JP2003312415A - Vehicular pre-presenting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To timely display a vehicle surrounding image on a display part for confirming a vehicle surrounding state for allowing a driver to confirm safety at rightward turn, leftward turn, and traffic lane changing time. <P>SOLUTION: A vehicle surrounding camera 1 images a vehicle surrounding picture. A picture processing part 2 determines a front vehicle distance L by using the vehicle surrounding picture. A starting determining part 4 displays the vehicle surrounding picture converted into a picture of a view point of looking down the vehicle surrounding picture from above by a picture converting part 5 on a display part 6 when front vehicle distance up to a preceding vehicle enters within a second prescribed distance for indicating a starting area after entering a first prescribed distance for indicating a precautionary area while adding the size of a vehicle speed of a vehicle speed sensor 3. Since the vehicle surrounding picture is surely displayed on the display part at earlier time than ordinary turn signal switch operation time, a traffic lane side rear state of trying to change a traffic lane can be confirmed with an allowance. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a vehicle pre-presentation device for providing a driver with an image of the surroundings of the vehicle in advance at the time of branching such as turning right or left of the vehicle or changing lanes to ensure driving safety. Regarding

[0002]

2. Description of the Related Art As a prior presentation device for a vehicle, a device disclosed in Japanese Patent Laid-Open No. 2002-19523 is known. In this conventional vehicle pre-presentation device, a plurality of cameras that image the surroundings of the vehicle are provided around the vehicle body, and in accordance with the driver's operation of the turn signal switch, an image of the rear side portion of the vehicle body in the desired direction in which the signal is operated is captured. By presenting the image of the existing camera by displaying it on the display monitor, the driver can easily grasp the situation behind the vehicle in the traveling direction, thereby enhancing the ease of driving.

[0003]

In the conventional vehicle pre-presentation device described above, by detecting the operation of the driver's turn signal switch, it is possible to detect and judge the driver's intention to turn right or left or change lanes. However, switching to displaying the image of the vehicle surroundings on the display monitor after detecting the operation of the turn signal switch makes it possible to see the surroundings of the vehicle, especially the rear part of the vehicle body side, when making a right turn, a left turn, or a lane change. However, there is a problem that the safety confirmation will be delayed in timing. Especially when the host vehicle is traveling at a certain speed or more, this delay in timing becomes a greater problem.

That is, for example, looking at a series of operations of the driver when changing lanes when overtaking a preceding vehicle, usually, first of all, the safety is confirmed by checking the lane direction in which the vehicle is going to move in order to confirm whether it is possible to safely pass. After doing
If it is safe, operate the turn signal switch before steering. As you can see from this, in general driving operations such as changing lanes,
The driver wants the image on the rear side of the vehicle body to be displayed on the display monitor at a timing before the operation of the turn signal switch, which is too late when the turn signal switch is operated.

Therefore, according to the present invention, when the vehicle is turned right or left or the lane is changed, the vehicle pre-presentation device is provided so that the driver can check the surroundings of the vehicle for safety confirmation on the display portion in a timely manner. The purpose is to provide.

[0006]

Therefore, according to the present invention of claim 1, a vehicle surroundings image pickup device mounted on a vehicle and capable of picking up an image of the surroundings of a vehicle, and a front vehicle distance from the own vehicle to a preceding vehicle are detected. Front vehicle distance detection means, a display unit capable of displaying the vehicle surroundings image, and a possibility of changing the lane of the own vehicle based on the front vehicle distance, and determining a display timing of the own vehicle surroundings image on the display unit. It has a starting determination unit.

According to a second aspect of the present invention, the activation determination section indicates a first predetermined distance as a reference indicating the caution area and an activation area that is shorter than the first predetermined distance and activates the display on the display section. The second predetermined distance as a reference is set, and the display timing is determined based on the comparison between the first and second predetermined distances and the preceding vehicle distance. Further, the invention of claim 3 has a vehicle speed sensor for detecting the traveling speed of the own vehicle, and the first and second predetermined distances are set longer as the vehicle speed detected by the vehicle speed sensor increases. .

The invention according to claim 4 further comprises acceleration detecting means for detecting the acceleration of the host vehicle, wherein the start-judgment unit determines the acceleration / deceleration of the host vehicle after the preceding vehicle distance falls within the first predetermined distance. When is greater than or equal to a predetermined value, the display of the vehicle surrounding image on the display unit is determined without waiting for comparison with the second predetermined distance.

In a fifth aspect of the invention, the front vehicle distance detecting means is
The vehicle front image captured by at least one of the vehicle surroundings image capturing devices is subjected to image processing to detect the front vehicle distance.

According to a sixth aspect of the present invention, there is provided a video conversion unit for converting a video image of the vehicle surroundings picked up by the vehicle surroundings imaging device into a video image of a viewpoint looking down from above, and the display unit displays the display determined by the activation determination unit. At the time, the converted vehicle surrounding image is displayed.

The invention of claim 7 further comprises a GPS signal receiving section capable of receiving a GPS signal for detecting the current position of the own vehicle, and a map database section in which map information is recorded. Is the G received by the GPS signal receiver.
Based on the PS signal, the map information of the current position in the map database unit is referred to, and the vehicle surrounding image displayed on the display unit is limited to the side that may change lanes.

[0012]

According to the first aspect of the present invention, since the activation determination unit estimates the possibility of the driver's right turn, left turn, or lane change from the distance in front of the vehicle, and determines the display timing of the surrounding image of the driver's vehicle. It becomes possible to display the image around the vehicle on the display unit before the operation of the turn signal switch by the driver, and it is possible for the driver to see the situation around the vehicle early, especially the situation behind the own vehicle on the side trying to change lanes. Can be grasped quickly and easily. Further, in the display of the vehicle surroundings image, the display startup is automatically determined, so that it is possible to inform the driver of the surroundings of the vehicle without giving the driver the trouble of the startup operation.

According to the second aspect of the present invention, the driver intends to change the lane when it is confirmed that the vehicle has entered the first predetermined distance, which is the warning area, by further reducing the inter-vehicle distance from the normal margin. With the possibility that the above will occur, preparation is made to start the vehicle so that the image around the vehicle is displayed on the display. Then, it is determined whether or not the vehicle will be activated depending on the situation of approaching the preceding vehicle thereafter. In this determination, it is assumed that it is almost certain that the lane will be changed. It is determined by whether or not As a result, it becomes possible to automatically start the display of the vehicle surrounding image on the display unit at an earlier point in time, and the driver is freed from the trouble of image display operation.

According to the third aspect of the present invention, the first and second predetermined distances are set longer as the vehicle speed increases. Therefore, it is possible to make a determination in accordance with the actual lane change situation, and accurately change the lane. Can be estimated.

According to a fourth aspect of the present invention, it is detected that after the vehicle once enters the first predetermined distance in the warning area, the vehicle is suddenly accelerated or decelerated so that the acceleration / deceleration is equal to or higher than the predetermined acceleration / deceleration. If it is determined that it is highly likely that a lane change etc. will be executed, the vehicle surrounding image will be displayed on the display unit early without waiting for the determination whether the vehicle enters the start area. To start. As a result, the vehicle surrounding image can be displayed on the display unit quickly and reliably even in the case of a sudden lane change or the like, and the degree of safety can be improved.

According to the fifth aspect of the present invention, the front vehicle distance is detected by performing the image processing of the vehicle surrounding image obtained by the vehicle surrounding image pickup device by the image processing unit. Therefore, another sensor for detecting the front vehicle distance is used. There is no need to provide any further, which is advantageous in terms of cost and space.

According to the sixth aspect of the present invention, the vehicle surrounding image obtained by the vehicle surrounding image pickup device is converted and displayed by the image conversion unit as an image of a viewpoint looking down from above. Therefore, when the driver changes lanes, another vehicle can be easily displayed. It becomes possible to visually identify.

According to a seventh aspect of the present invention, by referring to the map database based on the received GPS signals and determining the presence of a lane or a road branch, the vehicle only on the side necessary for the driver to change lanes, etc. Since the surrounding image is provided, the driver can quickly recognize the necessary information without being disturbed by the unnecessary information.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to examples. FIG. 1 shows the configuration of a vehicle pre-presentation device according to the first embodiment. In the vehicle, a vehicle surroundings camera 1 as a vehicle surroundings imaging device that images the surroundings of the vehicle
Will be installed. As shown in FIG. 2, a plurality of vehicle surrounding cameras 1 are installed around the vehicle 7. That is,
Vehicle surrounding cameras 1a and 1b are provided at the front left and right ends of the vehicle 7, and vehicle surrounding cameras 1c and 1d are provided at the left and right portions of the front side of the vehicle 7.
Vehicle surrounding cameras 1e and 1f are attached to the rear left and right ends of the vehicle 7, and vehicle surrounding cameras 1g and 1h are attached to the left and right portions of the rear side portion of the vehicle 7. As the vehicle surrounding camera 1,
For example, a CCD (charge coupled device) camera is used.

The image pickup signal of the vehicle surrounding camera 1 is input to the image processing unit 2. The image processing unit 2 performs image processing on the vehicle front image captured by the vehicle surrounding cameras 1a and 1b at the front left and right ends to determine the front vehicle distance (the distance between the own vehicle and the preceding vehicle in front of the own vehicle). It can be detected. As a method of detecting the front vehicle distance, for example, Japanese Patent Laid-Open No. 2000-26
For example, those described in Japanese Patent No. 6539 and Japanese Patent Laid-Open No. 2000-25997 are used.

The front vehicle distance signal obtained by the image processing unit 2 is input to the start-up determination unit 4. Further, a vehicle speed signal of the own vehicle is input to the activation determination unit 4 from a vehicle speed sensor 3 as a vehicle speed detection device capable of detecting the vehicle speed of the own vehicle. The start determination unit 4 estimates the possibility of changing lanes and determines the display timing of the vehicle surrounding image based on these signals.
It should be noted that the estimation of the lane change possibility and the determination of the vehicle surrounding image display time will be described in more detail later.

On the other hand, the image pickup signal of the vehicle surroundings image picked up by the vehicle surroundings camera 1 is inputted to the image converting portion 5, where it is converted into the vehicle surroundings image as seen from the viewpoint looking down from above. The vehicle surroundings image from the upper viewpoint converted by the image conversion unit 5 in this way is configured to be displayed on the display unit 6 in accordance with the display timing determined by the activation determination unit 4. As the display unit 6, for example, a liquid crystal display of a so-called back monitor system is used.

Here, the outline of the operation of the vehicle pre-presentation device will be described with reference to FIG. First, of the vehicle surrounding cameras, two vehicle surrounding cameras 1a and 1b attached to the front left and right ends of the vehicle 7 are used as stereo cameras to obtain a front image as shown in (a). Based on this, the video processing unit 2
In FIG. 5, image processing is performed to obtain a front vehicle distance L from the own vehicle to the preceding vehicle 9 on the own vehicle traveling path indicated by the white line 11.

Next, in the start determination unit 4, as shown in (b), it is determined whether or not the front vehicle distance L continuously decreases, that is, whether the host vehicle 7 is shortening the inter-vehicle distance from the preceding vehicle. Monitor whether or not. Then, as shown in FIG.
Whether or not the front vehicle distance L, which is the inter-vehicle distance between the vehicle and the preceding vehicle 9, is within a first predetermined distance L1 as a reference indicating a warning area or a second predetermined distance L2 as a reference indicating an activation area. The lane change (hereinafter,
(Including right and left turns) is estimated, and the display timing of the vehicle surrounding image is determined.

Here, the first predetermined distance L1 is a distance approaching the preceding vehicle 9 when the lane is changed, etc., and is set to an inter-vehicle distance shorter than that during normal follow-up running with a sufficient inter-vehicle distance. . Further, the second predetermined distance L2 is a distance that is assumed to be intended to change the lane almost certainly, and is set shorter than the first predetermined distance L1 to activate the provision of the vehicle surrounding image to the display unit 6. It is a proper setting distance.

Further, the first and second predetermined distances L1 and L2
Is variably set so that it becomes longer as the vehicle speed detected by the vehicle speed sensor 3 becomes higher. In addition, FIG. 4 shows three lanes 12a,
The case where the host vehicle 7 and the preceding vehicle 9 are traveling on the center lane 12b of the 12b and 12c, and the following vehicle 10 is continuing on the lane 12a on the left side of the drawing is shown. .

When the start determination unit 4 determines that the front vehicle distance L is within the first predetermined distance L1 and then within the second predetermined distance L2, as shown in (c) of FIG. The display unit 6 is activated, and the image converted by the image conversion unit 5 into the vehicle surrounding image from the viewpoint looking down on the own vehicle 7 from above is (d).
A screen like this is displayed on the display unit 6.

In the screen (d), white lines 11a to 11d of the road are displayed on both sides of the vehicle 7, and a part of the following vehicle 10 is displayed on the rear left of the vehicle 7 (lower left position on the screen). ing. In addition, as shown in FIG. 5, an image of a viewpoint looking down from above the own vehicle 7 converted by the image conversion unit 5 is as follows.
It is provided to the display unit 6 as a wide range image including the range of the lane 13a in which the host vehicle 7 is traveling and the lane 13b of the target lane 13b in which the host vehicle 7 is about to change the lane.

The flow of control in the above-mentioned pre-presentation device will be described below with reference to the flowchart of FIG. The control starts when the ignition switch is turned on by the driver's operation. First, in step 101, it is checked whether or not the ignition switch continues to be in the on state. If the ignition switch is off, the control ends, and if on, step 102.
Go to.

In step 102, image pickup signals of vehicle surrounding images of the front, rear, and sides of the vehicle 7 captured by the vehicle surrounding camera 1 are fetched into the image processing section 2, and step 10
Go to 3. In step 103, in the image processing unit 2, based on the vehicle surroundings images on the front left and right of the own vehicle 7 by the vehicle surroundings cameras 1a and 1b among the vehicle surroundings images captured from the vehicle surroundings cameras, if there is a front vehicle 9, the The vehicle distance L is calculated.

In step 104, the image converter 5 captures the vehicle surroundings camera 1 in front of, behind, and behind the vehicle 7.
A vehicle surrounding image is generated by converting a side vehicle surrounding image into an image of a viewpoint looking down from above. Then, in step 105, the activation determining unit checks whether or not the vehicle surrounding image is being displayed on the display unit 6. If the vehicle surroundings image is not being displayed on the display unit 6, the process proceeds to step 106, and it is checked whether or not the front vehicle distance L calculated in step 103 is within a first predetermined distance L1 as a reference indicating a caution area. To do.

If the front vehicle distance L is not within the first predetermined distance L1, the process returns to step 101. If the preceding vehicle distance L is within the first predetermined distance L1, step 107
Go to. In step 107, it is checked whether or not the driver intentionally generates an acceleration / deceleration in the front-rear direction of a predetermined G or more in the host vehicle. The acceleration / deceleration of the vehicle is obtained by differentiating the vehicle speed signal input from the vehicle speed sensor 3. Then, by collating with the depression of the accelerator pedal or the brake pedal, the acceleration / deceleration of the vehicle due to the driver's intention can be identified from the case where the vehicle accelerates / decelerates regardless of the driver's intention due to traveling on a slope or the like.

When the acceleration / deceleration smaller than the predetermined G is generated, the routine proceeds to step 108, where it is checked whether or not the front vehicle distance L is within a second predetermined distance L2 (<L1) as a reference indicating the starting area. To do. If the preceding vehicle distance L is not within the second predetermined distance L2, the process returns to step 101.
On the other hand, when the front vehicle distance L is within the second predetermined distance L2, the process proceeds to step 109. In addition, the previous step 107
If the acceleration / deceleration in the front-rear direction equal to or more than the predetermined G is generated in the host vehicle in the check, the process directly proceeds to step 109.

In step 109, the activation determination unit 4 activates the display of the vehicle surrounding image from the viewpoint looking down from above, which is converted and generated in step 104, on the display unit 6. In the following step 110, the activation determination unit 4 determines that the front vehicle distance L is the first
It is checked whether or not it is within the predetermined distance L1. If the front vehicle distance L is within the first predetermined distance L1, the process returns to step 101 and the above flow is repeated. If the front vehicle distance L is not within the first predetermined distance L1, the process proceeds to step 111.

Even if the vehicle surroundings image is being displayed on the display unit 6 in the check in step 105, the process proceeds to step 110 and it is determined whether or not the preceding vehicle distance L is within the first predetermined distance L1. Check. In step 111,
Since the distance from the preceding vehicle is larger than L1 and the lane change is not expected, the display of the vehicle surrounding image on the display unit 6 ends. After that, the process returns to step 101 and the above flow is repeated.

In the first embodiment configured as described above, the driver determines that the driver's own vehicle 7 is in view of the relationship between the front vehicle distance L obtained by the image processing unit 2 and the first and second predetermined distances L1 and L2.
By deciding whether or not the vehicle is intentionally brought closer to the other vehicle 9 than during normal follow-up running, the start determination unit 4 estimates the driver's intention of changing lanes and the possibility of changing lanes. If there is a possibility, the image around the vehicle is automatically displayed on the display unit 6. As a result, even if the driver does not bother to perform the operation of presenting the vehicle surroundings image, the image of the vehicle surroundings is surely displayed on the display unit 6 earlier than when the normal turn signal switch is operated. You can check the rear situation on the lane side,
It will contribute to driving safety.

The start time is the first for the warning area.
The predetermined distance L1 and the second predetermined distance L2 for the starting area are set, and determination is performed based on these, so that the driver's intention to change lanes can be estimated more accurately, and the above-mentioned preparation for the starting with a sufficient margin. It is possible to prepare for. Furthermore, by checking whether or not the magnitude of the acceleration / deceleration of the vehicle is greater than or equal to a predetermined acceleration by the activation determination unit 4, it becomes possible to more accurately estimate the driver's intention to change lanes, and sudden acceleration The vehicle surrounding image display can be quickly started even during deceleration.

In the image processing unit 2, the front vehicle distance L is calculated by using the image in front of the vehicle captured from the vehicle surrounding camera 1. Therefore, another sensor is used for calculating the front vehicle distance L. It is not necessary to provide it, which is advantageous in terms of cost and space. Further, since the vehicle surroundings image displayed on the display unit 6 is converted into the vehicle surroundings image from the viewpoint looked down from above by the image converting unit 5, the driver can easily and quickly grasp the situation of the positional relationship with the other vehicle 9. It becomes possible to do.

Next, a second embodiment of the present invention will be described. In addition to the configuration of the first embodiment, this embodiment
Using the map information of the current position of the vehicle obtained by using PS (Global Positioning System), provide the display area with an image of the vehicle surroundings that takes into consideration the road conditions for changing lanes. It was done. FIG. 7 is the second
2 shows a configuration of a vehicle pre-presentation device according to the embodiment. In addition, in this embodiment, the same components as those in the first embodiment will be described with the same reference numerals as those in the first embodiment.

As in the first embodiment, the vehicle is provided with a vehicle surrounding camera 1 for picking up an image of the vehicle surroundings. Further, the vehicle receives G signals from GPS satellites.
The PS signal receiver 10 is mounted. That is, the activation determination unit 4A is connected to the vehicle speed sensor 3, the GPS signal receiving unit 10 and the map database unit 11. GP
The S signal receiving unit 10 calculates the current position of the host vehicle based on the plurality of received GPS signals. Map database section 1
1 stores map data such as nationwide road information, and the activation determination unit 4 refers to the map data in the map database unit 11 based on the current position of the vehicle calculated by the GPS signal receiving unit 10. Select the map information around the current position of your vehicle. The start determination unit 4A inputs the front vehicle distance signal obtained by the image processing unit, and based on the vehicle speed signal of the own vehicle from the vehicle speed sensor 3 and the map information around the current position from the map database unit 11, the lane The possibility of change is estimated, and the display time of the image around the vehicle and the image area to be displayed are determined.

On the other hand, the vehicle surrounding image signal picked up by the vehicle surrounding camera 1 is input to the image converting unit 5. Video converter 5
Converts the vehicle surroundings image captured by the vehicle surroundings camera 1 into a vehicle surroundings image viewed from a viewpoint looking down from above. At this time, the vehicle surrounding image to be converted is the map database unit 1.
According to the road conditions such as lanes and branches around the current position of the own vehicle obtained by referring to 1, the vehicle surroundings image is only in the direction necessary for lane change. The vehicle surroundings image from the upper viewpoint converted by the image conversion unit 5 in this manner is displayed on the display unit 6 in accordance with the display activation timing determined by the activation determination unit 4A.
Other configurations are the same as those of the first embodiment shown in FIG.

8 and 9 are flow charts showing the flow of control in the above configuration. Steps 201 to 2
04 is the same as steps 101 to 104 in FIG. 6 in the first embodiment. In step 204, the vehicle surroundings image captured from the vehicle surroundings camera 1 is converted into an image of a viewpoint looking down from above to generate a vehicle surroundings image, and in step 205, the GPS signal receiving unit 10 captures the GPS signal to acquire the image of the own vehicle. Calculate the current position.

Then, in step 206, the activation determination unit 4A extracts map information around the current position of the own vehicle from the map database unit 11 based on the current position of the own vehicle calculated by the GPS signal receiving unit 10. As map information around the current position, the area corresponding to the current position of the vehicle,
In particular, it retrieves road information about the lane on the side that is about to change lanes, road branching, and the like.

After that, steps 207 to 210 are
Steps 105 to 108 of FIG. 6 in the first embodiment.
Is the same as. In step 207, the activation determination unit 4A checks whether or not the vehicle surrounding image is being displayed on the display unit 6, and if it is not displayed, in step 208, the front vehicle distance L obtained in step 203 indicates the caution area. It is checked whether it is within the first predetermined distance L1. If the front vehicle distance L is not within the first predetermined distance L1, the process returns to step 201, and the front vehicle distance L is the first predetermined distance L.
If it is within 1, it is checked in step 209 whether or not the driver intentionally generates the acceleration / deceleration in the front-rear direction of a predetermined G or more in the host vehicle.

If the acceleration / deceleration does not reach the acceleration / deceleration equal to or higher than the predetermined G, it is checked in step 210 whether or not the front vehicle distance L is within the second predetermined distance L2 indicating the starting area. If the preceding vehicle distance L is not within the second predetermined distance L2, the process returns to step 201. When the vehicle has reached the acceleration / deceleration of the predetermined G or more in the check of step 209, or when the preceding vehicle distance L is within the second predetermined distance L2 in the check of step 210, the process proceeds to step 211.

In step 211, the activation determination unit 4A determines the necessary display direction indicating the side where the own vehicle is going to change lanes, that is, the side required by the driver, from the road information about the lanes and branches obtained from the map database unit 11. decide. In step 212, the activation determination unit 4A activates the display of the vehicle surrounding image on the required display direction side on the display unit 6.

Step 21 of this vehicle surrounding image presentation control
Steps 2 to 214 are the same as steps 109 to 111 in FIG. 6 in the first embodiment. In step 213, it is checked whether or not the front vehicle distance L is within the first predetermined distance L1. If the front vehicle distance L is outside the predetermined distance L1, the vehicle surrounding image is displayed on the display unit 6 in step 214. When the display ends and the previous vehicle distance L is still within the predetermined distance L1, the process returns to step 201. If the vehicle surrounding image is being displayed on the display unit 6 in the check in step 207, the process proceeds to step 213.

The second embodiment of the above construction is the first
Has the same effect as the embodiment of
From the road information about the lane or the lane where the own vehicle is going to change lanes obtained through the signal receiving unit 10 and the map database unit 11, the display direction of the vehicle surrounding image to be displayed on the display unit 6 is determined, and only that direction is determined. Since the vehicle surroundings image is displayed on the display unit 6, it is possible to visually recognize only the vehicle surroundings image on the side that is necessary for the driver, and the unnecessary vehicle surroundings image for the driver cannot be seen, which is faster and more reliable. Therefore, it becomes possible to grasp the vehicle surroundings necessary when changing lanes.

In both of the above-mentioned embodiments, the space and cost are reduced by calculating the front vehicle distance by using the vehicle surroundings camera for picking up the image around the vehicle. If this is not the case, the present invention is not limited to this, and an ultrasonic radar or the like may be set and used separately from the vehicle surrounding camera. Further, the arrangement and the number of vehicle surrounding cameras in the vehicle are not limited to those in the embodiment, and can be set arbitrarily. Further, as the acceleration detecting means, the acceleration / deceleration of the vehicle is obtained by differentiating the vehicle speed signal from the vehicle speed sensor, but an independent acceleration sensor may be used instead.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a vehicle pre-presentation device according to a first embodiment of the present invention.

FIG. 2 is a layout diagram showing an installation state of a vehicle surrounding camera.

FIG. 3 is an explanatory diagram showing the operation of the embodiment.

FIG. 4 is an explanatory diagram showing a procedure for determining a display timing of a vehicle surrounding image.

FIG. 5 is a diagram showing a vehicle surrounding image converted into a viewpoint looking down from above.

FIG. 6 is a flowchart showing a control flow in the embodiment.

FIG. 7 is a diagram showing a configuration of a vehicle pre-presentation device according to a second embodiment.

FIG. 8 is a flowchart showing a control flow in the second embodiment.

FIG. 9 is a flowchart showing a control flow in the second embodiment.

[Explanation of symbols]

1, 1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h
Vehicle surrounding camera 2 Image processing unit 3 Vehicle speed sensor 4, 4A Activation determination unit 5 Image conversion unit 6 Display unit 7 Own vehicle 9 Preceding vehicle 10 GPS signal receiving unit 11 Map database unit

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G06T 7/60 180 G06T 7/60 180B G08G 1/0969 G08G 1/0969 1/16 1/16 C F term (Reference) 2F029 AA02 AB07 AB12 AC02 AC09 AC16 5B057 AA16 BA02 DA16 DB02 DC03 DC08 5H180 AA01 BB13 CC12 FF05 FF22 FF27 FF32 FF40 LL01 LL02 LL04 LL08 5L096 BA04 CA05 DA04 FA66 FA67 GA51

Claims (7)

[Claims] 1. A vehicle surrounding image pickup device mounted on a vehicle capable of picking up an image of the surroundings of a vehicle, a front vehicle distance detecting means for detecting a front vehicle distance from a host vehicle to a preceding vehicle, and a display capable of displaying a vehicle surrounding image. And a start determination unit that estimates the possibility of changing the lane of the own vehicle based on the front vehicle distance and determines the display timing of the own vehicle surrounding image on the display unit. Advance presentation device. 2. The start-up determination unit uses a first predetermined distance as a reference indicating a caution area and a start-up area that is shorter than the first predetermined distance and that activates display on the display unit. The second predetermined distance is set, and the first,
2. The vehicle pre-presentation device according to claim 1, wherein the display timing is determined based on a comparison between a second predetermined distance and the preceding vehicle distance. 3. A vehicle speed sensor for detecting the traveling speed of the host vehicle, wherein the first and second predetermined distances are set longer as the vehicle speed detected by the vehicle speed sensor increases. The vehicle pre-presentation device according to claim 2. 4. An acceleration detecting means for detecting an acceleration of the host vehicle, wherein the start-judgment unit determines that the front vehicle distance is the first vehicle distance.
If the acceleration / deceleration of the host vehicle is equal to or greater than a predetermined value after entering the predetermined distance, the display of the surrounding image of the own vehicle on the display unit is determined without waiting for comparison with the second predetermined distance. The vehicle pre-presentation device according to claim 2 or 3, characterized in that: 5. The front vehicle distance detecting means performs image processing on an image of the front of the vehicle captured by at least one vehicle surroundings imaging device of the vehicle surroundings imaging device,
The vehicle pre-presentation device according to any one of claims 1 to 4, which detects a front vehicle distance. 6. An image conversion unit for converting an image of the vehicle surroundings captured by the vehicle surroundings image pickup device into an image of a viewpoint looking down from above, and the display unit has a display timing determined by the activation determination unit. The vehicle pre-presentation device according to any one of claims 1 to 5, wherein the converted vehicle surrounding image is displayed. 7. A GP for detecting the current position of the vehicle.
A GPS signal receiving unit capable of receiving an S signal and a map database unit in which map information is recorded are provided, and the activation determining unit is based on the GPS signal received by the GPS signal receiving unit. 7. The vehicle surroundings image to be displayed on the display unit is limited to the side where there is a possibility of branching or lane change, by referring to the map information of the current position of 1. The vehicle pre-presentation device described in [1].