WO2007139000A1 - Drive assistance device, drive assistance method, drive assistance program, and recording medium having recorded such program thereon - Google Patents

Abstract

A drive assistance device (100) has imaging means provided at a side of a vehicle, longitudinally along its advance direction, and imaging at least the vicinity of a front wheel and the vicinity of a rear wheel, and the drive assistance device (100) also has display control means (154) for recognizing display request information for requesting display of a taken image of at least either the front wheel side or rear wheel side of the vehicle, processing the taken image into a state where the image is rotated aligned with the advance direction of the vehicle, and causing a monitor (200) to display the processed image.

Description

 Specification

 Driving support device, method thereof, program thereof, and recording medium recording the program

 Technical field

 [0001] The present invention relates to a driving support apparatus that performs driving support by displaying a side image of a vehicle.

, A driving support method, a driving support program, and a recording medium that records the driving support program.

 Background art

 Conventionally, an image display device for driving support that is mounted on a side mirror and displays a side of the vehicle on a display device provided in the vehicle is known. (For example, see Patent Document 1).

 [0003] The device described in Patent Document 1 includes a camera that captures an image of a side of a vehicle so that a part of the vehicle is reflected in a housing of the side mirror, and a detection unit that detects an open / closed state of the side mirror, It is a driving support device including an image conversion unit that processes image data and a display unit that displays the image data on a monitor screen. In this driving support device, the image conversion means acquires the detection signal from the detection means and the image data from the camera, and when the side mirror is in the closed state, the image data is shifted by a preset amount of movement. A configuration to process and process image data is adopted!

 [0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2004-194071 (see pages 5 to 7, FIG. 1, FIGS. 5 to 10, and FIGS. 15 to 18)

 Disclosure of the invention

 Problems to be solved by the invention

[0005] By the way, the conventional driving support apparatus as described in Patent Document 1 has a configuration in which the image conversion means moves the image data by a predetermined amount, and therefore even when the vehicle is moving forward. Even in the retracted state, only images in the same range captured by the camera are displayed on the monitor screen.

Here, if the camera captures only the rear side of the vehicle (see FIGS. 5 to 8, 10, 10, 11, and 15 to 18 in Patent Document 1), the vehicle is moving backward. Oh In addition, the rear side of the vehicle can be displayed on the monitor screen. The front side image of the vehicle when the vehicle is moving forward cannot be captured by the camera, and driving can be supported. There is a problem.

 On the other hand, when the camera is imaging the front side of the vehicle, the force S that can display the front side image of the vehicle when the vehicle is moving forward, and the rear side image of the vehicle are captured by the camera. You can't help driving, especially when you reverse the vehicle.

[0006] Furthermore, when the camera is arranged to capture the front side and rear side of the vehicle, the front side and rear side of the vehicle can be confirmed on the monitor screen. There is a problem that the image on the side may be mistaken. In addition, since the image is a longitudinal image that extends continuously from the front side to the rear side of the vehicle, the vehicle traveling direction is displayed by a vehicle-mounted display means that is long in the standard lateral direction provided in, for example, a car navigation device. If this captured image is displayed so that it is in the same direction as, the image may be reduced and difficult to see, or a portion of the image may not be displayed. Also, if the longitudinal direction of the display means and the longitudinal direction of the captured image are the same, there is a risk of misrecognizing the rear side and the front side, and the traveling direction and the image direction are different, making it difficult to see. Can be mentioned.

 One object of the present invention is to provide a driving support apparatus, a driving support method, a driving support program, and a recording medium in which the driving support program is recorded that favorably supports driving in view of the above problems. And

 Means for solving the problem

[0008] The driving support device of the present invention is installed on the side of the vehicle and is provided in a longitudinal shape along the traveling direction of the vehicle, and imaging means for imaging at least the vicinity of the front wheel and the vicinity of the rear wheel. , Based on the display request information, display request recognition means for recognizing display request information for displaying at least one of the front wheel side and the rear wheel side of the vehicle! / Display control means for controlling the display means to process and process at least one of the front and rear wheel images of the vehicle in a state where the captured image is rotated in a direction along the traveling direction of the vehicle. And a driving assistance device characterized by comprising [0009] The driving support device of the present invention is disposed at the rear of the vehicle and is provided in a longitudinal shape along the traveling direction of the vehicle, and at least in the vicinity of the rear end of the vehicle and in the horizontal direction of the vehicle. Imaging means for imaging the rear, display request recognition means for recognizing display request information for displaying at least one of the captured image in the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle, and the display Based on the request information, the captured image of at least one of the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle is processed into a state rotated in a direction along the traveling direction of the vehicle. A driving support apparatus characterized by comprising display control means for controlling display on the display means.

 [0010] The driving support method of the present invention images at least the vicinity of the front wheels and the vicinity of the rear wheels of the vehicle with an imaging means installed on the side of the vehicle in the longitudinal direction along the traveling direction of the vehicle. Recognizing display request information for displaying a captured image of at least one of the front wheel side and the rear wheel side of the vehicle, and based on the display request information, at least one of the front wheel side and the rear wheel side of the vehicle The driving support method is characterized in that the captured image is processed into a state in which the captured image is rotated in a direction along the traveling direction of the vehicle and is displayed on the display means.

 [0011] The driving support method according to the present invention includes an imaging unit installed at a rear side of a vehicle in a longitudinal direction along a traveling direction of the vehicle, at least in the vicinity of a rear end of the vehicle and in a horizontal direction of the vehicle Imaging the rear, recognizing display request information for displaying at least one of the captured image in the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle, and based on the display request information, Control is performed so that at least one of the captured image in the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle is processed in a state rotated in a direction along the traveling direction of the vehicle and displayed on the display means. This is a driving support method characterized by the above.

 [0012] The driving support program of the present invention is a driving support program characterized by causing it to function as the driving support device as described above.

[0013] A driving support program of the present invention is a driving support program characterized by causing a calculation means to execute the driving support method as described above. [0014] A recording medium on which the driving support program of the present invention is recorded is a recording medium on which a driving support program as described above is recorded so that the driving support program can be read by a calculation means. is there.

 Brief Description of Drawings

 FIG. 1 is a diagram schematically showing a vehicle equipped with a driving support apparatus according to an embodiment of the present invention.

 FIG. 2 is a diagram showing an outline of a configuration of an imaging means mounted inside a side mirror in the present embodiment.

 FIG. 3 is a block diagram showing an outline of a driving support device.

 FIG. 4 is a diagram showing an example of image data on the side of the vehicle imaged by the imaging means in the present embodiment.

 FIG. 5 is a diagram showing an example of a display screen when imaging data near the rear wheel is displayed on the monitor.

 FIG. 6 is a diagram showing an example of a display screen when imaging data near the front wheel is displayed on the monitor.

 FIG. 7 is a diagram showing an example of a display screen when imaging data in the vicinity of the rear wheel and imaging data in the rear of the vehicle are displayed on the monitor.

 FIG. 8 is a diagram showing an example of a display screen when imaging data near the front wheels and imaging data near the rear wheels are displayed on the monitor.

 FIG. 9 is a flowchart of an imaging data display operation of the driving support device 100.

 FIG. 10 is a diagram showing an outline of a configuration of an imaging means mounted inside a side mirror in another embodiment.

 FIG. 11 is a diagram showing an example of imaging data on the side of the vehicle imaged by the imaging means of FIG.

12 is a diagram showing an example of corrected image data obtained by correcting the image data shown in FIG.

 FIG. 13 is a diagram showing an example of a display screen when imaging data in the vicinity of the rear wheels and imaging data in the rear of the vehicle are displayed on a monitor in still another embodiment.

FIG. 14 schematically shows a vehicle equipped with a driving support apparatus in still another embodiment. It is a figure.

 FIG. 15 is a diagram showing an example of imaging data behind the vehicle imaged by imaging means mounted on the vehicle of FIG.

 FIG. 16 is a diagram showing an example of a display screen when rear end image data and rear image data are displayed on a monitor.

 Explanation of symbols

[0016] 1 ... Vehicle

 2… Front wheel

 3… Rear wheel

 4… Side mirror

 5 ... Rear camera as rear imaging means

 41, 41A, 71 ... Imaging means

 42… Camera body

 43… Front wheel side lens as front lens

 44 · · · Rear lens as rear lens

 45 ... Reflection mirror as reflection optical member

 46… Fisheye Lens

 100 ... Driving assistance device

 152… Direction recognition means

 153 ... Display request means as request information generation means

 154 ... Display control means that also functions as a display request recognition means

 200 ... Monitor as display means

 321, 331, 341, 521, 531

 421 ... CCD as light receiving part

 BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram schematically showing a vehicle equipped with a driving support apparatus according to an embodiment of the present invention. FIG. 2 shows an outline of the configuration of the imaging means mounted inside the side mirror in the present embodiment. It is a figure. FIG. 3 is a block diagram showing an outline of the driving support device. FIG. 4 is a diagram illustrating an example of a captured image on the side of the vehicle captured by the imaging means. FIG. 5 is a diagram showing an example of a display screen when imaging data in the vicinity of the rear wheel is displayed on the monitor. FIG. 6 is a diagram showing an example of a display screen when imaging data in the vicinity of the front wheels is displayed on the monitor. FIG. 7 is a diagram illustrating an example of a display screen when the imaging data near the rear wheel and the imaging data behind the vehicle are displayed on the monitor. FIG. 8 is a diagram showing an example of a display screen when imaging data near the front wheels and imaging data near the rear wheels are displayed on the monitor.

In FIG. 1, reference numeral 1 denotes a vehicle. The vehicle 1 includes a front wheel and a rear wheel, and is movable by driving at least one of the front wheel 2 and the rear wheel 3 by a driving unit (not shown). It is a general car. In FIG. 1, a general sedan-type vehicle is illustrated as the vehicle 1, but is not limited to this. For example, the vehicle 1 is a vehicle of another shape such as a van-type automobile, a mini vehicle, or a truck. There may be.

 The vehicle 1 includes a side mirror 4 on the side, and the side mirror 4 includes an imaging means 41 for imaging the vicinity of the front wheel 2 and the vicinity of the rear wheel 3 of the vehicle 1 as shown in FIG. It is provided.

 A rear camera 5 is provided behind the vehicle 1 as a rear imaging means capable of imaging the rear of the vehicle 1. In FIG. 1, the rear camera 5 shows a configuration provided on the ceiling of the vehicle 1, but is not limited to this. For example, the rear camera 5 is provided behind the vehicle 1 such as a bumper trunk provided behind the vehicle 1. It can be installed at any position where imaging is possible.

 Further, the vehicle 1 is equipped with a driving support device 100 as shown in FIG. The driving support device 100 performs predetermined processing on the imaging data input from the imaging means 41 and the rear camera 5 provided in the side mirror 4, and the LCD (Liquid) of the monitor 200 provided in the vehicle 1 is processed. Display on Crystal Display 220. A detailed description of the driving support device 100 will be described later.

Furthermore, the vehicle 1 is equipped with a sensor unit 6 (see FIG. 3). The sensor unit 6 includes, for example, a gyro sensor, detects the azimuth angle of the vehicle, that is, the traveling direction in which the vehicle moves forward, and outputs a detection signal related to the traveling direction to the driving support device 100. As shown in FIG. 2, the image pickup means 41 provided in the side mirror 4 includes a camera body 42 and a front wheel side lens as a front lens provided in front of the side mirror 4 (front wheel 2 side). 43, a rear wheel side lens 44 as a rear lens provided behind the side mirror 4 (rear wheel 3 side), and a reflection mirror 45 as a reflection optical member. The imaging means 41 may be provided on one of the left and right side mirrors 4 of the vehicle 1, for example, on the side mirror 4 on the side opposite to the driver's seat! /!

 [0022] The camera body 42 is disposed so as to be longitudinal in the vehicle traveling direction, that is, from the front wheel 2 toward the rear wheel 3 in a state where the side mirror 4 is open. On the lower surface side of the camera body 42, a light receiving portion that receives light emitted from the reflection mirror 45, for example, a CCD (Charge Coupled Device) 421 force, is provided along the longitudinal direction of the camera body 42. Specifically, the CCD 421 has a camera body 42 so as to have a specific force of, for example, 16: 9 between a longitudinal dimension along the traveling direction of the vehicle 1 and a dimension approximately perpendicular to the traveling direction of the vehicle 1. Is formed in a substantially rectangular shape on the lower surface side. The CCD 421 converts received image light into an electric signal. Then, the image light converted into an electrical signal by the CCD 421 is appropriately output to the image receiving unit 110 (see FIG. 3) of the driving support device 100 as imaging data.

 As described above, the front wheel side lens 43 is provided on the front side of the side mirror 4 and emits the incident light to the reflection mirror 45. As shown in FIG. 1, the refractive index of the front wheel side lens 43 is within a predetermined range about the front wheel 2 as a front wheel side imaging range 2A, which is a range on the front wheel 2 side that can be imaged by the camera body 42. It is set as appropriate.

 As described above, the rear wheel side lens 44 is provided on the rear side of the side mirror 4 and emits the incident light to the reflection mirror 45. As shown in FIG. 1, the refractive index of the rear wheel side lens 44 is such that the rear wheel side imaging range 3A, which is a range on the rear wheel 3 side that can be imaged by the camera body 42, is centered on the rear wheel 3. It is appropriately set so as to be within a predetermined range.

 [0024] The reflection mirror 45 includes a front wheel side reflection mirror 451 that reflects the light incident from the front wheel side lens 43 to the camera body 42, and a rear wheel side reflection that reflects the light incident from the rear wheel side lens 44 to the camera body 42. Mirror 452.

The front wheel side reflection mirror 451 is arranged such that one end on the rear side is opposed to the substantially central position in the longitudinal direction of the camera body 42 and the other end on the front side is inclined away from the camera body 42. It is arranged at an angle.

 The rear wheel side reflection mirror 452 is connected to one end part on the rear side of the front wheel side reflection mirror 451 with one end part on the front side facing the substantially central position in the longitudinal direction of the camera body 42, and the other end part on the rear side. Is tilted away from the camera body 42! /

 Here, the inclination angle of the front wheel side reflection mirror 451 and the rear wheel side reflection mirror 452 is such that the image incident from the front wheel side lens 43 is received by the CCD 421 on the front side from the approximate center position in the longitudinal direction of the camera body 42. As described above, it is set as appropriate so that the image incident from the rear-wheel side lens 44 is received by the CCD 421 on the rear side from the approximate center position in the longitudinal direction of the camera body 42.

 In this embodiment, the reflection mirror 45 is exemplified as the reflection optical member. However, the present invention is not limited to this, and an optical member such as a prism may be used.

[0026] In the imaging means 41 as described above, the side of the vehicle side where the images of the front wheel side imaging range 2A and the rear wheel side imaging range 3A as shown in FIG. It becomes possible to image the direction image data 300.

[Configuration of Driving Support Device]

 Next, the configuration of the driving support apparatus 100 in the present embodiment will be described based on FIG.

 [0028] The driving support device 100 is mounted inside the vehicle 1 as described above. As shown in FIG. 3, the driving support device 100 includes an image receiving unit 110, a scaler image processing unit 120, an operation unit 130, a memory 140, a CPU (Central Processing Unit) 150, and a display unit. Monitor 200 and so on.

The monitor 200 includes an LCD controller 210 and an LCD 220. The LCD controller 210 changes the voltage applied to the LCD 220 based on the display processing signal from the CPU 150, and causes the LCD 220 to display predetermined image data. The LCD 220 is disposed, for example, on a front panel that is visible from the driver's seat inside the vehicle 1. In this embodiment, the power to exemplify the monitor 100 provided with the LCD 220 is not limited to this. For example, an organic EL (Electro Luminescence) noise, a PDP (Plasma Display Panel), a CRT (Cathode-Ray Tube) , FED (Field Emission Display), electrophoresis display panel, etc. It is also possible to use various display devices for surface display! /.

 The image receiving unit 110 recognizes imaging data input from the imaging means 41 and the rear camera 5. Further, when the recognized imaging data is an analog signal, the image receiving unit 110 converts it into a digital signal. Then, the image receiving unit 110 outputs the recognized imaging data to the scaler image processing unit 120.

 The scaler image processing unit 120 appropriately performs image processing on the input image data based on the processing signal from the CPU 150.

 Specifically, the scaler image processing unit 120 recognizes the side imaging data 300 in which the captured image of the front wheel side imaging range 2A and the captured image of the rear wheel side imaging range 3A are connected as shown in FIG. FIG. 4 shows image data captured by the image capturing means 41 provided on the left side mirror 4 of the vehicle 1.

 Then, the scaler image processing unit 120 cuts the side imaging data 300 using the approximate center position of the side imaging data 300 as a force line 310, and the front wheel side which is an imaging image of the front wheel side imaging range 2A. The imaging data 320 is separated into the rear wheel side imaging data 330 that is an imaging image of the rear wheel side imaging range 3A. At this time, the scaler image processing unit 120 recognizes the front wheel side imaging data 320 and the rear wheel side imaging data 330 based on the position where the imaging means 41 is provided. For example, when the imaging means 41 is provided on the left side mirror 4 of the vehicle 1, left side imaging data 300 as shown in FIG. 4 is captured. In this case, the scaler single image processing unit 120 The right image with respect to the cut line 310 is recognized as the front wheel side imaging data 320, and the left image with respect to the cut line 310 is recognized as the rear wheel side imaging data 330.

[0032] Further, the scaler image processing unit 120 processes the cut front wheel side imaging data 320 and rear wheel side imaging data 330, for example, by 90 degree rotation image processing so that the front of the vehicle 1 is on the upper side. Specifically, when the scaler image processing unit 120 recognizes the left side image data 300 on the left side of the vehicle 1 as shown in FIG. 4, for example, the cut front wheel side image data 320 and rear wheel side image data 330 Is rotated 90 degrees counterclockwise, and rotational image processing is performed so that the vehicle body of the vehicle 1 in the front wheel side imaging data 320 and the rear wheel side imaging image data 330 is in a direction along the traveling direction. Here, the traveling direction of the vehicle 1 Is the direction in which the front wheel 2 side of the vehicle 1 is on the upper side. For example, even when the vehicle 1 is moving backward, the front wheel side imaging data 320 and the rear wheel side imaging are similarly set so that the front wheel 2 side is on the upper side. The image data 330 is rotated.

 Then, scaler image processing section 120 performs enlarged image processing or the like on front wheel side imaging data 320 subjected to image processing as described above based on the processing signal of CPU 150 and outputs the result to monitor 200. For example, when the scaler image processing unit 120 receives a processing signal for displaying the front wheel side imaging data 320 from the CPU 150, the scaler image processing unit 120 enlarges the front wheel side imaging data 320 and outputs it to the monitor 200. Further, when the scaler image processing unit 120 receives a processing signal for displaying the rear wheel side imaging data 330 from the CPU 150, the scaler image processing unit 120 enlarges the rear wheel side imaging data 330 and outputs it to the monitor 200.

 [0034] The operation unit 130 has various operation buttons, operation knobs, and the like (not shown) that are mounted on a vehicle and input by a user, for example.

 The contents of the input operation such as these operation buttons and operation knobs are setting items for setting the operation contents of the driving support device 100, for example. Specifically, request information relating to settings for selecting which image data to display on the monitor 200, settings for the display method of image data, and the like can be exemplified.

 Then, the operation unit 130 appropriately outputs a predetermined operation signal to the connected CPU 150 by an input operation of setting items.

 The operation unit 130 is not limited to an input operation such as an operation button or an operation knob. For example, an input operation using a touch panel provided on the monitor 200, an input operation using sound, or a wireless medium such as a remote controller. Any configuration in which various setting items can be set and input, such as a configuration for receiving output operation signals, can be applied.

 [0036] The memory 140 is connected to the CPU 150 and stores setting items input by the operation unit 130, input display request information, and the like so that the CPU 150 can appropriately read them. It can be used as a storage area for arithmetic processing in the CPU 150. The memory 140 stores various programs developed on an OS (Operating System) that controls the entire driving support apparatus 100.

This memory; L40 is stored even when the power is suddenly shut down due to a power failure etc. Memory such as CMOS (Complementary Metal-Oxide Semiconductor) memory, magnetic disks such as HD (Hard Disk) and FD (Flexible Disk), CD (Compact Disc) and DVD (Digital Versatile Disc) It is possible to use a drive or driver that can be read and stored in a recording medium such as an optical disk, a magneto-optical disk, or a memory card.

 [0037] The CPU 150 is connected to the sensor unit 6, the image receiving unit 110, the scaler image processing unit 120, the operation unit 130, the memory 140, the monitor 200 and the like so as to be able to transmit and receive various types of information. have. The CPU 150 includes, as various programs, a request information recognition unit 151, a traveling direction recognition unit 152, a display request unit 153 as a request information generation unit, a display control unit 154 that also functions as a display request recognition unit, Etc.

 The request information recognizing means 151 recognizes various setting items set and input by the operation unit 130, and acquires request information regarding imaging data to be displayed on the monitor 200 from the setting items.

 The traveling direction recognition means 152 recognizes a detection signal input from the gyro sensor of the sensor unit 6 and recognizes the traveling direction of the vehicle 1 based on this detection signal. In this embodiment, the traveling direction recognition means 152 recognizes the traveling direction of the vehicle 1 based on the detection signal input from the gyro sensor, but is not limited to this. The traveling direction of the vehicle 1 may be recognized based on a detection signal input from the acceleration sensor. Furthermore, the configuration may be such that, for example, the gear of the vehicle 1 recognizes that the vehicle 1 is moving forward when the drive gear is engaged, and recognizes that the vehicle 1 is retracted when the back gear is engaged, for example. .

[0040] Display request means 153 displays predetermined image data on monitor 200 based on the request information recognized by request information recognition means 151 and the traveling direction of vehicle 1 recognized by traveling direction recognition means 152. Display request information is generated and output to the display control means. Specifically, the display request unit 153 monitors the front wheel side imaging data 320 when the traveling direction of the vehicle 1 is the forward direction based on the traveling direction of the vehicle 1 recognized by the traveling direction recognition unit 152. Display request information for displaying on the screen is generated. On the other hand, the display requester The stage 153 generates display request information for displaying the rear wheel side imaging data 330 on the monitor 200 when the traveling direction of the vehicle recognized by the traveling direction recognition means 152 is the backward direction.

 Further, when the request information is recognized by the request information recognizing means 151, the display requesting means 153 generates display request information for displaying predetermined imaging data on the monitor 200 based on the request information. For example, when the request information recognizing means 151 recognizes the request information for displaying both the imaging data 320 in the vicinity of the front wheel 2 side and the imaging data 330 in the vicinity of the rear wheel 3 side, the request information recognition means 151 recognizes the front wheel. Display request information indicating that the imaging data 320 near the second side and the imaging data 330 near the rear wheel 3 side are displayed in parallel on the LCD 220 of the monitor 200 is generated.

 Then, the display request unit 153 outputs the generated display request information to the display control unit 154.

 The display control unit 154 appropriately outputs an image processing signal to the scaler image processing unit 120 based on the display request information input from the display request unit 153, and causes the scaler image processing unit 120 to perform the processing of the imaging data 300. . The display control means 154 controls the LCD 220 to output a display control signal and display predetermined image data on the LCD 220.

Specifically, when the display request information for displaying the rear wheel side imaging data 330 is input from the display request unit 153, the display control unit 154 outputs a predetermined image processing signal to the scaler image processing unit 120. Output. That is, the scaler image processing unit 120 cuts out the rear wheel side imaging data 330 from the imaging data 300, rotates the extracted rear wheel side imaging data 330 so that the front wheel side of the vehicle 1 is on the upper side, and An image processing signal is output to enlarge the processed image of the rear wheel side image data 330 that has been subjected to the rotation image processing. Then, the display control means 154 controls the LCD controller 210 to display the rear wheel side image data 330 processed by the scaler image processing unit 120 on the LCD 220 as shown in FIG. do. At this time, the display control means 154 controls the LCD controller 210 to display the imaging range guide information 331 indicating the rear wheel 3 side imaging data such as “rear” below the LCD 220 and the rear wheel side imaging data. It is displayed superimposed on 330. In addition, when the display request information for displaying the front-wheel imaging data 320 is input from the display request unit 153, the display control unit 154 outputs a predetermined image processing signal to the scaler image processing unit 120. That is, the scaler image processing unit 120 cuts out the front wheel side imaging data 320 from the imaging data 300, rotates the cut out front wheel side imaging data 320 so that the front wheel side of the vehicle 1 is on the upper side, and further performs this rotation. An image processing signal indicating that the image data 320 on the front wheel side subjected to image processing is to be enlarged is output. Then, the display control means 154 controls the LCD controller 210 to control the LCD 220 to display the front wheel side imaging data 320 image-processed by the scaler image processing unit 120 as shown in FIG. At this time, the display control means 154 controls the LCD controller 210 to display the imaging range guide information 321 indicating the front wheel 2 side imaging data such as “front” below the LCD 220, and the front wheel side imaging data 320. Is displayed superimposed on.

 [0043] Further, the display control means 154 has display request information for displaying the rear wheel side imaging data 330 and the rear imaging data of the vehicle 1 imaged by the rear camera 5 from the display requesting means 153. When input, a predetermined image processing signal is output to the scaler image processing unit 120. That is, image processing that causes the scaler image processing unit 120 to cut out the rear wheel side imaging data 330 from the imaging data 300 and to rotate the cut rear wheel side imaging data 330 so that the front wheel side of the vehicle 1 is on the upper side. Output a signal. Then, the display control means 15 4 controls the LCD controller 210, and as shown in FIG. 7, the rear wheel side imaging that has been image-processed by the scaler image processing unit 120 on one side of the LCD 220 (left side in FIG. 7). Data 330 is displayed, and control is performed to display imaging data 340 behind the vehicle 1 on the other side of LCD 220 (right side in FIG. 7). At this time, the display control means 154 controls the LCD controller 210, and below the rear wheel side imaging data 330, for example, imaging range guide information 331 indicating rear side 3 imaging data such as “rear” is displayed. In addition, imaging range guide information 341 indicating that the image data is behind the vehicle 1 such as “back” is superimposed below the imaging data 340 behind the vehicle 1 on the rear-wheel imaging data 330 and the rear imaging data 340, respectively. To display.

[0044] Furthermore, when the display request information indicating that the front wheel side imaging data 320 and the rear wheel side imaging data 330 are to be displayed is input from the display request unit 153, the display control unit 154 performs scaling. A predetermined image processing signal is output to the error image processing unit 120. That is, the scaler image processing unit 120 cuts out the front wheel side imaging data 320 and the rear wheel side imaging data 330 from the imaging data 300, and rotates the extracted imaging data 320 and 330 so that the front wheel side of the vehicle 1 is on the upper side. An image processing signal for outputting is output. Then, the display control means 154 controls the LCD controller 210, and as shown in FIG. 8, the rear wheel side imaging that is image-processed by the scaler image processing unit 120 on one side of the LCD 220 (left side in FIG. 8). Data 330 is displayed, and control is performed to display front wheel side imaging data 320 image-processed by scaler image processing unit 120 on the other side of LCD 220 (right side in FIG. 8). At this time, the display control means 154 controls the LCD controller 210 to provide imaging range guidance information 331 indicating that the rear wheel side imaging data 330 is, for example, “rear” imaging data on the rear wheel 3 side. Is superimposed on the rear wheel side imaging data 330 and the front wheel side imaging data 320, respectively, under the front wheel side imaging data 320, for example, imaging range guidance information 321 indicating the front wheel 2 side imaging data such as “front”. Control to display.

[Operation of Driving Support Device]

 Next, the operation of the driving support device 100 mounted on the vehicle 1 will be described with reference to FIG. FIG. 9 is a flowchart of the imaging data display operation of the driving support device 100.

In FIG. 9, when power is supplied to the driving support device 100 of the vehicle 1, the CPU 150 of the driving support device 100 selects, for example, whether or not to display a driving support image on the LCD 220 of the monitor 200. Information to that effect is displayed (step S101). When the operation unit 130 is operated and, for example, information indicating that the captured image is not displayed is set and input, for example, a standby state is set.

 On the other hand, when the operation unit 130 is operated and information indicating that the captured image is displayed is set and input, the CPU 150 detects the detection signal input from the sensor unit 6 by the traveling direction recognition unit 152. Then, the traveling direction of the vehicle 1 is recognized (step S102).

[0048] In this step S102, when the traveling direction recognizing means 152 detects that the traveling direction of the vehicle 1 is the backward direction, the display requesting means 153 of the CPU 150 sends the rear wheel side imaging data 330 to the monitor 200. Display request information to display the message, and display control means 15 Output to 4.

 Then, the display control unit 154 of the CPU 150 outputs an image processing signal to the scaler image processing unit 120 based on the display request information. As a result, the scaler image processing unit 120 cuts the imaging data 300 received by the image receiving unit 110 along the cut line 310, and extracts the rear-wheel imaging data 330 (step S103). In addition, the scaler image processing unit 120 rotates the rear wheel side imaging data 330 by 90 degrees so that the front wheel side of the extracted rear wheel side imaging data 330 is on the upper side. Further, the scaler image processing unit 120 enlarges the rear wheel side imaging data 330 that has been subjected to the rotation calorie processing to a size that can be displayed within a predetermined display area of the LCD 220 (step S104).

 [0049] After that, the display control means 154 of the CPU 150 controls the LCD controller 210 to display the rear wheel side image data 330 processed in step S104 on the LCD 220 as shown in FIG. . Further, the display control means 154 performs control to display the imaging range guidance information 331 below the rear wheel side imaging data 330 (step S105).

 On the other hand, in step S102, when the traveling direction recognition means 152 detects that the traveling direction of the vehicle 1 is the forward traveling direction, the display requesting means 153 of the CPU 150 sends the front wheel side imaging data 320 to the monitor 200. Display request information for display is generated and output to display control means 1 54.

 [0051] Then, the display control means 154 of the CPU 150 outputs an image processing signal to the scaler image processing unit 120 based on the display request information. As a result, the scaler image processing unit 120 cuts the imaging data 300 received by the image receiving unit 110 along the cut line 310 and cuts out the front wheel side imaging data 320 (step S106). Also, the scaler image processing unit 120 rotates the front wheel side imaging data 320 by 90 degrees so that the front wheel side of the cut out front wheel side imaging data 320 is on the upper side. Further, the scaler image processing unit 120 enlarges the front wheel side imaging data 320 that has been subjected to the rotation calorie processing to a size that can be displayed in a predetermined display area of the LCD 220 (step S107).

[0052] Thereafter, the display control means 154 of the CPU 150 performs the process of step S105. In other words, the display control means 154 controls the LCD controller 210 to display the front wheel side imaging data 320 image-processed in step S107 on the LCD 220 as shown in FIG. Further, the display control means 154 controls to display the imaging range guide information 32 1 below the front wheel side imaging data 320.

Thereafter, the request information recognition unit 151 of the CPU 150 recognizes whether or not the request information is input and set (step S108).

 In step SI 08, when the request information input unit 151 recognizes the request information input setting, the display request unit 153 of the CPU 150 generates display request information based on the request information and outputs it to the display control unit 154. To do. Then, the display control means of the CPU 150 outputs an image processing signal to the scaler image processing unit 120 based on the display request information (step S109).

 The scaler image processing unit 120 cuts out the imaging data 300 received by the image receiving unit 110 based on the image processing signal output in step S109 (step S110), and the cut-out imaging data is imaged. Process (step S111).

 Thereafter, the display control means 154 performs the process of step S105, and controls the LCD 220 to display the imaging data subjected to the image processing in step S111.

[0054] For example, when display request information for displaying both the rear-wheel imaging data 330 and the rear imaging data 340 is input to the display control means 154, the display control means 154 performs the process of step S109. Then, the image processing signal based on the display request information is output to the scaler image processing unit 120.

 The scaler image processing unit 120 performs the processing of step S 110 and step S 111 based on the image processing signal, and cuts out the rear wheel side imaging data 330 of the imaging data 300 received by the image receiving unit 110. Then, the extracted rear-wheel image data 330 is subjected to 90-degree rotation image processing so that the front-wheel side is the upper side. In addition, the scaler image processing unit 120 performs, for example, enlargement / reduction processing on the rear imaging data 340 input from the rear camera 5 to the image receiving unit 110.

 After that, as shown in FIG. 7, the display control means 154 controls the rear wheel side imaging data 330 and the rear imaging data 340 processed in step S110 and step S111 to be displayed in parallel and displayed on the LCD 220. To do.

In step S 108, the CPU 150 causes the request information recognition unit 151 to request information. If the information input setting is not recognized, for example, a standby state is entered. Then, when the setting input for ending the driving support operation is recognized by the operation of the operation unit 130, the CPU 150 performs a process of ending a series of driving support operations (step S112).

[0056] [Operational effect of driving support device]

 As described above, the driving support device 100 of the vehicle 1 images the vicinity of the front wheel 2 and the vicinity of the rear wheel 3 of the vehicle 1 by the CCD 421 provided in the side mirror 4 along the traveling direction of the vehicle 1. An imaging means 41 is provided. Then, the display control means 154 of the CPU 150 of the driving assistance device 100 controls the scaler image processing unit 120, and among the imaging data imaged by the imaging means 41, the front wheel side imaging according to the display request information At least one of the data 320 and the rear wheel side image data 330 is cut out, and the cut out image data is rotated and processed so that the front wheel side is on the upper side. Thereafter, the display control means 154 controls the LCD 220 to display the imaging data that has been subjected to the rotation image processing. Therefore, the front wheel side imaging data 320 and the rear wheel side imaging data 330 are displayed on the LCD 220 so that the front wheel side, which is the front side of the vehicle, is on the upper side. Therefore, when the driver's power also looks at the LCD 220, the front wheel side imaging data 320 and the rear wheel side imaging data 330 that are displayed are displayed in a state that substantially matches the traveling direction of the vehicle. This makes it easier to grasp the situation near the second side and the situation near the rear wheel 3 side. Therefore, it is easy to understand the vicinity of the wheel! / And an image can be displayed, so that driving can be favorably supported. Further, since the display control means displays at least one of the front wheel side imaging data 320 and the rear wheel side imaging data 330 based on the display request information, the front wheel side imaging data 320 can be changed by changing the display request information. Can be displayed, the rear-wheel imaging data 330 can be displayed, or both can be displayed. Therefore, it is possible to select and display the status of a desired area according to the purpose, and it is possible to better support driving.

[0057] Further, the imaging means 41 is built in the side mirror 4 of the vehicle. For this reason, since the imaging means 41 is not exposed to the outside of the vehicle 1, the appearance can be kept good. In addition, since the image pickup means 41 is provided on the side mirror 4 that protrudes to the side of the vehicle 1, it is possible to reliably pick up an image of the state of the wheel and to support driving well. [0058] Further, the imaging means 41 includes a camera body 42 in which the CCD 421 is provided in a longitudinal shape along the traveling direction of the vehicle 1, and an image in the vicinity of the front wheel 2 and the rear wheel 3 provided in front and rear of the side mirror. A front wheel side lens 43 and a rear wheel side lens 44 into which adjacent images are incident, respectively, and a reflection mirror 45 for guiding the light incident from the front wheel side lens 43 and the rear wheel side lens 44 to the CCD 421. I have.

 For this reason, both the image of the imaging range 2A near the front wheel 2 and the image of the imaging range 3A near the rear wheel 3 are incident on the longitudinal CCD 421, and the front wheel 2 and the rear wheel are captured as one imaging data. 3 Can capture the situation in the vicinity. Therefore, it is possible to reduce the number of parts that do not require the use of a plurality of cameras for imaging the vicinity of the front wheel 2 and the vicinity of the rear wheel 3, and the configuration can be simplified.

 Further, the CCD 421 is set so that the ratio of the dimension in the longitudinal direction to the dimension in the direction substantially perpendicular to the longitudinal direction is 16: 9. For this reason, when the image data 300 is cut by the cut line 310 in the scaler image processing unit 120, the aspect ratio of the front wheel side image data 320 and the rear wheel side image data 330 can be made substantially the same. Therefore, the processing amount of the image processing in the scaler single image processing unit 120 is reduced, and processing addition in the processing can be reduced.

 In the driving support device 100, the traveling direction recognition means 152 recognizes the traveling direction of the vehicle 1 based on the detection signal input from the sensor unit 6, and the display requesting means 153 The display request information is output to the display control means 154 in accordance with the traveling direction of 1. That is, the display requesting means 153 generates display request information for displaying the rear-wheel image data 330 when the vehicle 1 is moving backward, and the front-wheel side when the vehicle 1 is moving forward. Display request information for displaying the imaging data 320 is generated. Then, based on this display request information, the display control means 154 displays the rear wheel side imaging data 330 on the LCD 220 of the monitor 200 when the vehicle 1 is moving backward, and the scaler image processing unit 120 and the LCD. When the controller 210 is controlled and the vehicle 1 is moving forward, the scaler image processing unit 120 and the LCD controller 210 are controlled so that the front wheel side imaging data 320 is displayed on the LCD 220 of the monitor 200.

For this reason, when the vehicle 1 is moving backward, images of the rear of the vehicle and the vicinity of the rear wheels are automatically set. Is displayed on the LCD 220, and when the vehicle 1 is moving forward, images of the front of the vehicle and the vicinity of the front wheels can be automatically displayed on the LCD 220. Therefore, even if the driver does not manually switch the image to be displayed on the LCD220, it can automatically display appropriate imaging data corresponding to the driving situation of the vehicle 1 and can support driving well. .

In addition, the display request unit 153 of the driving support apparatus 100 generates display request information based on the request information input and set from the operation unit 130 recognized by the request information recognition unit 151. Then, the display control means 154 controls the scaler image processing unit 120 and the LCD controller 210 based on the display request information, and causes the LCD 220 to display imaging data.

 For this reason, for example, according to the input operation of the operation unit 130 by the user, it is possible to display the imaging data desired by the user on the LCD 220. Therefore, when the vehicle 1 moves backward, the rear wheel side imaging data 330 is simply displayed.For example, in parallel parking, both the front wheel side imaging data 320 and the rear wheel side imaging data 330 are displayed and the wheels are not locked! / When the vehicle 1 moves backward at the parking lot, the user's desired vehicle is displayed corresponding to the driving state of the vehicle 1 such as displaying both the rear wheel imaging data 330 and the rear imaging data 340. The situation in the vicinity of 1 can be displayed on the LCD 220 more appropriately, and the power S can help drive better.

 [0062] Further, the display control means 154 controls the LCD controller 210 to display the imaging range guide information 321 indicating that the image is near the front wheel 2 below the front wheel side imaging data 320, and the rear wheel. Imaging range guide information indicating that the image is within the imaging range 331 indicating that the image is in the vicinity of the rear wheel 3 below the side imaging data 330 and that the image is a rear image of the vehicle 1 below the rear imaging data 340. 341 is displayed. For this reason, it is possible to easily confirm which range the image displayed on the LCD 220 is captured, and it is possible to prevent inconveniences such as misidentification of the front wheel side and the rear wheel side, for example.

 [Other Embodiments]

 The present invention is not limited to the above-described embodiment, but includes the following modifications as long as the object of the present invention can be achieved.

[0064] For example, in the above embodiment, each of the side mirror 4 on the front side and the rear side, A force showing a configuration in which a front wheel side lens 43 and a rear wheel side lens 44 are provided, and light incident from these lenses 43, 44 is reflected by the reflection mirror 45 and guided to the CCD 421. For example, as shown in FIG. A configuration using a fisheye lens 46 may be used.

 In FIG. 10, an imaging means 41A built in the side mirror 4 includes a camera body 42 having the same configuration as that of the above embodiment, and a fish-eye lens 46 provided below the side mirror 4. Here, the CCD 421 is set to a resolution more than twice the resolution of the LCD 220 of the monitor 200. In such a configuration, the fisheye lens 46 allows the CCD 421 to enter a wide range of images from the vicinity of the front wheel 2 of the vehicle 1 to the vicinity of the rear wheel 3 thereof. At this time, as shown in FIG. 11, the imaging data captured by the CCD 421 is curved so as to be closer to each other with a predetermined curvature corresponding to the fisheye lens 46 as the distance from the side mirror 4 on which the fisheye lens 46 is disposed is increased. The image data is 300A.

 In this case, the scaler image processing unit 120 processes and corrects the curved portion of the imaging data 300A to generate corrected imaging data 300B as shown in FIG. Specifically, the scaler image processing unit 120 moves each point in the imaging data 300A so as to be separated from each other. At this time, the image data 300A is moved so that the amount of movement increases with the point where the approximate center of the fish-eye lens 46 of the imaging data 300A is located as the center.

 After that, the scaler image processing unit 120 cuts the vicinity of the front wheel 2 and the vicinity of the rear wheel 3 of the corrected imaging data 300B according to the image processing signal input from the display control means 154, and the front wheel side imaging data 320 and the rear The wheel side imaging data 330 is cut out and generated. At this time, the scaler image processing unit 120 cuts the corrected imaging data 300B along the preset front wheel cut line 310A surrounding the front wheel 2 neighborhood and the rear wheel cut line 310B surrounding the rear wheel 3 neighborhood. In addition to these cut lines 310A and 310B, for example, as in the above embodiment, the cut range may be set by the user's setting input, which may be configured to cut at the approximate center line of the corrected imaging data 300B. It is good also as composition which can be set up.

[0066] With such a configuration as well, the imaging data 300A including both the vicinity of the front wheel 2 and the vicinity of the rear wheel 3 can be imaged by the imaging means 41 with a simple configuration as in the above embodiment. In addition, since there is no blind spot below the side mirror 4, detailed image data of the side of the vehicle 1 can be displayed on the LCD 220. In addition, the solution of CCD421 Since the image intensity is set to be more than twice the resolution of LCD220, even if each point of the imaged data 300A is moved by the scaler image processing unit 120, the resolution may drop drastically when displayed on the LCD220. A good image quality can be maintained.

 [0067] Further, in the above embodiment, the rear camera 5 may be attached to the force S shown in the example of attaching the rear camera 5 to the rear of the ceiling of the vehicle, for example, to the rear side bumper. In this case, when the request information recognizing means 151 recognizes the request information for displaying the rear-wheel imaging data 330 and the rear imaging data 340, as shown in FIG. The rear imaging data 340A displayed more clearly can be displayed.

 Furthermore, in the above embodiment, the imaging means 41 is provided in the side mirror 4 and the vicinity of the front wheel and the vicinity of the rear wheel of the vehicle 1 is imaged. For example, as shown in FIG. Mean power S Ayore, as a configuration provided.

 In FIG. 14, the imaging means 71 is provided at the ceiling position behind the vehicle 1.

 Although not shown in the drawing, the imaging means 71 has substantially the same configuration as that of the above embodiment, that is, a camera body, a vehicle rear end side lens, a horizontal rear lens, a reflection member, and the like. I have. Similar to the above-described embodiment, the camera body includes a light receiving unit such as a CCD that is long along the traveling direction of the vehicle, and the driving support device uses the image light incident on the CCD as imaging data. Output to 100 image receiving units 110 (see FIG. 3).

 The rear end portion of the vehicle 1, that is, the image near the rear bumper 8, is incident on the vehicle rear end side lens, and the incident image is guided to the reflecting member. The horizontal rear lens receives an image of the vehicle 1 in the horizontal rear direction, and guides the incident image to the reflecting member.

 The reflecting member reflects the image light incident from the vehicle rear end side lens and the horizontal rear lens and guides it to the light receiving unit of the camera body.

 In this imaging means 71, as shown in FIG. 15, a vehicle in which images of a rear end imaging range 8A in the vicinity of the rear bumper 8 of the vehicle 1 and a rear imaging range 9A in the rear in the horizontal direction of the vehicle 1 are connected. It is possible to capture the rear imaging data 500 at the rear.

In such a configuration, the scaler image processing unit 120 of the driving assistance device 100 uses the approximate center position of the rear imaging data 500 as the force line 510 based on the control signal from the CPU 150. 1 Rear bumper 8 The rear-end imaging data 520 and the rear-side imaging data 530 that is an imaging image of the rear imaging range 9A of the vehicle 1 are separated. At this time, the scaler image processing unit 120 recognizes the image on the left side of the cut line 510 in FIG. 15 as the rear end imaging data 520 and recognizes the image on the right side of the cut line 510 as the rear imaging data 530.

 [0072] Scaler image processing section 120 performs predetermined rotation image processing so that cut rear end imaging data 520 and rearward imaging data 530 are in a direction along the traveling direction of the vehicle. That is, the scaler image processing unit 120 moves the rear-end imaging data 520 clockwise by, for example, 90 degrees so that the vehicle body 1 side of the rear-end imaging data 520 is on the upper side, that is, the rear bumper 2 is displayed on the upper side. Process to rotate to. In addition, the scaler image processing unit 120 performs a process of rotating the cut back imaging data 530, for example, 90 degrees counterclockwise so that the ground surface is on the lower side.

 [0073] Then, the display request unit 153 of the CPU 150 performs predetermined imaging on the monitor 200 based on the request information recognized by the request information recognition unit 151 and the traveling direction of the vehicle 1 recognized by the traveling direction recognition unit 152. Display request information for displaying data is generated and output to the display control means. Specifically, the display request unit 153 displays the rear imaging data 530 on the monitor 200 when the traveling direction of the vehicle 1 is the forward direction based on the traveling direction of the vehicle 1 recognized by the traveling direction recognition unit 152. Display request information for generating the request is generated. On the other hand, the display request unit 153 generates display request information for displaying the rear end imaging data 520 on the monitor 200 when the traveling direction of the vehicle recognized by the traveling direction recognition unit 152 is the backward direction.

 Further, when the request information is recognized by the request information recognizing means 151, the display requesting means 153 generates display request information for displaying predetermined imaging data on the monitor 200 based on the request information. For example, when the request information recognition unit 151 recognizes the request information for displaying both the rear end imaging data 520 and the rear imaging data 530, the display requesting unit 153 recognizes the rear end imaging data 520 and the rear imaging data. Display request information for displaying data 540 in parallel on the LCD 220 of the monitor 200 is generated.

Then, the display request unit 153 outputs the generated display request information to the display control unit 154. Then, when the display request information for displaying the rear end imaging data 520 is input from the display request unit 153, the display control unit 154 of the CPU 150 outputs a predetermined image processing signal to the scaler image processing unit 120. To do. That is, the scaler image processing unit 120 cuts out the rear end imaging data 520 from the imaging data 500, rotates the cut out rear end imaging data 520 so that the rear bumper 8 is on the upper side, and further performs the rotation image processing. After the processing, an image processing signal is output to the effect that the enlarged image data 520 is processed. Then, the display control means 154 controls the LCD controller 210 to display the rear end imaging data 520 image-processed by the scaler image processing unit 120 on the LCD 220. At this time, the display control means 154 controls the LCD controller 210, and the imaging range guidance information indicating that it is imaging data in the vicinity of the rear bumper 8 at the rear end of the vehicle 1 such as “back” below the LCD 220. Is superimposed on the rear wheel image data 520 and displayed.

 Similarly, when display request information for displaying the rear imaging data 530 is input from the display request unit 153, a predetermined image processing signal is output to the scaler image processing unit 120. That is, the scaler image processing unit 120 cuts out the rear imaging data 530 from the imaging data 500, rotates the extracted rear imaging data 530 so that the ground surface is on the lower side, and further performs the rear imaging after the rotation image processing. An image processing signal indicating that the data 530 is to be enlarged is output. The display control means 154 controls the LCD controller 210 to display the rear imaging data 530 image-processed by the scaler image processing unit 120 on the LCD 220. At this time, the display control means 154 controls the LCD controller 210 to display imaging range guidance information indicating rear imaging data in the horizontal direction of the vehicle 1 such as “rear view” below the LCD 220. The image data 530 is displayed superimposed on it.

[0076] When the display request information indicating that both the rear end imaging data 520 and the rear imaging data 530 are to be displayed is input from the display request unit 153, the display control unit 154 inputs to the scaler one image processing unit 120. A predetermined image processing signal is output. That is, the scaler image processing unit 120 cuts out both the rear-end imaging data 520 and the rear-side imaging data 530 from the imaging data 500, and the rear-side imaging data 520 is rear-side imaging so that the rear bumper 8 is on the upper side. Image processing to rotate data 530 so that the ground is on the bottom Output a signal. Then, the display control means 154 controls the LCD controller 210, and as shown in FIG. 16, the rear end image data processed by the scaler image processing unit 120 on one side of the LCD 220 (left side in FIG. 16). 520 is displayed, and the rear imaging data 340 is controlled to be displayed on the other side of the LCD 220 (the right side in FIG. 16). At this time, the display control means 1 54 controls the LCD controller 210 to display the imaging range guide information 521 indicating the imaging data in the vicinity of the rear bumper 8 such as “back” below the rear-end imaging data 520. Further, below the rear imaging data 530, for example, imaging range guide information 531 indicating rear imaging data 530 such as “rear view” is superimposed on the rear end imaging data 520 and the rear imaging data 530 and displayed.

[0077] With the configuration as described above, when the vehicle 1 is moving backward, an image in the vicinity of the rear bumper 8 is displayed on the LCD 220. For example, when the vehicle 1 is parked in the parking lot in the back. In addition, the position of the wheel stopper and the position of the wall behind the vehicle 1 can be accurately grasped, and driving can be favorably supported. Further, when the vehicle 1 is moving forward, for example, the distance between the vehicle and the vehicle running behind can be accurately grasped, and the driving force S can be favorably supported.

 Further, as shown in FIG. 10, the imaging means 71 may also be configured to use a fisheye lens to capture light incident from the fisheye lens with the camera body.

 [0079] The display control means 154 has shown an example in which character information is displayed as the imaging range guidance information 321, 331, 341, but may be configured to display the imaging range guidance information using, for example, an image or a symbol. . Further, the position where the imaging range guidance information 321, 331, 341 is displayed is not limited to the lower side of each imaging data, and for example, it is displayed anywhere near the imaging data even if it is above each imaging data. It may be. Further, the imaging range guidance information 3 21, 331, 341 may be configured not to be displayed, and the display of the imaging range guidance information 321, 331, 341 may be selected according to the user input setting.

 Further, the force shown in the example in which the driving support device 100 includes the monitor 200 may be configured such that the monitor 200, for example, is provided separately from the driving support device 100.

Further, the driving support device 100 reports a car navigation device that supports driving of the vehicle 1 using, for example, map information or a program based on the received broadcast wave! For example, it may be incorporated in another device such as an in-vehicle television. In this case, if a setting input indicating that the captured image is not displayed is recognized in step S101, control may be performed to display map information or other image data on the monitor 200.

[0081] Furthermore, in the above embodiment, the CCD 421 has a force S indicating an example in which the ratio of the dimension in the longitudinal direction to the dimension in the direction substantially perpendicular to the longitudinal direction is 16: 9, for example, the longitudinal direction CCD with a ratio of 4: 3 to the dimension in the direction approximately perpendicular to the longitudinal direction, and a ratio of the dimension in the longitudinal direction to the dimension approximately perpendicular to the longitudinal direction formed to 17: 9 For example, it may be formed in any ratio.

 In the above embodiment, when the traveling direction of the vehicle 1 is the backward direction in step S102, the display control means 154 performs control to display the rear wheel side imaging data 330 on the LCD 220. Take control to display rear wheel image data 330 and rear image data 340 on LCD220! /.

 Similarly, when the traveling direction of the vehicle 1 is the forward direction in step S102, the display control means 154 controls the force S for controlling the front wheel side imaging data 320 to be displayed on the LCD 220, for example, the front wheel side imaging data 320. You can also use controller P to display rear wheel image data 330 on LCD220!

 Further, in the above embodiment, the configuration in which the imaging means 41 is provided on the left side mirror 4 of the vehicle 1 has been described. However, as described above, for example, the imaging means 41 is provided on the right side mirror 4. It may be provided on the side mirrors 4 on both sides. When the imaging means 4 is provided on the side mirrors 4 on both sides, for example, the imaging data to be displayed on the monitor 200 can be switched appropriately according to user input settings.

 At this time, the scaler image processing unit 120 recognizes the right side of the left side imaging data 300 as shown in FIG. 4 as the front wheel side imaging data 320 and recognizes the left side as the rear wheel side imaging data 330. However, for example, when the right side imaging data 300 is recognized, the left side may be recognized as the front wheel side imaging data 320 and the right side may be recognized as the rear wheel side imaging data 330.

[0084] Further, scaler image processing unit 120 performed rotation image processing on front wheel side imaging data 320 and rear wheel side imaging data 330 so that the front wheel side is on the upper side along the traveling direction of vehicle 1. Not limited. For example, so that the rear wheel side is displayed on the upper side of LCD220, The front wheel side image data 320 and the rear wheel side image data 330 may be rotated and processed! Further, depending on the traveling direction of the vehicle 1, for example, when the vehicle 1 is moving forward, the front wheel side is displayed on the upper side of the LCD 220. When the vehicle 1 is moving backward, the rear wheel side is the LC D220. The front wheel side imaging data 320 and the rear wheel side imaging data 330 may be subjected to rotational image processing so that they are displayed on the upper side. Furthermore, it is good also as a structure which switches these according to a user's input setting.

 [0085] The ability to construct each function described above as a program can be used in any form, for example, it can be configured by hardware such as a circuit board or an element such as a single integrated circuit (IC). By adopting a configuration that allows reading from a program or a separate recording medium, handling is easy and usage can be easily expanded.

 In addition, the specific structure and procedure for carrying out the present invention can be appropriately changed to other structures and the like as long as the object of the present invention can be achieved.

 [Effect of Embodiment]

As described above, the driving support device 100 of the vehicle 1 images the vicinity of the front wheel 2 and the vicinity of the rear wheel 3 of the vehicle 1 by the CCD 421 provided in the side mirror 4 in a longitudinal shape along the traveling direction of the vehicle 1. An imaging means 41 is provided. Then, the display control means 154 of the CPU 150 of the driving assistance device 100 controls the scaler image processing unit 120, and among the imaging data imaged by the imaging means 41, the front wheel side imaging according to the display request information At least one of the data 320 and the rear wheel side image data 330 is cut out, and the cut out image data is rotated and processed so that the front wheel side is on the upper side. Thereafter, the display control means 154 controls the LCD 220 to display the imaging data that has been subjected to the rotation image processing. For this reason, when the LCD 220 is viewed by the driver, the front wheel side imaging data 320 and the rear wheel side imaging data 330 that are displayed are displayed in a state that substantially matches the traveling direction of the vehicle. This makes it easier to grasp the situation near the front wheel 2 side and the situation near the rear wheel 3 side. Therefore, since an easy-to-understand image near the wheel can be displayed, driving can be favorably supported. Further, since the display control means displays at least one of the front wheel side imaging data 320 and the rear wheel side imaging data 330 based on the display request information, the front wheel side imaging can be performed by changing the display request information. Display only data 320 or rear wheel side The imaging data 330 can be displayed, or both can be displayed. Therefore, it is possible to select and display the status of a desired area according to the purpose, and it is possible to better support driving.

Industrial application fields

 INDUSTRIAL APPLICABILITY The present invention can be applied to a driving support device, a driving support method, a driving support program, and a recording medium on which a driving support program is recorded by displaying an image of a side of a vehicle to support driving.

Claims

The scope of the claims  [1] An image pickup means that is installed on the side of the vehicle and is provided in a longitudinal shape along the traveling direction of the vehicle, and picks up at least the vicinity of the front wheel and the vicinity of the rear wheel of the vehicle;  Display request recognizing means for recognizing display request information for displaying a captured image of at least one of the front wheel side and the rear wheel side of the vehicle;  Based on the display request information, at least one of the front wheel side and the rear wheel side of the vehicle is processed and processed so as to be rotated in a direction along the traveling direction of the vehicle. Display control means for controlling the display on the display means;  A driving support apparatus characterized by comprising: [2] The driving support device according to claim 1,  The imaging means is provided on a side mirror of a vehicle  A driving assistance device characterized by that. [3] The driving support device according to claim 2,  The imaging means is provided inside the side mirror and has a light receiving portion whose longitudinal direction is along the traveling direction, and is provided on the front side of the side mirror so that an image near the front wheel side is incident. Disposed on the rear side of the side mirror, the rear lens on which the image in the vicinity of the rear wheel side is incident, and the camera inside the side mirror facing the camera body. And a reflective optical member that reflects the image incident from the front lens and the rear lens to the camera body.  A driving assistance device characterized by that. [4] The driving support device according to claim 3,  The display control unit controls the display unit to display the image incident from the front lens as the captured image on the front wheel side, and captures the image incident from the rear lens on the rear wheel side. Control to display on the display means as an image  A driving assistance device characterized by that. [5] The driving support device according to claim 2, The imaging means is provided inside the side mirror, and is provided at a lower portion of the side mirror with a camera body having a light receiving portion whose longitudinal direction is along the traveling direction. A fish-eye lens in which images on the front wheel side and the rear wheel side are incident, and the incident image is emitted to the camera body.  A driving assistance device characterized by that. [6] The driving support device according to claim 5,  The driving support device, wherein the display control unit performs control to enlarge and curve an image captured by the imaging unit with a larger curvature as the distance from the imaging center increases, and to display the display unit. [7] The driving support device according to claim 5 or claim 6,  The display control means controls to cut out a predetermined range in the vicinity of the front wheel of the image picked up by the image pickup means and display the image on the display means as the picked-up image on the front wheel side. A control is performed to cut out a predetermined range in the vicinity of the rear wheel of the image and display it on the display means as a captured image on the rear wheel side.  A driving assistance device characterized by that. [8] The driving support device according to any one of claims 1 to 7,  A traveling direction recognition means for recognizing a traveling method of the vehicle;  Request information generating means for generating the display request information for displaying a predetermined captured image according to the traveling direction of the vehicle recognized by the traveling direction recognizing means;  The display request recognition unit recognizes the display request information generated by the request information generation unit.  A driving assistance device characterized by that. [9] The driving support device according to claim 8,  The request information generating unit generates the display request information for displaying a captured image near the rear wheel when the traveling direction recognition unit recognizes that the traveling direction of the vehicle is a backward direction, The display control means controls the display means to display a captured image in the vicinity of the rear wheel based on the display request information recognized by the display request recognition means! Driving assistance device. [10] The driving support device according to claim 8,  The request information generating unit generates the display request information for displaying a captured image near the front wheel when the traveling direction recognizing unit recognizes that the traveling direction of the vehicle is a forward direction.  The display control means controls the display means to display a captured image in the vicinity of the front wheel based on the display request information recognized by the display request recognition means! Support device. [11] The driving support device according to any one of claims 1 to 10,  Comprising rear imaging means for imaging the rear of the vehicle;  The display control means, when the display request recognition means recognizes the display request information for displaying a captured image in the vicinity of the rear wheel side of the vehicle, the captured image in the vicinity of the rear wheel side of the vehicle and the rear Control to display on the display means a captured image behind the vehicle imaged by the imaging means.  A driving assistance device characterized by that. [12] An image pickup unit that is arranged behind the vehicle and is provided in a longitudinal direction along the traveling direction of the vehicle, and images at least the vicinity of the rear end of the vehicle and the rear of the vehicle in the horizontal direction. ,  Display request recognizing means for recognizing display request information for displaying at least one of the captured images near the rear end of the vehicle and behind the vehicle in the horizontal direction;  Based on the display request information, at least one of the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle is rotated in a direction along the traveling direction of the vehicle. Display control means for performing control to process the state and display on the display means;  A driving support apparatus characterized by comprising: [13] The driving support device according to claim 12, The imaging means includes a camera body having a light receiving portion whose longitudinal direction is along the traveling direction, a vehicle rear end side lens into which an image in the vicinity of the rear end portion of the vehicle is incident, and a horizontal direction of the vehicle The rear rear image of the vehicle is disposed so as to be opposed to the horizontal rear lens and the camera main body, and the light incident from the rear end side lens and the horizontal rear lens of the vehicle is reflected on the camera main body. And a reflective optical member  A driving assistance device characterized by that. [14] The driving support device according to claim 13,  The display control unit controls the display unit to display an image incident from the vehicle rear end side lens on the display unit as a captured image in the vicinity of the rear end of the vehicle, and is incident from the horizontal rear lens. Control to display the image on the display means as a captured image behind the vehicle in the horizontal direction.  A driving assistance device characterized by that. [15] The driving support device according to claim 12,  The imaging means is provided opposite to the camera body having a light receiving portion whose longitudinal direction is along the traveling direction of the vehicle, an image in the vicinity of the rear end portion of the vehicle, and a horizontal position of the vehicle. A fish-eye lens that receives a rear image in a direction and emits the incident image to the camera body.  A driving assistance device characterized by that. [16] The driving support device according to claim 15,  The driving support device, wherein the display control unit performs control to enlarge and curve an image captured by the imaging unit with a larger curvature as the distance from the imaging center increases, and to display the display unit. [17] The driving support device according to claim 15 or claim 16,  The display control unit performs control to cut out a predetermined range near the rear end of the vehicle of the image captured by the imaging unit and display the image on the display unit as a captured image near the rear end of the vehicle. The control unit controls to cut out a predetermined rearward range in the horizontal direction of the vehicle of the image captured by the imaging unit and to display the image on the display unit as a rearward captured image in the horizontal direction of the vehicle.  A driving assistance device characterized by that. [18] The driving support device according to any one of claims 12 to 17, A traveling direction recognition means for recognizing a traveling method of the vehicle;  Request information generating means for generating the display request information for displaying a predetermined captured image according to the traveling direction of the vehicle recognized by the traveling direction recognizing means;  The display request recognition unit recognizes the display request information generated by the request information generation unit.  A driving assistance device characterized by that. [19] The driving support device according to claim 18,  The request information generation unit generates the display request information for displaying a captured image near the rear end of the vehicle when the traveling direction recognition unit recognizes that the traveling direction of the vehicle is a backward direction. And  The display control means controls the display means to display a captured image in the vicinity of the rear end based on the display request information recognized by the display request recognition means! Driving assistance device. [20] The driving support device according to claim 18,  The request information generation unit generates the display request information for displaying a rear captured image in the horizontal direction of the vehicle when the traveling direction recognition unit recognizes that the traveling direction of the vehicle is a forward direction. And  The display control means controls the display means to display a rearward captured image in the horizontal direction of the vehicle based on the display request information recognized by the display request recognition means.  A driving assistance device characterized by that. [21] The driving support device according to any one of claims 1 to 20,  The display control means performs control for superimposing and displaying imaging range guidance information relating to guidance of a range where the captured image is captured in the vicinity of the captured image displayed on the display means.  A driving assistance device characterized by that. [22] With imaging means installed on the side of the vehicle in a direction in which the longitudinal direction follows the traveling direction of the vehicle , Image at least near the front and rear wheels of the vehicle,  Recognizing display request information for displaying a captured image of at least one of the front wheel side and the rear wheel side of the vehicle;  Based on the display request information, at least one of the front wheel side and the rear wheel side of the vehicle is processed and processed so as to be rotated in a direction along the traveling direction of the vehicle. Control to display on the display means  A driving support method characterized by the above. [23] With an imaging means installed at the rear of the vehicle in the longitudinal direction along the traveling direction of the vehicle, at least the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle are imaged.  Recognizing display request information for displaying at least one of the captured image near the rear end of the vehicle and behind the vehicle in the horizontal direction;  Based on the display request information, at least one of the vicinity of the rear end of the vehicle and the rear in the horizontal direction of the vehicle is rotated in a direction along the traveling direction of the vehicle. A driving support method, characterized in that control is performed to process the state and display on the display means. [24] A driving support program that functions as the driving support device according to any one of claims 1 to 21. [25] Let the computing means implement the driving support method according to claim 22 or claim 23  A driving assistance program characterized by that. [26] The driving support program according to claim 24 or claim 25 is recorded so as to be readable by the computing means.  The recording medium which recorded the driving assistance program characterized by this.