JP5974476B2 - Obstacle alarm device - Google Patents

Description

  The present invention relates to an obstacle alarm device that clearly indicates to an occupant the presence of an obstacle approaching a vehicle.

  There are blind spots around the vehicle that cannot be seen from the position of the driver, and the driver needs to pay close attention to the periphery of the vehicle when driving the vehicle. In particular, when the vehicle is moved backward and parked, there are many users who are not good at parking itself, and there is not a lot of mental fatigue. Thus, conventionally, techniques for monitoring obstacles around the vehicle have been used (for example, Patent Documents 1 and 2).

  The vehicle obstacle alarm device described in Patent Document 1 includes a lateral movement obstacle detection means, a lateral movement direction detection means, and a lateral movement information provision means. The laterally moving obstacle detection means detects an obstacle that moves in the direction crossing the traveling direction in front of the vehicle. The lateral movement direction detection means detects the lateral movement direction of the obstacle detected by the lateral movement obstacle detection means. The lateral movement information providing means provides the driver with information regarding the lateral movement direction of the obstacle detected by the lateral movement direction detecting means. At this time, the lateral movement information providing means displays an arrow indicating the lateral movement direction detected by the lateral movement direction detecting means on the display unit.

  The vehicle surrounding monitoring apparatus described in Patent Document 2 includes an imaging unit, an obstacle detection unit, and a display unit. The imaging means images the surroundings of the vehicle including a part of the host vehicle. The obstacle detection means detects an obstacle located around the vehicle and calculates a distance between the detected obstacle and the host vehicle. The display unit displays the captured image captured by the imaging unit and the obstacle display image indicating the distance calculated by the obstacle detection unit on one screen.

Japanese Patent Application Laid-Open No. 11-115660 JP 2009-217740 A

  Obstacles around the vehicle are detected by detecting obstacles around the vehicle as in the techniques described in Patent Literature 1 and Patent Literature 2 and displaying information (arrows, etc.) clearly indicating the obstacles on the screen. Can be notified. However, the screen size of the display (display means) mounted on the vehicle is not large. For this reason, if an arrow or the like is displayed on the image showing the situation around the vehicle displayed on the display, the situation around the vehicle may become difficult to see or an obstacle may not be grasped.

  In view of the above problems, an object of the present invention is to provide an obstacle alarm device that can clearly indicate to the driver the presence of an obstacle approaching the vehicle without making it difficult to see the situation around the vehicle. is there.

In order to achieve the above object, the characteristic configuration of the obstacle alarm device according to the present invention is as follows:
A captured image acquisition unit that acquires a captured image of a scene behind the vehicle;
An attention-captured image generation unit that generates an attention-captured image displayed on the monitor of the vehicle based on the captured image;
An object presence determination unit that determines whether or not an object exists in an outer region outside the target captured image;
A moving direction determination unit that determines the moving direction of the object in the outer region;
A mask area setting unit that sets a mask area that hides at least a part of the scene behind the vehicle among the noted captured images;
Obstacle presence area generation unit that generates a plurality of obstacle existence areas corresponding to a plurality of areas divided into a blind area by a rear pillar when looking at the rear of the vehicle from the inside of the vehicle, and
An explicit image for performing a display in which an obstacle existing area corresponding to a region where the object is present is highlighted when the movement direction determination unit determines that the object in the outer region moves to the center side of the target captured image An output section;
With
The mask area is arranged above the target captured image plane with respect to the portion where the object in the outer region of the target captured image is located ,
The plurality of obstacle existence areas are configured to include at least an area corresponding to an area that becomes a blind spot by the rear pillar and an area corresponding to the outer area that is outside the vehicle from the area that becomes the blind spot, wherein in the point that appears when the object outside the area is determined to exist.

  With such a characteristic configuration, even if an object is not shown in the monitor screen of the vehicle, the situation around the vehicle is displayed when an object approaching the vehicle enters the shooting range. The presence and direction of an object approaching the vehicle can be clearly indicated to the occupant. Accordingly, even when the screen size of the monitor is small, an object approaching the vehicle is not missed. In addition, since the obstacle existing area is highlighted and displayed, it is easy for the passenger to understand intuitively. Therefore, it is possible to clearly indicate to the occupant the presence of an object approaching the vehicle without missing an object around the vehicle.

Further, with such a configuration, it is possible to clearly indicate that an object is approaching the vehicle when the obstacle existence area is displayed in the mask area. Therefore, the approach of the object can be clearly indicated even before the obstacle existing area is highlighted.

In addition, with such a configuration, the movement of an object existing in the outer region can also be shown. Therefore, it is possible to alert the vehicle occupant about the approach of the object before reaching the vicinity of the vehicle.

In addition, it is preferable that at least a part of the vehicle image of the vehicle when the vehicle is viewed from behind is superimposed on the mask area together with the obstacle presence area.

With such a configuration, the vehicle image is superimposed and displayed on the obstacle existing area, so that it is easy to intuitively recognize the area corresponding to the highlighted obstacle existing area. Therefore, the presence of an object approaching the vehicle can be appropriately specified.

  Further, it is preferable that the explicit image output unit performs display for coloring the obstacle existing area as the highlight display.

  With such a configuration, the obstacle presence area corresponding to the area where the object is present is colored, so that the approach of the object can be clearly indicated to the vehicle occupant.

It is the block diagram which showed typically the structure of the obstacle alarm device. It is the figure which showed an example of the process of an obstacle alarm device. It is the figure which showed an example of the synthesized image. It is the figure which showed an example of the synthesized image. It is the figure which showed typically the process of the obstacle alarm device. It is the figure which showed an example of the synthesized image which concerns on other embodiment. It is the figure which showed an example of the synthesized image which concerns on other embodiment.

  Hereinafter, embodiments of the present invention will be described in detail. The obstacle alarm device 100 according to the present invention has a function of clearly indicating that an object is approaching the driver of the vehicle when there is an object approaching the vehicle. Hereinafter, it demonstrates using drawing.

  FIG. 1 is a block diagram schematically showing the configuration of the obstacle alarm device 100. As shown in FIG. 1, the obstacle alarm device 100 includes a captured image acquisition unit 11, a focused captured image generation unit 12, an outer region generation unit 13, an object presence determination unit 14, a movement direction determination unit 15, and an explicit image output unit. 16, an explicit image storage unit 17, a composite image generation unit 18, a mask area setting unit 19, and an obstacle presence area generation unit 20. Each functional unit includes the above-described functional units for performing various processes for clearly indicating the approach of the object 7 to the driver of the vehicle 1 by using a CPU as a core member.

  The captured image acquisition unit 11 acquires a captured image G obtained by capturing a scene behind the vehicle 1. Here, the vehicle 1 is provided with a camera 5. The camera 5 according to the present embodiment includes a digital camera that incorporates an image sensor such as a charge coupled device (CCD) or a CMOS image sensor (CIS) and outputs captured information as moving image information. As shown in FIG. 2A, such a camera 5 is located behind the vehicle 1 in the vicinity of the license plate provided at the outer rear part of the vehicle 1 or in the vicinity of the emblem provided at the outer rear part of the vehicle 1. It is arrange | positioned with a slight depression angle toward. The camera 5 includes a wide-angle lens (not shown). Thereby, the scene around the vehicle 1 can be photographed over the rear of the vehicle 1 over approximately 180 degrees. Such an imaging range is shown as “wide viewing angle” in FIG. The camera 5 has a performance of outputting a moving image as a captured image G in real time. Such a captured image G is transmitted to the captured image acquisition unit 11.

  An example of such a captured image G is shown in FIG. The full width of FIG. 2 (b) corresponds to the wide viewing angle of FIG. 2 (a). Here, in the photographed image G, the object 7 on the left side as viewed from the rear of the vehicle 1 as shown in FIG. 2A is on the right side in the photographed image G as shown in FIG. Thus, mirror image processing is performed. This is because when the scene behind the vehicle 1 is displayed on the monitor 50, it is easy for the driver of the vehicle 1 to intuitively understand whether the object 7 included in the captured image G is on the left side or the right side of the vehicle 1. It is to do.

  Returning to FIG. 1, the noticeable photographed image generation unit 12 generates a noticeable photographed image based on the photographed image G. In the present embodiment, the shooting range of the shot image G is a wide viewing angle. For this reason, the noticeable photographed image generation unit 12 generates a narrow-field region N that is a central portion of the photographed image G as the noticeable photographed image. The captured image G is transmitted from the captured image acquisition unit 11 described above. In the present embodiment, the noticeable photographed image corresponds to the central portion in the horizontal direction of the photographed image G shown in FIG. Such a narrow visual field region N is preferably a region, for example, about 120 to 130 degrees behind the vehicle 1 like the “narrow visual field angle” in FIG. In addition, since the narrow-field region N is close to the advanceable range when the vehicle 1 moves backward, it is referred to as a “focused captured image” because it is a region that should be particularly noted in the captured image G. Such a noticeable photographed image corresponds to a display image displayed on the monitor 50 described later (see FIG. 2C). In the present embodiment, the “focused captured image” is described as an image of a “narrow field of view”.

  The outer area generation unit 13 generates an outer area O outside the target captured image. That is, an outer region O outside the narrow field region N in the captured image G is generated. As described above, the narrow-field region N is generated by the noticeable captured image generation unit 12 at the central portion in the horizontal direction of the captured image G. The outer region generation unit 13 generates an outer region O as shown in FIG. 2B outside the narrow visual field region N in the lateral direction. The outer region O generated by the outer region generation unit 13 is transmitted to an object presence determination unit 14 described later.

  The object presence determination unit 14 determines whether or not the object 7 exists in the outer region O. The outer region O is transmitted from the outer region generator 13. Whether or not the object 7 exists can be determined using a known image recognition process such as pattern matching. Of course, it is possible to determine whether or not the object 7 exists in the outer region O by processing other than pattern matching. The determination result of the object presence determination unit 14 is transmitted to a movement direction determination unit 15 described later.

  The movement direction determination unit 15 determines the movement direction of the object 7 in the outer region O. Such determination of the moving direction is performed when the object presence determination unit 14 determines that the object 7 exists in the outer region O. In particular, in this embodiment, the moving direction determination unit 15 determines whether or not the object 7 in the outer region O moves toward the narrow visual field region N. The movement toward the narrow visual field N indicates that the vehicle 1 moves from the outer side in the width direction of the vehicle 1 to the direction just behind the vehicle 1 behind the vehicle 1. Such a determination can be performed by comparing the position of the object 7 in the current captured image G with the position of the object 7 in the captured image G a predetermined time ago, for example, or by using an optical flow. It is possible to use this method. Such a determination result of the moving direction is transmitted to the explicit image output unit 16 described later.

  The mask area setting unit 19 sets a mask area M in which at least a part of the scene behind the vehicle 1 is not displayed in the target photographed image. In the present embodiment, as shown in FIG. 2C, the mask area M is set at the upper part of the screen, that is, the upper part in the target captured image. This mask area M is formed across both sides of the target image. The mask area M is colored, for example, in black so that the scene above the vehicle 1 cannot be seen. Of course, other colors may be used.

  The obstacle existence area generation unit 20 generates a plurality of obstacle existence areas B corresponding to a plurality of areas divided into a blind area by the rear pillar when the rear of the vehicle 1 is viewed from the inside of the vehicle in the mask area M. The rear pillar corresponds to a pillar disposed diagonally behind the rear seat among pillars corresponding to pillars disposed between a plurality of windows of the vehicle 1. When the rear side of the vehicle 1 is viewed from the inside of the vehicle, an area in which the field of view behind the vehicle is blocked by the rear pillar occurs. Such a region corresponds to the above-described blind spot. The obstacle existence area generation unit 20 uses such a blind spot as one area, and generates an obstacle existence area B including a plurality of obstacle existence areas b1 to b5 including the area in the mask area M.

  In the present embodiment, the obstacle presence area B includes a region corresponding to the outer region O. Specifically, the obstacle presence area B corresponds to the obstacle presence area b1 on the left rear side of the vehicle 1 when viewed from the rear, the obstacle presence area b2 corresponding to the blind spot caused by the left rear pillar, and the blind spot caused by the rear bumper. An obstacle existence area b3 corresponding to a blind spot by the right rear pillar, and an obstacle existence area b5 on the right rear side of the vehicle 1. The obstacle existing area b1 on the left rear side and the obstacle existing area b5 on the right rear side correspond to the area corresponding to the outer area O described above.

  In addition to the obstacle existence area B, at least a part of the vehicle image image CI of the vehicle 1 when the vehicle 1 is viewed from behind is superimposed on the mask area M. The vehicle image CI is superimposed so as to correspond to the respective areas b1-b5 of the obstacle existence area B described above. In the present embodiment, the host vehicle image CI is superimposed including an image when the rear bumper is viewed obliquely from above. Thereby, it becomes easy to intuitively imagine the positional relationship between each obstacle existence area b1-b5 and the vehicle 1. Such superimposition of the vehicle image CI may be performed by the obstacle existence area generation unit 20 described above, or may be configured to be performed by another functional unit.

  The explicit image output unit 16 corresponds to the area where the object 7 exists in the obstacle existing area B when the movement direction determination unit 15 determines that the object 7 in the outer area O moves to the center side of the target captured image. Display the area where the obstacle exists. In the present embodiment, coloring is used as such highlighting. In the present embodiment, the noticeable captured image corresponds to an image in the narrow visual field N. Therefore, when the object 7 in the outer area O moves to the center side of the narrow field area N, the explicit image output unit 16 colors the obstacle existing area corresponding to the area where the object 7 exists.

  Specifically, when the object 7 moves to the center side of the narrow visual field N at the rear left side of the vehicle 1 by the moving direction determination unit 15, the obstacle existing area b 1 is colored and the object at the rear right side of the vehicle 1 When 7 moves to the center side of the narrow field area N, the obstacle existing area b5 is colored. Further, when the object 7 moves to the center side of the narrow visual field N at the blind spot due to the left rear pillar of the vehicle 1, the obstacle existence area b2 is colored, and the object 7 at the blind spot due to the right rear pillar of the vehicle 1 When moving to the center side, the obstacle existence area b4 is colored. Furthermore, when the object 7 moves to the center side of the narrow visual field N at the blind spot by the rear bumper of the vehicle 1, the obstacle existing area b3 is colored. Thereby, it becomes possible for the passenger | crew of the vehicle 1 to recognize intuitively the area | region where the object 7 exists.

  Such an image coloring the obstacle existing area B is stored in the explicit image storage unit 17 as an explicit image as shown in FIG. FIG. 2C shows a captured image G as shown in FIG. 2B, that is, an image displayed on the monitor 50 of the vehicle 1 when the object 7 is in the right outer region O.

  Further, when the object 7 moves to the center side of the narrow field area N in the outer region O, the corresponding obstacle existence area is shown in order to clearly show that the object 7 moves to the center side of the narrow field area N. It is also possible to superimpose the index S together with the coloring. The index S is preferably displayed until the object 7 enters the narrow visual field N after the movement of the object 7 toward the center of the narrow visual field N is detected. Further, if the number of indices S is gradually increased according to the distance to the narrow field region N, it is possible to clearly indicate that the object 7 is approaching further. Such an index S is preferably configured in the shape of an arrow having a convex portion projecting toward the center of the target photographed image (narrow field of view region N), for example. This makes it possible to intuitively recognize the moving direction of the object 7. Furthermore, the index S can be configured to have a predetermined transparency in order to prevent the scene behind the vehicle 1 from being unrecognizable. Such an index S is also preferably stored in the explicit image storage unit 17 as an explicit image as shown in FIG.

  Here, it is preferable that the index S displayed later is configured with a larger size than the index S displayed immediately before. In such a case, when a plurality of indicators S are displayed, the size of the indicator S superimposed last is the largest, and the size of the indicator S superimposed first is the smallest. Each index S may have a size similar to each other and may be set in size, or may be set in size by changing either the vertical or horizontal length of the index S. .

  The explicit image output unit 16 performs such display. Here, in the present embodiment, as shown in FIG. 2C, the obstacle existence area B, the own vehicle image image CI, and the index S are combined with a noticed photographed image that is a narrow visual field N, and the monitor 50. Is displayed. Therefore, the composite image generation unit 18 generates a composite image in which the obstacle existence area B, the vehicle image image CI, and the index S are combined with the target captured image. As a result, an image as shown in FIG. 2C is generated.

  Thus, by displaying the color of the obstacle existing area B, the superimposition of the vehicle image CI, and the index S, it is visually confirmed that the object 7 is approaching the vehicle 1 with respect to the vehicle 1 passenger. Can be specified explicitly.

  An example of a series of images in which the obstacle existence area B is colored is shown in FIGS. As shown in FIG. 3A, when it is detected that the object 7 in the outer region O has moved to the center side of the narrow field region N, the obstacle is observed until the object 7 enters the narrow field region N. As the object presence area b5 is colored, the index S is increased (FIGS. 3B to 3D). As shown in FIG. 4A, when the object 7 enters the narrow visual field N from the right outer region O, the superimposition of the index S is finished. When the object 7 enters the blind spot by the rear pillar on the right rear side, the obstacle existing area b4 is colored as shown in FIG. 4B. Further, when the object 7 enters the blind spot by the rear bumper, the obstacle existing area b3 is colored as shown in FIG. 4C.

  Here, in FIGS. 4D and 4E, even when the object 7 moves, the corresponding obstacle existence area b2 and obstacle existence area b1 are not colored. This is not the movement of the object 7 toward the center of the narrow field area N, but the movement of the object 7 from the narrow field area N to the outer area O, that is, the movement away from the vehicle 1. This is because it is not necessary to alert the passenger. Of course, in such a case, it is naturally possible to configure the corresponding obstacle existence area to be colored.

  Here, in FIGS. 4A to 4E, the largest view is shown when the object 7 is directly behind the vehicle 1 (FIG. 4C). This is because the noticeable photographed image relating to N is cut out from the photographed image G having a wide viewing angle. Therefore, even when the object 7 moves behind the vehicle 1 in parallel with the rear bumper of the vehicle 1, the state of being directly behind the vehicle 1 is displayed most greatly, and the smaller it is located to the side of the vehicle 1, the smaller it is. Is displayed. Such a display can naturally be performed so that the size of the object 7 becomes uniform by image processing.

  Next, a series of processes in which the obstacle alarm device 100 displays the composite image in which the obstacle existing area B is colored on the monitor 50 will be described with reference to the schematic diagram of FIG. First, the captured image acquisition unit 11 acquires a captured image G captured by the camera 5 of the vehicle 1 (step # 1).

  Next, the noticeable photographed image generation unit 12 generates the central part of the acquired photographed image G as the noticeable photographed image (step # 2). On the other hand, the outer area generation unit 13 generates both lateral portions of the acquired captured image G as the outer area O (step # 3). Whether or not the object 7 is present in the outer region O generated in this way is determined by the object presence determination unit 14 (step # 4).

  If it is determined that the object 7 exists in the outer region O, the moving direction determination unit 15 determines the moving direction of the object 7 (step # 5). When the moving direction of the object 7 is from the outer region O toward the narrow visual field N corresponding to the target photographed image, an explicit image is output by the explicit image output unit 16 (step # 6). This explicit image is output with reference to the explicit image stored in the explicit image storage unit 17.

  The composite image generation unit 18 generates a composite image by superimposing the explicit image output in Step # 6 on the noticeable captured image generated in Step # 2 (Step # 7). The generated composite image is displayed on the monitor 50 (step # 8). Thus, by coloring the obstacle existence area B corresponding to the area where the object 7 exists, it is possible to clearly indicate that the object 7 exists around the vehicle 1 to the occupant of the vehicle 1, and the vehicle 1. It is possible to clearly indicate the direction of the object 7 approaching. Therefore, it is possible to grasp the situation around the vehicle 1 and to clearly indicate that an obstacle is approaching.

  As described above, according to the obstacle alarm device 100 according to the present invention, the object 7 approaching the vehicle 1 has entered the imaging range even if the object 7 is not shown in the screen of the monitor 50 provided in the vehicle 1. At the time, the presence and direction of the object 7 approaching the vehicle 1 can be clearly shown to the occupant while displaying the situation around the vehicle 1. Therefore, even when the screen size of the monitor 50 is small, the object 7 approaching the vehicle 1 is not missed. In addition, since the obstacle existence area B is displayed in a colored manner, it is easy for the passenger to understand intuitively. Therefore, the presence of the object 7 approaching the vehicle 1 can be clearly shown to the occupant without missing the object 7 around the vehicle 1.

[Other Embodiments]
In the embodiment described above, the mask region M is described as being overlaid with the obstacle existence area B and at least a part of the vehicle image image CI of the vehicle 1 when the vehicle 1 is viewed from behind. However, the scope of application of the present invention is not limited to this. Of course, it is possible to display only the obstacle existing area B in the mask area M without displaying the vehicle image CI. Even in such a case, it is naturally possible to clearly indicate the presence of the object 7 approaching the vehicle 1 to the occupant.

  In the above embodiment, the obstacle existence area B has been described as being displayed so as to be superimposed on the mask area M. Obstacle presence area B can be configured to always be displayed in mask area M, or it can be displayed only when it is determined that object 7 is present around vehicle 1. Is possible.

  In the above embodiment, the obstacle existence area B has been described as including the area corresponding to the outer area O. However, the scope of application of the present invention is not limited to this. Obstacle existence area B can naturally be a region corresponding to only the narrow visual field region N.

  In the embodiment described above, the index S is displayed together with the obstacle presence area B. However, the scope of application of the present invention is not limited to this. Of course, it is possible to display only the obstacle existence area B without displaying the index S.

  In the above-described embodiment, the explicit image output unit 16 has the obstacle corresponding to the region where the object 7 exists when the movement direction determination unit 15 determines that the object 7 in the outer region O moves to the center side of the target captured image. It has been described that display for coloring the object existence area B is performed. For example, as such coloring, it is preferable to color with red or yellow so that it can be easily noticed by the passenger. Of course, it is naturally possible to color with other colors.

  In the above-described embodiment, an example in which the object 7 moves from the right outer region O to the center side of the target captured image has been described. However, the scope of application of the present invention is not limited to this. Of course, the present invention can also be applied to the case where the object 7 moves from the left outer region O to the center side of the target photographed image. Further, the present invention can naturally be applied to the case where the object 7 moves from the outer regions O on both the left and right sides to the center side of the target captured image.

  An example of a series of images in which the obstacle existence area B in such a case is colored is shown in FIGS. As shown in FIG. 6A, when it is detected that the object 7 in the outer region O on the right side has moved to the center side of the narrow field region N, the object 7 enters the narrow field region N. The obstacle existence area b5 is colored until the index S increases (FIGS. 6B to 6C). Here, as shown in FIG. 6 (c), when the object 7 moving from the left outer region O to the center side of the narrow field region N is detected, as shown in FIG. 7 (a), The number of indices S indicating movement from the right outer area O to the center side of the narrow field area N increases, and an index S indicating movement from the left outer area O to the center side of the narrow field area N is also displayed. The obstacle existence area b1 is colored until the object 7 enters the narrow field area N.

  When the object 7 in the outer region O on both the left and right sides further moves to the center side of the narrow field region N and the object 7 enters the narrow field region N from the outer region O on the right side, as shown in FIG. Then, the superimposition of the index S indicating the movement of the object 7 ends. On the other hand, the superimposition of the index S indicating the movement of the left object 7 is continued. After that, when the object 7 that has entered the narrow visual field N enters the blind spot by the rear pillar on the right rear side, the obstacle existing area b4 is colored as shown in FIG. 7C. On the other hand, the superimposition of the index S indicating the movement of the object 7 in the left outer region O is continuously performed.

  Further, when the object 7 that has entered the blind spot by the rear pillar on the right rear side moves to the center side of the narrow visual field region N and enters the blind spot by the rear bumper, as shown in FIG. 7D, the obstacle existence area b3 Is colored. When the object 7 in the left outer region O enters the narrow field region N, the superimposition of the index S indicating the movement of the object 7 ends. Thereafter, processing is performed as in the above embodiment. Thus, even when the object 7 moves from the left and right outer regions O to the center side of the narrow field region N, it is possible to clearly indicate the approach of the object 7 to the passenger of the vehicle 1.

  In the above-described embodiment, it has been described that coloring is performed as the highlight display. However, the scope of application of the present invention is not limited to this. As another highlight display, for example, it is naturally possible to blink the target obstacle existence area. Furthermore, other highlighting can naturally be applied.

  The present invention relates to an obstacle alarm device that clearly indicates to an occupant the presence of an obstacle approaching a vehicle.

1: vehicle 7: object 11: captured image acquisition unit 12: attention captured image generation unit 14: object presence determination unit 15: movement direction determination unit,
16: Explicit image output unit 19: Mask area setting unit 20: Obstacle existence area generation unit 100: Obstacle alarm device B (b1-b5): Obstacle existence area G: Photographed image CI: Vehicle image M: Mask Area O: Outside area

Claims (3)

A captured image acquisition unit that acquires a captured image of a scene behind the vehicle;
An attention-captured image generation unit that generates an attention-captured image displayed on the monitor of the vehicle based on the captured image;
An object presence determination unit that determines whether or not an object exists in an outer region outside the target captured image;
A moving direction determination unit that determines the moving direction of the object in the outer region;
A mask area setting unit that sets a mask area that hides at least a part of the scene behind the vehicle among the noted captured images;
Obstacle presence area generation unit that generates a plurality of obstacle existence areas corresponding to a plurality of areas divided into a blind area by a rear pillar when looking at the rear of the vehicle from the inside of the vehicle, and
An explicit image for performing a display in which an obstacle existing area corresponding to a region where the object is present is highlighted when the movement direction determination unit determines that the object in the outer region moves to the center side of the target captured image An output section;
With
The mask area is arranged above the target captured image plane with respect to the portion where the object in the outer region of the target captured image is located ,
The plurality of obstacle existence areas are configured to include at least an area corresponding to an area that becomes a blind spot by the rear pillar and an area corresponding to the outer area that is outside the vehicle from the area that becomes the blind spot, scale in which these obstacle warning device when it is determined that an object is present in the outer region.   The obstacle alarm device according to claim 1, wherein at least a part of the vehicle image of the vehicle when the vehicle is viewed from behind is superimposed on the mask area together with the obstacle presence area. The explicit image output unit, the obstacle alarm device according to claim 1 or 2 for displaying to color the obstacles existing area as the highlight.

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