less than a predetermined threshold distance Drth, compared to when the rear distance Dr is greater than or equal to the threshold distance Drth.

[0085] (Fourth Modification) In the above embodiment, the cut-out range MR is changed according to the rear distance Dr in the rear image IGr captured by the rear camera 22. However, the cut-out range may be changed according to the front distance in the front image captured by the front camera 42 shown in FIG. 1.

[0086] The vehicle image storage device 10 according to this modification includes the above front camera 42 and front radar 44. The front camera 42 is disposed near the center in the vehicle width direction at the front end of the roof inside the vehicle cabin of the host vehicle VA, and acquires a front image by imaging a region in front of the host vehicle VA. The front radar 44 is disposed near the center in the vehicle width direction of the front bumper of the host vehicle VA, acquires the distance to an object located in front of the host vehicle VA, the lateral position of the object, and the relative speed, and transmits radar information including these to the image storage ECU 20.

[0087] (Fifth Modification Example) The left rear side radar 24L, the right rear side radar 24R, and the front radar 44 may be remote sensing sensors that can detect an object by transmitting a wireless medium other than millimeter waves and receiving the reflected wireless medium.

[0088] Furthermore, when the rear camera 22 can accurately measure the rear distance Dr based on the rear image IGr, the vehicle image storage device 10 may not include the left rear side radar 24L and the right rear side radar 24R. The number of radars for detecting an object behind the host vehicle VA is not limited to two, and may be one or more than two.

[0089] Furthermore, when the front camera 42 can accurately measure the front distance based on the front image, the vehicle image storage device 10 may not include the front radar 44.

[0090] (Sixth Modification Example) The vehicle image storage device 10 can be mounted on vehicles such as engine vehicles, hybrid electric vehicles (HEV), plug-in hybrid electric vehicles (PHEV), fuel cell electric vehicles (FCEV), and battery electric vehicles (BEV).

Description of Reference Numerals

[0091] 10... Vehicle image storage device, 20... Image storage ECU, 22... Rear camera, 24L... Left rear side radar, 24R... Right rear side radar, 32... Storage device, 34... Electronic inner mirror, 42... Front camera, 44... Front radar.

Claims

1. An imaging unit that captures the rear of the vehicle to obtain a rear image; An extraction unit that extracts an extracted image by extracting a predetermined extraction range from the rear image; A storage unit that stores the extracted image; A position changing unit that changes the position of the extraction range according to the distance between a rear object located behind the own vehicle and the own vehicle, comprising: The position changing unit changes the position of the extraction range in a height direction preset as a direction representing the height from the ground in the rear image according to the distance; The position changing unit: When the distance is equal to or greater than a predetermined threshold distance, regardless of the type of the rear object, sets the position of the extraction range to a preset initial position; When the distance is less than the threshold distance, If the type of the rear object is a vehicle, as the distance becomes shorter, the position of the extraction range is changed downward in the height direction from the initial position; If the type of the rear object is other than the vehicle, sets the position of the extraction range to the initial position, configured as follows, An in-vehicle image storage device.

2. The in-vehicle image storage device according to claim 1, further comprising: A display unit that displays a display image obtained by cutting out a display range set at a predetermined position from the rear image on a display disposed in the vehicle interior of the own vehicle; The extraction unit is configured to extract the display range from the rear image to obtain the display image; An in-vehicle image storage device.

3. The in-vehicle image storage device according to claim 2, The extraction unit has a first extraction unit and a second extraction unit; A camera having the imaging unit and the first extraction unit; A controller that is connected to the camera so as to be capable of data exchange and has the storage unit, the display unit, and the second extraction unit; comprising: When the distance becomes less than a predetermined threshold distance, the position changing unit changes the position of the extraction range according to the distance; The extraction range when the distance is equal to or greater than the threshold distance includes all ranges of the display range; The first extraction unit: When the extraction range includes all ranges of the display range, obtains the extracted image obtained by extracting the extraction range from the rear image as a first extracted image, and transmits the first extracted image to the controller; When the cut-out range does not include at least a part of the display range, a second cut-out image obtained by cutting out an integrated range obtained by integrating the cut-out range and the display range from the rear image is acquired, and the second cut-out image is transmitted to the controller. When the first cut-out unit acquires the first cut-out image, the second cut-out unit cuts out the display range from the first cut-out image to acquire the display image, the storage unit stores the cut-out image which is the first cut-out image, the display unit displays the display image acquired by the second cut-out unit on the display, When the first cut-out unit acquires the second cut-out image, the second cut-out unit cuts out the cut-out range from the second cut-out image to acquire the cut-out image, and cuts out the display range from the second cut-out image to acquire the display image, the storage unit stores the cut-out image acquired by the second cut-out unit, the display unit displays the display image acquired by the second cut-out unit on the display, configured as a vehicle image storage device.

4. An imaging unit that images the front of the host vehicle to acquire a front image, a cut-out unit that acquires a cut-out image obtained by cutting out a predetermined cut-out range from the front image, a storage unit that stores the cut-out image, and a position changing unit that changes the position of the cut-out range according to the distance between a front object located in front of the host vehicle and the host vehicle. The position changing unit changes the position of the cut-out range in a height direction preset as a direction representing the height from the ground in the front image according to the distance. The position changing unit when the distance is equal to or greater than a predetermined threshold distance, sets the position of the cut-out range to a preset initial position regardless of the type of the front object. When the distance is less than the threshold distance, if the type of the front object is a vehicle, as the distance becomes shorter, the position of the cut-out range is changed downward in the height direction from the initial position. if the type of the front object is other than the vehicle, the position of the cut-out range is set to the initial position. configured as a vehicle image storage device.

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