JP2006173835A - Driving support apparatus and driving support system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving support apparatus capable of supporting driving by a driver by emphasizing a contour of its own vehicle body such as a contour of a bumper even when the surrounding of the vehicle body is dark at night or the like. <P>SOLUTION: The drive support apparatus provided with a display means for displaying an image including part of the bumper obtained from a CCD camera 2 for imaging a rear vision image of the vehicle body on a display apparatus 14, includes: a database 13 for storing contour information denoting the contour of the bumper included in the imaged image; and a means for superimposingly displaying the contour of the bumper on the image displayed on the display apparatus 14 in matching with the contour of the real bumper on the basis of the contour information stored in the database 13. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to a driving support device and a driving support system, and more specifically, a driving support device for supporting driving of a driver by displaying a peripheral image of a vehicle on a display as driving auxiliary information, and It relates to a driving support system.

2. Description of the Related Art Conventionally, a driving assistance system has been known in which a rear view image of a vehicle is captured by a camera when the vehicle moves backward, and the rear view image is displayed on a display installed near a driver's seat as driving assistance information. (For example, refer to Patent Document 1 below). FIG. 11 is a diagram illustrating an appearance in which a rear view image of a vehicle is captured by a camera, and FIG. 12 is a diagram illustrating an example of a rear view image of the vehicle displayed on a display.

In the figure, reference numeral 1 denotes a vehicle. A CCD camera 2 is attached to the rear of the vehicle 1, and an image captured by the CCD camera 2 is displayed on a display (not shown) installed near the driver's seat of the vehicle 1. It has become so. Further, as shown in FIG. 12, the CCD camera 2 is attached to the vehicle 1 so that a part of the bumper 3 is included so that the position of the vehicle 1 can be confirmed from the image displayed on the display. It is like that.

Various proposals have been made as a system for monitoring the rear of a vehicle in order to improve visibility. For example, in Patent Document 2 below, as shown in FIG. 13, a spare tire end line 5 is virtually used as a vehicle index indicating the position of the rear end of a spare tire whose real object is not displayed in the rear view image. A technique for displaying and providing information on a portion further protruding from the bumper 3 to the driver is disclosed. Patent Document 3 below discloses a technique for displaying a mark as a guideline in a rear view image in order to assist driving when the vehicle moves backward.

By the way, the most important information when the vehicle moves backward is the rear end information of the vehicle (the rear end of the bumper is usually the rear end of the vehicle unless a spare tire or the like is equipped at the rear).
While checking the rear end, the driver moves the vehicle backward so that the vehicle does not come in contact with an obstacle or the like.

However, even if the rear view image is referred to on the display, when the surroundings of the vehicle are dark, such as at night, the boundary between the road surface 4 (see FIG. 11) and the bumper 3 becomes difficult to understand, and the outline of the bumper 3 is clearly visible. I did not. For this reason, it is sometimes difficult to know where the rear end of the vehicle 1 is and how far the vehicle 1 can be moved backward.

In the technique disclosed in Patent Document 2, a spare tire end line is displayed and the rear end of the vehicle is notified to the driver. However, the spare tire is not necessarily mounted on the rear portion of the vehicle. In addition, even if the end line of a spare tire that is not actually displayed in the rear view image is virtually displayed, the outline of the bumper that should be originally displayed in the rear view image is not clear. There is a risk that the driver may feel uneasy. Further, as described above, Patent Document 3 also describes displaying a mark as a guideline in the rear view image, but the contour of the bumper is also provided when the surroundings of the vehicle are dark, such as at night. There is no mention of making it clear.
Japanese Patent Laid-Open No. 11-28978 JP 2003-87779 A JP 2004-72393 A

Means for solving the problems and their effects

The present invention has been made in view of the above problems, and assists the driving of the driver by clarifying the contour of the vehicle body such as the contour of the bumper even when the surroundings of the vehicle are dark, such as at night. An object of the present invention is to provide a driving support device and a driving support system that can be used.

In order to achieve the above object, the driving support device (1) according to the present invention includes a display unit that displays an image including a part of the vehicle body obtained from an imaging unit that captures an image around the vehicle. A contour information storage means for storing contour information indicating the contour of the vehicle body included in the captured image, and the contour information stored in the contour information storage means. On the basis of this, it is characterized in that the image includes superimposing display means for superimposing and displaying at least a part of the contour of the vehicle body in accordance with the contour of the actual vehicle body.

According to the driving support device (1), included in the peripheral image displayed on the display unit,
In accordance with the contour of the actual vehicle body (for example, the rear bumper, the front bumper, and the fender that covers the tire), at least a part of the contour of the vehicle body is superimposed and displayed (for example, marked with a conspicuous color such as yellow) ) As a result, even if the surroundings of the vehicle are dark at night or the like and the boundary between the actual vehicle body and the road surface becomes difficult to understand, the driver can clearly recognize the contour of the vehicle body. Therefore, the driver can accurately recognize where the rear end, front end, side surface, etc. of the vehicle is, how far the vehicle can be retracted, how far it can be advanced, and how far it can be widened. Therefore, the vehicle can be parked without contacting the surrounding obstacles.

Further, the driving support device (2) according to the present invention shows the position in the image specified by the user, which is obtained from the operating means that can be operated by the user in the driving support device (1). Position information acquisition means for acquiring position information; and contour information writing means for storing the position information acquired by the position information acquisition means in the contour information storage means as the contour information of the vehicle body. It is characterized by being.

According to the driving support device (2), since the user can freely set the contour information of the own vehicle body, the adoptable vehicle type is not limited, and the imaging means (for example,
Even if the mounting position or mounting angle of the (CCD camera) is changed, it can be handled. Therefore, versatility can be provided.

The driving support device (3) according to the present invention includes an image recognition unit that recognizes an image of the contour of the vehicle body included in the image captured by the imaging unit in the driving support device (1). It is characterized by comprising contour information writing means for storing the contour information of the vehicle body obtained by recognition by the image recognition means in the contour information storage means.

According to the driving support apparatus (3), the contour information of the vehicle body can be set individually and freely, so that the adoptable vehicle types are not limited, and the imaging means (for example, CCD)
Even if the mounting position or mounting angle of the camera) is changed, it is possible to cope. Therefore, versatility can be provided. In addition, since it is not necessary for the user to set the position information of the vehicle body serving as the contour information, the burden on the user can be reduced.

In addition, the driving support device (4) according to the present invention may require the superimposed display based on the brightness around the vehicle in any one of the driving support devices (1) to (3). Necessity determination means for determining whether or not the surroundings of the vehicle are below a predetermined brightness and the superimposed display is necessary when the necessity determination means determines that the superimposed display is necessary. It is characterized by being configured to perform superimposed display.

According to the driving support device (4), when the surroundings of the vehicle are below the predetermined brightness (that is, when the surroundings of the vehicle are dark), the contour of the own vehicle body is superimposed and displayed. In other words, when the periphery of the vehicle is bright and the contour of the actual vehicle body can be clearly recognized, the contour display of the vehicle body is not superimposed. Thereby, by superimposing and displaying the contour of the vehicle body, it is possible to prevent a situation in which the contour of the actual vehicle body is difficult to see.

Further, the driving support device (5) according to the present invention is based on information obtained from brightness detection means for detecting the brightness of the surroundings of the vehicle in the driving support device (4). Then, it is determined whether or not the surroundings of the vehicle are below the predetermined brightness.

According to the driving support device (5), whether or not the surroundings of the vehicle is below the predetermined brightness (that is, the boundary between the contour of the vehicle body and the road surface is difficult to understand) Since the brightness detection means (for example, an illuminance sensor) is used for the determination of whether or not the surrounding is dark, the accuracy of the determination can be improved. Therefore, it is possible to improve the accuracy of the necessity determination of the superimposed display of the contour of the own vehicle body, and appropriately prevent the superimposed display from being performed more than necessary.

In the driving support device (6) according to the present invention, in the driving support device (4), the necessity determination means is based on information obtained from time measuring means for measuring time in a predetermined time zone. When it is determined whether or not the vehicle is in the predetermined time zone, it is determined that the surroundings of the vehicle are below the predetermined brightness.

According to the driving support device (6), based on the information obtained from the time measuring means, it is determined whether or not it is the predetermined time zone (for example, a period from 5 pm to 6 am). ,
When it is determined that the predetermined time zone is reached, it is determined that the surroundings of the vehicle are below the predetermined brightness. Therefore, determination of whether or not the surroundings of the vehicle are below the predetermined brightness (that is, whether or not the surroundings of the vehicle is so dark that it becomes difficult to understand the boundary between the contour of the vehicle body and the road surface). In addition, since the relatively inexpensive time measuring means is used, the cost can be reduced.

In addition, the driving support system (1) according to the present invention includes a driving support provided with a display unit that displays an image including a part of the vehicle body obtained from an imaging unit that captures a surrounding image of the vehicle. In the driving support system including the device, at least one of a reflecting member, a fluorescent member, and a light emitting member is provided in the contour portion of the vehicle body or in the vicinity of the contour portion. It is a feature.

According to the driving support system (1), a reflecting member, a fluorescent member, a contour part of the own vehicle body (for example, a rear bumper, a front bumper, a fender that covers a tire), or the vicinity of the contour part,
And at least one of the light emitting members is provided, so even if the surroundings of the vehicle are dark at night or the like, even if it becomes difficult to understand the boundary between the actual vehicle body and the road surface, The contour of the vehicle body (that is, the rear end, front end, and side surface of the vehicle) can be clearly recognized. Therefore, the driver can accurately recognize where the rear end, front end, side surface, etc. of the vehicle is, how far the vehicle can be retracted, how far it can be advanced, and how far it can be widened. Therefore, the vehicle can be parked without contacting the surrounding obstacles.

Embodiments of a driving support device and a driving support system according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram schematically showing a main part of a driving support system including a driving support device according to Embodiment (1). In the figure, reference numeral 11 denotes a driving support device mounted on the vehicle 1 (see FIG. 11). The driving support device 11 includes a microcomputer 12 having a CPU (not shown) and the like, and a bumper 3 of the vehicle 1 (FIG. 11). And a database 13 for storing contour information indicating the contour of the reference).

The microcomputer 12 is attached to the rear portion of the vehicle 1 and has a CCD camera 2 that captures a rear view image of the vehicle 1 as shown in FIG. 12, a display 14 that displays an image captured by the CCD camera 2, and a vehicle. 1 is connected to an illuminance sensor 15 that detects the illuminance around the rear of the vehicle 1. Here, C is assumed to capture a rear view image.
Although a CD camera is employed, the imaging means is not limited to this, and may be a video camera, for example.

The microcomputer 12 is connected to a shift position sensor 16 for detecting the shift position of the transmission and a parking brake switch 17 for detecting ON / OFF of the parking brake. Is in the R (reverse) position, and the parking brake is released.

Next, the processing operation [1 in the microcomputer 12 of the driving assistance apparatus 11 according to the embodiment (1).
] Will be described based on the flowcharts shown in FIGS. This processing operation [1]
Is an operation performed every predetermined period. First, based on a signal (for example, R position signal) obtained from the shift position sensor 16, it is determined whether or not the shift position of the transmission is at the R position (step S1).

If it is determined that the shift position of the transmission is in the R position (that is, the driver intends to reverse the vehicle 1), then a signal (for example, from the parking brake switch 17)
Based on the operation signal and the release signal, it is determined whether or not the parking brake is released (step S2).

If it is determined that the parking brake is released (that is, the vehicle 1 is in a movable state), then the CCD camera 2 is turned on (step S3), and the vehicle 1 imaged by the CCD camera 2 is turned on. Rear view image information is acquired (step S4), and based on the acquired image information, a rear view image of the vehicle 1 is displayed on the display 14 (step S5).

Next, based on the information obtained from the illuminance sensor 15, it is determined whether or not the illuminance around the rear of the vehicle 1 is less than or equal to a predetermined brightness (step S6). (Ie, the periphery of the rear portion of the vehicle 1 is dark and the boundary between the bumper 3 and the road surface is difficult to understand), the contour indicating the contour of the bumper 3 of the vehicle 1 from the database 13 Information is acquired (step S7).

Next, based on the acquired contour information, the contour of the bumper 3 is superimposed and displayed in the image displayed on the display 14 with a line L (for example, a conspicuous yellow line) in accordance with the contour of the actual bumper 3. (Step S8), the superimposition display flag f indicating that the contour of the bumper 3 needs to be superimposed and displayed on the line L is set to 1 (step S9), and then step S1
Go to 1 (FIG. 3). FIG. 4 shows an example of a display in which the line L is superimposed on the rear view image of the vehicle 1 displayed on the display 14.

Here, the outline of the bumper 3 is superimposed on the line L, but the display form for making the outline of the bumper 3 clear is not limited to this. For example, the outline is displayed with a broken line or a mark on the outline. A plurality of marks may be displayed, or may be displayed notably on the inside of the bumper 3 without being limited to the outline.

On the other hand, in step S6, the illuminance around the rear part of the vehicle 1 is not less than the predetermined brightness (that is, the rear part around the vehicle 1 is bright and the boundary between the bumper 3 and the road surface is clearly known). If it is determined that the contour need not be superimposed and displayed on line L), the process proceeds to step S11 (FIG. 3).

In step S1, it is determined that the shift position of the transmission is not in the R position, or in step S2, the parking brake is not released (that is, the parking brake is activated and the vehicle 1 is movable). If it is determined that the rear view image of the vehicle 1 is not required to be displayed on the display 14, the processing operation [1] is terminated.

In step S11 shown in FIG. 3, it is determined whether or not the shift position of the transmission is at the R position based on the signal obtained from the shift position sensor 16, and the shift position of the transmission is at the R position (ie, If it is determined that the driver intends to reverse the vehicle 1), it is next determined whether or not the parking brake is released based on a signal obtained from the parking brake switch 17 (step S <b> 12).

If it is determined that the parking brake is released (that is, the vehicle 1 is in a movable state), then the rear view image information of the vehicle 1 captured by the CCD camera 2 is acquired (step S13), Based on the acquired image information, a rear view image of the vehicle 1 is displayed on the display 14 (step S14).

Next, it is determined whether or not the superimposed display flag f is 1 (step S15), and it is determined that the superimposed display flag f is 1 (that is, the contour of the bumper 3 needs to be displayed superimposed on the line L). Then, based on the contour information indicating the contour of the bumper 3 already acquired from the database 13, the contour of the bumper 3 is lined up in the image displayed on the display 14 in accordance with the contour of the actual bumper 3. L is superimposed (step S16), and then step S16
Returning to step 11, the above operation is repeated. On the other hand, if it is determined that the superimposed display flag f is not 1, the outline of the bumper 3 does not need to be superimposed and displayed on the line L, and the process directly returns to step S11.

Further, in step S11, it is determined that the shift position of the transmission is not in the R position, or in step S12, the parking brake is not released (that is, the parking brake is activated and the vehicle 1 is movable). If it is determined that the rear view image of the vehicle 1 is not required to be displayed on the display 14, the image displayed on the display 14 is deleted (step S17), and the power of the CCD camera 2 is turned off. Do (
Step S18).

Next, it is determined whether or not the superimposed display flag f is 1 (step S19). If it is determined that the superimposed display flag f is 1, the superimposed display flag f is returned to 0 and the processing operation [1]. Exit. On the other hand, if it is determined that the superimposed display flag f is not 1, it is not necessary to return the superimposed display flag f to 0, so that the processing operation [1] is terminated as it is.

According to the driving support apparatus according to the above embodiment (1), the contour of the bumper 3 is line L in accordance with the contour of the actual bumper 3 included in the rear view image of the vehicle 1 displayed on the display 14. (For example, marked with a conspicuous color such as yellow). As a result, the driver can clearly recognize the contour of the bumper 3 (that is, the rear end of the vehicle 1) even when the surroundings of the vehicle 1 are dark at night and the boundary between the actual bumper 3 and the road surface is difficult to understand. can do. Accordingly, since the driver can accurately recognize where the rear end of the vehicle 1 is and how far the vehicle 1 can be retracted, the driver can park the vehicle 1 without contacting the surrounding obstacles. Can do.

Further, according to the driving support apparatus according to the above embodiment (1), when the periphery of the rear portion of the vehicle 1 is equal to or lower than the predetermined brightness (that is, when the periphery of the rear portion of the vehicle 1 is dark), the contour of the bumper 3 Is superimposed on the line L. In other words, when the periphery of the rear portion of the vehicle 1 is bright and the contour of the actual bumper 3 can be clearly recognized, the contour of the bumper 3 is not superimposed on the line L. Thereby, by superimposing and displaying the outline of the bumper 3, it is possible to prevent a situation in which the outline of the actual bumper 3 is difficult to see.

In the driving support device according to the above embodiment (1), whether or not the rear periphery of the vehicle 1 is equal to or lower than the predetermined brightness (that is, the contour of the bumper 3 needs to be superimposed and displayed with the line L). Whether or not) is determined based on information obtained from the illuminance sensor 15, but in another embodiment, for example, a period from 5 pm to 6 am based on time information, It may be determined that the superimposed display is necessary, or that the superimposed display is necessary when it is lit based on lighting information such as a headlamp of the vehicle 1.

FIG. 5 is a block diagram schematically showing a main part of the driving support system configured to include the driving support device according to the embodiment (2). However, the same components as those in the driving support system shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here. In the figure, reference numeral 21 denotes a driving support device mounted on the vehicle 1 (see FIG. 11). The driving support device 21 includes a microcomputer 22 having a CPU (not shown) and the like, and a bumper 3 of the vehicle 1 (FIG. 11). And a database 23 for storing contour information indicating the contour of the reference).

The microcomputer 22 is connected to the CCD camera 2, the display 14, the illuminance sensor 15, the shift position sensor 16, and the parking brake switch 17, and further includes a direction key 24a, a mode start / end button 24b, and a position designation. Operation unit 24 having a button 24c
Is connected.

Further, the microcomputer 22 performs the processing operation [1] (FIGS. 2 and 3) performed by the microcomputer 21 shown in FIG.
The processing operation similar to that shown in FIG. 6 can be performed. Based on the contour information stored in the database 23, the image of the bumper 3 is matched with the contour of the actual bumper 3 in the image displayed on the display 14. The contour can be displayed superimposed on the line L.

Next, the processing operation [2 in the microcomputer 22 of the driving support device 21 according to the embodiment (2).
] Will be described based on the flowchart shown in FIG. This processing operation [2] is performed when the user is instructed to set the designated mode for designating the contour of the bumper 3 by operating the mode start / end button 24b of the operation unit 24. It is.

First, the CCD camera 2 is turned on (step S21), the rear view image information of the vehicle 1 imaged by the CCD camera 2 is acquired (step S22), and the rear view image of the vehicle 1 is acquired based on the acquired image information. Is displayed on the display 14 (step S23).
As shown in FIG. 5, the direction key 2 of the operation unit 24 is included in the image displayed on the display 14.
A pointer P that can be moved at 4a is displayed (step S24).

Next, it is determined whether or not the user has designated a desired position by operating the position designation button 24c of the operation unit 24 (step S25), and the desired position (for example, one point on the contour of the bumper 3). ) Is designated, the position coordinate where the pointer P exists (that is, the coordinate of the position designated by the user) is obtained (step S26), and the obtained position coordinate is stored in the RAM in the microcomputer 22. Temporary storage (not shown) (step S27). on the other hand,
If it is determined that the desired position is not designated, steps S26 and S27 are skipped,
The process proceeds to step S28 as it is.

Next, the mode start / end button 24b of the operation unit 24 is operated to determine whether or not the user has instructed the end of position designation (step S28), and it is determined that the end of position designation has not been instructed. If it does, it returns to step S25 and repeats the above-mentioned operation. On the other hand, if it is determined that the end of the position designation is instructed, the position coordinates of one place or a plurality of places stored in the RAM are written in the database 23 as the contour information of the bumper 3 (step S29), and the processing operation End [2].

According to the driving support apparatus according to the above embodiment (2), the contour information of the bumper 3 can be freely set by the user.
Even if the mounting position or mounting angle of the camera 2 is changed, it can be handled. Therefore, versatility can be provided.

FIG. 8 is a block diagram schematically showing a main part of the driving support system configured to include the driving support device according to the embodiment (3). However, the same components as those in the driving support system shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here. In the figure, reference numeral 31 denotes a driving support device mounted on the vehicle 1 (see FIG. 11). The driving support device 31 includes a microcomputer 32 having a CPU (not shown) and the like, and a bumper 3 of the vehicle 1 (FIG. 11). And a database 33 for storing contour information indicating the contour of the reference).

The microcomputer 32 is connected to the CCD camera 2, the display 14, the illuminance sensor 15, the shift position sensor 16, and the parking brake switch 17, and further includes a direction key 34a, a mode start button 34b, and a position designation button 34c. An operation unit 34 having a connection is connected.

Further, the microcomputer 32 performs the processing operation [1] (FIGS. 2 and 3) performed by the microcomputer 21 shown in FIG.
The processing operation similar to that shown in FIG. 6 can be performed. Based on the contour information stored in the database 33, the image of the bumper 3 is matched with the contour of the actual bumper 3 in the image displayed on the display 14. The contour can be displayed superimposed on the line L.

Next, the processing operation [3 in the microcomputer 32 of the driving support device 31 according to the embodiment (3).
] Will be described based on the flowchart shown in FIG. This processing operation [3] is performed by the user by operating the mode start button 34b of the operation unit 34.
This is an operation performed when an instruction to set a mode for acquiring the contour information by image processing is given.

First, the power of the CCD camera 2 is turned on (step S31), the rear view image information of the vehicle 1 imaged by the CCD camera 2 is acquired (step S32), and the rear view image of the vehicle 1 is acquired based on the acquired image information. Is displayed on the display 14 (step S33), and then FIG.
As shown in FIG. 5, the direction key 3 of the operation unit 34 is included in the image displayed on the display 14.
A pointer P that can be moved at 4a is displayed (step S34).

Next, the position designation button 34c of the operation unit 34 is operated to determine whether or not the user has designated a desired position (step S35), and the desired position (for example, a certain point within the range of the bumper 3). Then, the image recognition process is started, and first, the same color as the color specified by the user or within the range of the approximate color is selected (step S36). That is, the bumper 3 is selected.

Next, based on the selection result, boundary information between the inside and outside the range (that is, contour information of the bumper 3) is acquired (step S37), and the acquired boundary information is used as the contour information of the bumper 3 in the database. 33 is written (step S38), and the processing operation [3] is terminated.

According to the driving support device according to the above embodiment (3), the contour information of the bumper 3 can be set individually and freely, so that the adoptable vehicle type is not limited, and the CCD camera 2 is attached. Even if the position or mounting angle is changed, it is possible to cope. Therefore,
It can have versatility. Further, since it is not necessary for the user to set the position information of the bumper 3 as the contour information, the burden on the user can be reduced.

FIG. 10A is a block diagram schematically showing the main part of the driving support system according to Embodiment (4). However, the same components as those in the driving support system shown in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted here. In the figure, reference numeral 41 denotes a driving support device mounted on the vehicle 1, and the driving support device 41 includes a microcomputer 42 having a CPU (not shown). The microcomputer 42 is connected to the CCD camera 2, the display 14, the shift position sensor 16, and the parking brake switch 17. FIG.
b) is an external view of the rear part of the vehicle 1. A reflection member 43 is provided near the contour of the bumper 3 of the vehicle 1.

The microcomputer 42 of the driving support device 41 constituting the driving support system according to the embodiment (4).
Determines that the shift position of the transmission is at the R position based on the signal obtained from the shift position sensor 16 (that is, the driver intends to move the vehicle 1 backward), and further, from the parking brake switch 17 If it is determined that the parking brake is released based on the obtained signal, the CCD camera 2 is turned on, the rear view image information of the vehicle 1 captured by the CCD camera 2 is acquired, and the acquired image information is Based on this, the rear view image of the vehicle 1 is displayed on the display 14.

According to the driving support system according to the above embodiment (4), since the reflecting member 43 is provided near the contour of the bumper 3, the surroundings of the vehicle 1 are dark, such as at night, and the actual bumper 3 and the road surface The driver can clearly recognize the outline of the bumper 3 (that is, the rear end of the vehicle 1) even if the boundary of the vehicle becomes difficult to understand. Accordingly, since the driver can accurately recognize where the rear end of the vehicle 1 is and how far the vehicle 1 can be retracted, the driver can park the vehicle 1 without contacting the surrounding obstacles. Can do.

In the driving support system according to the above embodiment (4), the reflecting member 43 is provided in the vicinity of the contour portion of the bumper 3. However, in another embodiment, the reflecting member 43 is not used.
A fluorescent member, a light emitting member, or the like may be provided. In still another embodiment, two or more types of members may be provided together.

In addition, the driving support device according to the above embodiments (1) to (3) and the above embodiment (4).
In the driving support system according to the present invention, the case of monitoring the rear of the vehicle 1 is described as an example so that the driver can clearly recognize the rear end of the vehicle 1, but the driving according to the present invention is described. The support device and the driving support system are not limited to the case of monitoring the rear side of the vehicle 1, but can be applied to the case of monitoring the front or side of the vehicle 1, and in that case as well, the same as above. Needless to say, the effects of

It is the block diagram which showed roughly the principal part of the driving assistance system comprised including the driving assistance apparatus which concerns on embodiment (1) of this invention. It is the flowchart which showed the processing operation in the microcomputer of the driving assistance device which concerns on embodiment (1). It is the flowchart which showed the processing operation in the microcomputer of the driving assistance device which concerns on embodiment (1). It is the figure which showed an example of the display displayed on a display. It is the block diagram which showed roughly the principal part of the driving assistance system comprised including the driving assistance apparatus which concerns on embodiment (2). It is the flowchart which showed the processing operation in the microcomputer of the driving assistance device which concerns on embodiment (2). It is the figure which showed an example of the display displayed on a display. It is the block diagram which showed roughly the principal part of the driving assistance system comprised including the driving assistance apparatus which concerns on embodiment (3). It is the flowchart which showed the processing operation in the microcomputer of the driving assistance device which concerns on embodiment (3). (A) is the block diagram which showed roughly the principal part of the driving assistance system which concerns on embodiment (4), (b) is the external view which showed the rear part of the vehicle. It is the figure which showed the external appearance which images the back view image of a vehicle with a camera. It is the figure which showed an example of the display displayed on a display. It is the figure which showed an example of the display displayed on a display.

Explanation of symbols

2 CCD camera 3 Bumper 11, 21, 31, 41 Driving support device 12, 22, 32, 42 Microcomputer 13, 23, 33 Database

Claims (7)

In a driving support apparatus including a display unit that displays an image including a part of the vehicle body obtained from an imaging unit that captures a surrounding image of a vehicle on a display unit,
Contour information storage means for storing contour information indicating the contour of the vehicle body included in the captured image;
Superimposing display means for superimposing and displaying at least a part of the contour of the vehicle body in the image in accordance with the contour of the actual vehicle body based on the contour information stored in the contour information storage device; A driving assistance apparatus comprising: Position information acquisition means for acquiring position information indicating a position in the image designated by the user, obtained from an operation means operable by the user;
2. The contour information writing means for storing the position information acquired by the position information acquiring means in the contour information storage means as the contour information of the own vehicle body. Driving assistance device. Image recognition means for recognizing the contour of the vehicle body included in the image captured by the imaging means;
2. The driving according to claim 1, further comprising contour information writing means for storing the contour information of the vehicle body obtained by recognition by the image recognition means in the contour information storage means. Support device. Based on the brightness of the surroundings of the vehicle, comprising necessity determining means for determining whether or not the superimposed display is necessary;
When the necessity determination means determines that the surroundings of the vehicle are below a predetermined brightness and the superimposed display is necessary, the superimposed display is performed by the superimposed display means. The driving support device according to any one of claims 1 to 3, wherein The necessity determination means determines whether or not the surroundings of the vehicle are below the predetermined brightness based on information obtained from brightness detection means for detecting the brightness of the surroundings of the vehicle. The driving support apparatus according to claim 4, wherein the driving support apparatus is provided. The necessity determining means determines whether or not it is a predetermined time zone based on information obtained from the time measuring means for measuring time;
The driving support device according to claim 4, wherein when it is determined that the predetermined time zone is set, it is determined that the periphery of the vehicle is equal to or less than the predetermined brightness. In a driving support system including a driving support device including a display unit that displays an image including a part of the vehicle body obtained from an imaging unit that captures a surrounding image of the vehicle on a display unit,
A driving support system, wherein at least one of a reflecting member, a fluorescent member, and a light emitting member is provided in a contour portion of the vehicle body or in the vicinity of the contour portion.

Images