JP2019140470A - Vehicle visual recognition device - Google Patents

Abstract

To provide a vehicle visual recognition device that can suppress and display a double image area and a blind spot area when a plurality of captured images are combined and displayed.SOLUTION: A vehicle visual recognition device includes a monitor provided in front of a passenger compartment and displaying an image, a door camera 16L provided on the left side of a vehicle to photograph the rear of the vehicle, a rear camera 14 provided at the rear end of the vehicle and at the left end in the vehicle width direction to photograph the rear of the vehicle, and a control device that performs display control to display a composite image obtained by combining the captured images of the left door camera 16L and the rear camera 14 on a monitor.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a vehicular visual recognition device for visually recognizing a vehicle periphery by photographing the vehicle periphery and displaying a captured image.

  2. Description of the Related Art A technique for mounting a vehicle visual recognition device that displays a captured image around a vehicle and visually recognizes the vicinity of the vehicle in place of the optical mirror is known.

  For example, Patent Document 1 includes a direction specifying unit that specifies a direction in which it is necessary to call attention in the subsequent driving of the vehicle according to the driving state of the vehicle detected by the driving state detecting unit, and the rear camera. Among the display areas for displaying the left camera and right camera images, the display area for displaying the camera image capturing the direction specified by the direction specifying unit is displayed for displaying the other camera images. It has been proposed to display the images of the rear camera, left side camera, and right side camera in a larger area.

JP 2005-328181 A

  However, when the captured images are combined and displayed using a technique in which the imaging units are arranged on both sides and the rear as in the technique described in Patent Document 1, the positions of the imaging units are different and combined. Although there is a blind spot between the images to be displayed, there is a risk of being misunderstood as if all are visible. Further, when the captured images are combined, they are combined on the virtual screen, but a blind spot is generated in an area closer to the vehicle than the virtual screen, and a double image is generated in an area farther from the vehicle than the virtual screen. When a double image is generated, it is difficult to instantly recognize the position of the object, so there is room for improvement.

  The present invention has been made in consideration of the above-described facts, and provides a vehicular visual recognition device capable of suppressing and displaying a double image area and a blind spot area when a plurality of captured images are combined and displayed. The purpose is to do.

  In order to achieve the above object, a first aspect includes a display unit that is provided in front of the vehicle interior and displays an image, a first imaging unit that is provided on one side of both sides of the vehicle and captures the rear of the vehicle, and a vehicle A display unit configured to combine a captured image of each of the first image capturing unit and the second image capturing unit; A control unit that performs display control to be displayed.

  According to the first aspect, the display unit is provided in the front of the vehicle interior, an image is displayed on the display unit, the first imaging unit is provided on one side of both sides of the vehicle, and the first imaging unit is behind the vehicle. Is filmed.

  The second photographing unit is provided at the rear portion of the vehicle and at one end portion in the vehicle width direction, and the rear of the vehicle is photographed by the second photographing unit.

  Then, in the control unit, display control is performed in which a combined image obtained by combining the captured images of the first imaging unit and the second imaging unit is displayed on the display unit.

  As described above, the first image capturing unit is provided on one side of the vehicle on both sides, and the second image capturing unit is provided on the rear side of the vehicle and on one side end in the vehicle width direction, and the captured images are combined and displayed. Thus, a composite image in which the double image area and the blind spot area are suppressed can be displayed.

  In addition, it is preferable to arrange | position the 1st imaging | photography part and a 2nd imaging | photography part on the extension line of a body side.

  Further, the display control is performed by combining the captured images of the first imaging unit and the second imaging unit with the extension line on the body side as a boundary, thereby generating a composite image in which the double image area and the blind spot area are suppressed. It is possible to display.

  The second photographing unit includes an optical system having a predetermined wide angle of view, and the control unit generates a virtual screen used when generating a composite image to be displayed on the display unit with respect to a direction orthogonal to the vehicle longitudinal direction. The composite image may be generated by tilting.

  Further, the second photographing unit may be disposed with the photographing direction inclined in the direction of the other side on both sides of the vehicle with respect to the rear of the vehicle. In this case, the optical system of the second photographing unit has an angle of view of 90 degrees or more, and is arranged with the photographing direction inclined by 45 degrees in the direction of the other side with respect to the rear of the vehicle, and the control unit is disposed on the display unit. You may produce | generate a synthesized image by inclining the virtual screen used when producing | generating the synthesized image to display with respect to the direction orthogonal to the vehicle front-back direction. As a result, the display range behind the vehicle can be expanded to a wide range.

  In addition, a third imaging unit that is provided on the other side of the both sides of the vehicle and captures the rear of the vehicle is further provided, and the control unit captures each captured image of the first imaging unit, the second imaging unit, and the third imaging unit. Display control for displaying the combined image on the display unit may be performed.

  As described above, according to the present invention, when a plurality of captured images are combined and displayed, it is possible to provide a vehicular visual recognition device that can display while suppressing the double image area and the blind spot area. There is an effect that.

(A) is the top view which shows the vehicle provided with the visual recognition apparatus for vehicles concerning this embodiment, (B) is the top view which looked at the vehicle interior provided with the visual recognition apparatus for vehicles from the vehicle back It is. (A) is the front view which looked at the inner mirror provided in the vehicle interior of the vehicle from the vehicle rear side, (B) is the front view which looked at the side monitor from the vehicle rear side. It is a block diagram which shows schematic structure of the visual recognition apparatus for vehicles which concerns on this embodiment. It is a figure which shows the blind spot area | region and area | region of a double image at the time of combining each picked-up image of a door camera and the rear camera arrange | positioned in the vehicle width direction center. (A) is a figure which shows an example of each imaging | photography range of the door camera and rear camera of the visual recognition apparatus for vehicles which concerns on this embodiment, (B) is the composition displayed on the monitor of the visual recognition apparatus for vehicles which concerns on embodiment. It is a figure which shows the picked-up image displayed on an image and a side monitor. It is a flowchart which shows an example of the processing flow at the time of displaying an image on the monitor performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment. It is a flowchart which shows an example of the flow of a process at the time of displaying an image on the side monitor performed with the control apparatus of the visual recognition apparatus for vehicles which concerns on this embodiment. It is a figure for demonstrating the 1st modification of the visual recognition apparatus for vehicles which concerns on this embodiment. It is a figure for demonstrating the 2nd modification of the visual recognition apparatus for vehicles which concerns on this embodiment, (A) is a figure which shows the example which has arrange | positioned a rear camera toward the vehicle back, (B) is a rear camera. Is a view showing an example in which the shooting direction is inclined to the right side direction behind the vehicle, and (C) shows a blind spot area between the composite image displayed on the monitor and the image displayed on the side monitor in (A). It is a figure and (D) is a figure which shows the blind spot area | region between the synthesized image displayed on a monitor in (B), and the image displayed on a side monitor. (A) is a figure which shows the example which made the angle of view of the rear camera 90 degrees, (B) is a figure which shows the example which changed the virtual screen in (A), (C) is a synthesized image in (B). It is a figure which shows the area | region.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1A is a plan view from above showing a vehicle provided with the vehicle visual recognition device according to the present embodiment, and FIG. 1B is a view of the vehicle interior provided with the vehicle visual recognition device from the rear of the vehicle. FIG. 2A is a front view of the inner mirror provided in the vehicle compartment of the vehicle as viewed from the rear side of the vehicle, and FIG. 2B is a front view of the side monitor as viewed from the rear side of the vehicle. FIG. 3 is a block diagram showing a schematic configuration of the vehicular visual recognition device 10 according to the present embodiment. In each figure, arrow FR indicates the front side of the vehicle, arrow W indicates the vehicle width direction, and arrow UP indicates the upper side of the vehicle. In the following, a right-hand drive vehicle having a right driver's seat will be described as an example.

  The vehicular visual recognition device 10 is provided with a rear camera 14 and a door camera 16 (16L, 16R). The rear camera 14 is disposed at the rear of the vehicle and at the left end in the vehicle width direction, and can capture the rear of the vehicle 12 at a predetermined angle of view (shooting area). The door camera 16 </ b> L is provided on the left side of the vehicle 12 and the door camera 16 </ b> R is provided on the right side of the vehicle 12. The door cameras 16L and 16R can photograph the rear of the vehicle from the side of the vehicle body with a predetermined angle of view (imaging area).

  The rear camera 14 as the second photographing unit, the door camera 16L as the first photographing unit, and the door camera 16R as the third photographing unit photograph the rear of the vehicle as the vehicle periphery. Specifically, a part of the shooting area of the rear camera 14 overlaps a part of the shooting area of the door cameras 16L and 16R, and the rear camera 14 and the door cameras 16L and 16R make the rear of the vehicle diagonally right behind the vehicle body. It is possible to take a picture over a range diagonally from the left to the rear. Thereby, the rear side of the vehicle 12 is photographed at a wide angle.

  An inner mirror 18 is provided in the vehicle interior of the vehicle 12, and the base portion of the bracket 20 is attached to the front side of the vehicle interior ceiling surface and the center in the vehicle width direction. The bracket 20 is provided with a monitor 22 having a long rectangular shape as a display unit. The monitor 22 has a longitudinal direction that is a vehicle width direction and a display surface that faces the rear of the vehicle. It is attached to the lower end. As a result, the monitor 22 is disposed in the vicinity of the upper portion of the front windshield glass on the front side of the vehicle, and a display surface for displaying an image is made visible to the passenger in the vehicle interior.

  The display surface of the monitor 22 is provided with a half mirror (wide mirror). When the monitor 22 is not displayed, the rear view through the rear window glass and the door glass is displayed on the half mirror. Is done.

  The bracket 20 is provided with an inner camera 24, and the inner camera 24 is fixed to the bracket 20 on the upper side (vehicle interior ceiling side) of the monitor 22. The shooting direction of the inner camera 24 is directed toward the rear of the vehicle, and the inner camera 24 images the vehicle interior and the rear of the vehicle from the front side of the vehicle.

  The shooting area of the inner camera 24 includes a rear window glass and a door glass of the side door, and the shooting areas of the rear camera 14 and the door cameras 16L and 16R can be shot through the rear window glass and the door glass. Yes. The imaging area of the inner camera 24 includes a center pillar, a rear pillar, a rear side door, a rear seat, a vehicle interior ceiling, and the like that can be seen in the vehicle interior. The imaging area of the inner camera 24 may include a front seat.

  Further, a side monitor 26 as a photographed image display unit is provided on the right front side of the driver's seat on the right side (the other side) of the monitor 22 in front of the passenger compartment, and the side monitor 26 is photographed by the door camera 16R. The captured image is displayed.

  On the other hand, the vehicular visual recognition device 10 is provided with a control device 30 as a control unit, to which a rear camera 14, door cameras 16L and 16R, a monitor 22, an inner camera 24, and a side monitor 26 are connected. Has been. The control device 30 includes a microcomputer in which a CPU 30A, a ROM 30B, a RAM 30C, a nonvolatile storage medium (for example, EEPROM) 30D, and an I / O (input / output interface) 30E are connected to a bus 30F. Various programs such as a vehicle visual display control program are stored in the ROM 30B and the like. The CPU 30A reads out and executes the program stored in the ROM 30B and the control device 30 causes the monitor 22 to visually recognize the occupant. Display an auxiliary image.

  The control device 30 generates an image outside the vehicle by superimposing the outside image captured by the rear camera 14 and the door camera 16L. Further, the control device 30 generates a passenger compartment image from the captured image captured by the inner camera 24. Furthermore, the control device 30 generates a display image by superimposing the vehicle exterior image and the passenger compartment image, and performs control to display the display image on the monitor 22 as shown in FIG. In addition, the control device 30 generates an image to be displayed on the side monitor 26 from the captured image captured by the door camera 16R, and performs control to display the image on the side monitor 26 as shown in FIG. . The monitor 22 and the side monitor 26 are provided on the front side of the passenger compartment from the driver's seat, and the image displayed on the monitor 22 is horizontally reversed with respect to the captured image. In the following description, the mirror image conversion process for horizontally reversing the image may be omitted.

  Here, the viewpoint positions of the captured images are different among the rear camera 14, the door cameras 16 </ b> L and 16 </ b> R, and the inner camera 24. From here, the control device 30 performs viewpoint conversion processing for aligning the viewpoint position with each of the captured images of the rear camera 14, the door cameras 16L and 16R, and the inner camera 24. In the viewpoint conversion processing, for example, a virtual viewpoint is set in front of the vehicle with respect to the center position of the monitor 22 (intermediate position in the vehicle width direction and the vertical direction), and the rear camera 14, door camera 16L, door camera 16R, and inner camera 24 are set. Each captured image is converted into an image viewed from a virtual viewpoint. When performing viewpoint conversion processing, a virtual screen is set behind the vehicle together with the virtual viewpoint. In the present embodiment, the virtual screen is described as a flat surface in order to simplify the description. However, the virtual screen may be a curved surface that is convex toward the rear of the vehicle (a curved surface that is concave as viewed from the vehicle 12). As the viewpoint conversion processing, any method for converting each captured image into an image projected on the virtual screen when viewed from the virtual viewpoint is applied.

  Each captured image is subjected to viewpoint conversion processing using the same virtual viewpoint and virtual screen, so that the same object appearing in different captured images appears to overlap. That is, when it is assumed that the object reflected through the rear window glass and the door glass in the captured image of the inner camera 24 is reflected in the captured images of the rear camera 14 and the door camera 16L, the image of the object is Looks like they overlap. The control device 30 performs a trimming process on each captured image of the rear camera 14 and the door camera 16L that have performed the viewpoint conversion process, and extracts an image of an area to be displayed on the monitor 22.

  The control device 30 extracts a region image to be displayed on the monitor 22 as a cabin image by performing a trimming process on the captured image of the inner camera 24. Moreover, in the control apparatus 30, the transmittance | permeability is set with respect to the passenger compartment image, and image conversion is performed so that it may become the transmittance | permeability which the passenger compartment image was set. The vehicle interior image has a higher transmittance, so that the transparency is increased and the transparency is increased, and the image is lighter (looks thinner) than when the transmittance is low. In the control device 30, a transmittance that enables recognition of an image outside the vehicle on the composite image is set as the transmittance set in the passenger compartment image. Further, the control device 30 transmits, as the transmittance with respect to the passenger compartment image, the rear pillar image, the upper portion of the rear pillar of the passenger compartment ceiling image, and the image of the other vehicle body portion in the lower portion of the rear pillar of the rear seat image. Is set too low (the image looks dark).

  Note that the transmittance of the images of the rear window glass and the door glass may be 100% (total transmission), or may be the same transmittance as the image of the vehicle body portion excluding the rear pillar. Further, in the present embodiment, in addition to the rear pillar, an image of the vehicle interior ceiling at the upper part of the rear pillar, an image of the rear side door at the lower part of the rear pillar, and an image of the rear seat are included as the image of the vehicle body part that sets the transmittance low. It is.

  The control device 30 performs a trimming process on each captured image of the rear camera 14 and the door camera 16R, and extracts an image of an area to be displayed on the monitor 22.

  By the way, when a captured image is synthesized and displayed using a technique including three cameras, such as the technique described in Japanese Patent Laid-Open No. 2005-328181 cited as Patent Document 1, a wide range can be visually recognized. . However, if the rear camera is placed at the center of the vehicle, a blind spot is generated at a position closer to the vehicle 12 than the virtual screen at the time of composition, and a double image is generated at a position farther from the vehicle 12 than the virtual screen. . FIG. 4 is a top view plane showing a blind spot area that is closer to the vehicle 12 than the virtual screen and a double image area that is farther from the vehicle than the virtual screen when three captured images are combined. FIG.

  Specifically, as shown in FIG. 4, the range indicated by the two-dot chain line is the shooting range of the door camera 16L, the range indicated by the one-dot chain line is the shooting range of the door camera 16R, and the range indicated by the dotted line is the range of the rear camera 14. The shooting range. Here, the captured image of the door camera 16R is displayed on the side monitor 26, and the captured images of the door camera 16L and the rear camera 14 are combined and displayed on the monitor 22. When the captured images of the door camera 16L and the rear camera 14 are combined, they are combined on the virtual screen 60 as shown in FIG. Specifically, a photographed image on the outside of the vehicle is extracted from an intersection of the body side extension line and the virtual screen 60 from the photographed image of the door camera 16L, and the body side extension line and the virtual screen are extracted from the photographed image of the rear camera 14. A captured image on the vehicle center direction side is extracted from the intersection with 60 to generate a composite image. At this time, a blind spot area is generated in an area closer to the vehicle than the virtual screen 60 (hatched portion in FIG. 4). In addition, a double image is generated in a region farther from the vehicle than the virtual screen 60 (the black portion in FIG. 4).

  Therefore, in the present embodiment, as described above, the rear camera 14 is disposed at the rear end of the vehicle and at one end portion in the vehicle width direction (left end portion in the present embodiment). More preferably, each camera is disposed at a position where there is no parallax between the door camera 16L and the rear camera 14 (the positions in the vehicle width direction are substantially the same) and the body is not covered. Specifically, the cameras are arranged so that the door camera 16L and the rear camera 14 are arranged on the extension line of the body side. The position is not limited to being completely on the extension line, but may be a position close to the extension line.

  The door camera 16L is arranged on the side of the vehicle, and the rear camera 14 is arranged at the rear side of the vehicle and at one side end in the vehicle width direction. As a result, as shown in FIG. The shooting area of the door camera 16L is an area indicated by a two-dot chain line.

  Here, the captured images of the door camera 16L and the rear camera 14 are combined as described above. That is, from the captured image of the door camera 16L, a captured image outside the vehicle is extracted from the intersection of the body-side extension line and the virtual screen 60, and from the captured image of the rear camera 14, the body-side extension line and the virtual screen 60 A captured image on the vehicle center direction side is extracted from the intersection of the two, and a composite image is generated with the extension line on the body side as a boundary. As a result, as shown in FIG. 5B, there is no blind spot area in the composite image displayed on the monitor 22, and double images are not generated. As the rear camera 14 is displaced from the door camera 16L toward the center of the vehicle in the vehicle width direction, the blind spot area and the double image area increase. As described above, the door camera 16L and It is desirable to arrange the rear camera 14 on an extension line on the body side.

  Next, a specific process performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment configured as described above will be described.

  First, display control on the monitor 22 will be described. FIG. 6 is a flowchart illustrating an example of a flow of processing when an image is displayed on the monitor 22 performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment. The process of FIG. 6 is performed by executing the vehicle visual display control program, and starts when an ignition switch (IG) (not shown) is turned on. Further, a switch for switching between display and non-display of the monitor 22 may be provided, and the process may be started when the display is instructed. In this case, when the switch is turned on, the image display on the monitor 22 is started, and when the switch is turned off, the image display on the monitor 22 is finished, and the monitor 22 is moved to the room mirror (half-width). Function as a mirror).

  In step 100, the CPU 30 </ b> A captures the vehicle interior with the inner camera 24, so that a captured image in the vehicle interior is read and the process proceeds to step 102.

  In step 102, the CPU 30A performs viewpoint conversion processing (including trimming processing) on the photographed image in the passenger compartment, converts it into a preset transmittance, generates a passenger compartment image, and proceeds to step 104. To do.

  In step 104, the CPU 30 </ b> A performs shooting with each of the rear cameras 14 and 14 </ b> R and the door cameras 16 </ b> L and 16 </ b> R, so that a captured image outside the vehicle is read and the process proceeds to step 106.

  In step 106, the CPU 30 </ b> A performs viewpoint conversion processing on the photographed image outside the vehicle, performs photographed image extraction processing (trimming processing), and the like, and proceeds to step 108. That is, viewpoint conversion processing is performed on each captured image, and images for generating an outside image are extracted from the captured images of the door camera 16L and the rear camera 14. Specifically, an image of the outside of the vehicle is extracted from the intersection of the left extension of the body side and the virtual screen 60 from the captured image of the door camera 16L. Further, an image on the right side of the vehicle is extracted from the intersection between the extension line on the left side of the body side and the virtual screen 60 from the captured image of the door camera 16.

  In step 108, the CPU 30A generates an image outside the vehicle by combining the images extracted by the trimming process, and proceeds to step 110. That is, an image obtained by synthesizing the above-described image captured by the door camera 16L and the image captured by the rear camera 14 is generated as an image outside the vehicle.

  In step 110, the CPU 30A generates a composite image of the outside image and the passenger compartment image, and proceeds to step 112.

  In step 112, the CPU 30A displays the generated composite image on the monitor 22, and proceeds to step 114. As a result, the rear of the vehicle is displayed on the monitor 22 as shown in FIG. As a result, as shown in FIG. 5B, it is possible to display on the monitor 22 an image in which there is no blind spot area in the composite image and no double image is generated.

  In step 114, the CPU 30A determines whether or not the display on the monitor 22 is finished. This determination is made as to whether or not the ignition switch has been turned off, or whether or not an instruction for non-display has been given by the switch of the monitor 22. If the determination is negative, the process returns to step 100 and the above processing is repeated. If the determination is affirmative, the series of display processing ends.

  In this way, the door camera 16L is arranged on the side of the vehicle, the rear camera 14 is arranged at the rear side of the vehicle and at one side end in the vehicle width direction, and the respective captured images are synthesized, so that the blind spot area and the double image are obtained. An image in which each occurrence is suppressed can be displayed.

  Next, display control on the side monitor 26 will be described. FIG. 7 is a flowchart illustrating an example of a processing flow when an image is displayed on the side monitor 26 performed by the control device 30 of the vehicular visual recognition device 10 according to the present embodiment. 7 is performed by executing the vehicle visual display control program, and starts when an ignition switch (IG) (not shown) is turned on. In the present embodiment, FIGS. 6 and 7 are described as separate processes, but may be a single process.

  In step 200, the CPU 30A performs rear photographing with the right door camera 16R and proceeds to step 202.

  In step 202, the CPU 30A performs a viewpoint conversion process on the captured image captured by the door camera 16R, extracts an image of a predetermined area, and proceeds to step 204. In addition, it is good also as a form further provided with the operation part etc. which perform the change operation of a visual recognition range, and the visual recognition range can be changed by operating the operation part and changing a predetermined area | region.

  In step 204, the CPU 30 </ b> A displays an image extracted by viewpoint conversion on the side monitor 26 and proceeds to step 206.

  In step 206, the CPU 30A determines whether or not the display on the side monitor 26 is finished. In this determination, it is determined whether or not the ignition switch is turned off. If the determination is negative, the process returns to step 200 and the above processing is repeated. If the determination is affirmative, the series of display processing ends.

  Then, the visual recognition apparatus for vehicles of a 1st modification is demonstrated. FIG. 8 is a view for explaining a first modification of the vehicular visual recognition apparatus according to the present embodiment. In addition, since the structure itself of the visual recognition apparatus for vehicles is the same as said embodiment, detailed description is abbreviate | omitted.

  In the above embodiment, the hatched area in FIG. 5B exists as a blind spot area between the composite image displayed on the monitor 22 and the image displayed on the side monitor 26.

  Therefore, in the modified example, in order to further reduce this blind spot area, an apparatus having an optical system with a wide angle of view of the rear camera 14 is applied to the above embodiment. In addition, the virtual screen 60 used to synthesize the captured images of the door camera 16L and the rear camera 14 is tilted with respect to the direction orthogonal to the vehicle front-rear direction to generate a synthesized image.

  Specifically, as shown by the dotted lines in FIGS. 8A and 8B, for example, the rear camera 14 is provided with an optical system having a predetermined wide angle of view close to 180 degrees. And in said embodiment, although the virtual screen 60 was made into the plane orthogonal to the vehicle front-back direction, in a 1st modification, as shown to FIG. 8 (A), (B), the vehicle right direction of the virtual screen 60 is shown. Is tilted in the vehicle front direction, and the virtual screen 60 is changed so that the angle of view of the rear camera 14 indicated by the dotted line in FIGS. 8A and 8B intersects the virtual screen 60.

  Thus, when the captured images of the door camera 16L and the rear camera 14 are combined on the virtual screen 60 in the same manner as in the above embodiment, the blind spot area is added to the combined image displayed on the monitor 22 as in the above embodiment. And the generation of double images is eliminated.

  Note that the captured image of the door camera 16R may also be displayed on the side monitor 26 after changing the viewpoint so as to be a captured image on the tilted virtual screen 60, as shown in FIG. Thereby, the size of the image displayed on each of the monitor 22 and the side monitor 26 can be displayed in the same manner.

  Further, in the above embodiment, when a composite image is generated by tilting the virtual screen 60 with the rear camera 14 as a wide angle of view, the range of the composite image displayed on the monitor 22 as shown in FIG. Can be made wider than in the above embodiment. Further, it is possible to eliminate a blind spot between the composite image displayed on the monitor 22 and the image displayed on the side monitor 26.

  Next, a vehicular visual recognition device according to a second modification will be described. FIG. 9 is a diagram for explaining a second modification of the vehicular visual recognition apparatus according to the present embodiment. In addition, since the structure itself of the visual recognition apparatus for vehicles is the same as said embodiment, detailed description is abbreviate | omitted.

  In the first modification, the rear camera 14 having an optical system with a wide angle of view is applied. However, in the second modification, the angle of view is approximately the same as that of the first embodiment, and the right direction with respect to the rear of the vehicle. The shooting direction of the rear camera 14 is changed by tilting the shooting direction in the direction of the other side.

  Specifically, in the above embodiment, as shown in FIG. 9A, the rear camera 14 is arranged toward the rear of the vehicle, but in the second modified example, as shown in FIG. 9B, The shooting direction is tilted in the right direction behind the vehicle.

  Thus, when the captured images of the door camera 16L and the rear camera 14 are combined on the virtual screen 60 in the same manner as in the above embodiment, the blind spot area is added to the combined image displayed on the monitor 22 as in the above embodiment. And the generation of double images is eliminated.

  In the above embodiment, the composite image displayed on the monitor 22 and the side monitor 26 are also displayed.

A blind spot area is generated in the hatched area shown in FIG. 9C between the image displayed in FIG. 9C. In the second modification, the hatched area shown in FIG. The blind spot area can be reduced rather than the form.

  However, in the second modified example, since the shooting directions of the door camera 16L and the rear camera 14 are different from each other, the direction of the subject on each shot image is different, and the image is uncomfortable on the composite image. End up. For this reason, in order to suppress the uncomfortable feeling, a process for correcting the orientation of the subject is required.

  Further, in the second modification, as shown in FIG. 10A, for example, a rear camera 14 having an optical system with an angle of view of 90 degrees or more is applied, and as shown in FIG. 10B. The shooting direction of the rear camera 14 may be tilted 45 degrees to the right with respect to the rear of the vehicle, and the virtual screen 60 may be tilted as in the first modification. Thus, when the captured images of the door camera 16L and the rear camera 14 are synthesized on the tilted virtual screen 60, as shown in FIG. 10C, the image is displayed on the monitor 22 as in the first modification. It is possible to eliminate the blind spot area between the composite image and the image displayed on the side monitor 26.

  In the above embodiment, an example in which two captured images of the door camera 16L and the rear camera 14 are combined and displayed on the monitor 22 and the captured image of the door camera 16R is displayed on the side monitor 26 has been described. It is not limited to. For example, three captured images of the door cameras 16L and 16R and the rear camera 14 may be combined and displayed on the monitor 22. In this case, the side monitors 26 may be provided on the left and right sides, and the captured images of the door cameras 16L and 16R may be displayed on the left and right side monitors 26 to function as door mirrors.

  In the above embodiment, the case of a right-hand drive vehicle has been described as an example. However, in the case of a left-hand drive vehicle, the left and right may be reversed. That is, the rear camera 14 is provided at the vehicle width direction end of the rear part of the vehicle and on the right side of the vehicle, and the side monitor 26 is provided on the left side to display a photographed image of the door camera 16L. Then, the captured images of the door camera 16R and the rear camera 14 may be combined and displayed on the monitor 22.

  In the above-described embodiment, the example in which the captured image (moving image) of the inner camera 24 is used as the vehicle compartment image has been described. However, the vehicle compartment image is not limited to this. For example, as the passenger compartment image, a photographed image obtained by photographing the interior of the vehicle in advance at the time of manufacture or shipment of the vehicle in a factory, or a photographed image taken before the vehicle starts running may be used. Further, the vehicle interior image is not limited to the image captured by the camera, and an illustration of the interior of the vehicle interior may be used. Alternatively, the vehicle compartment image may be omitted and displayed.

  Moreover, although the process performed by the control apparatus 30 in said embodiment was demonstrated as a software process, it is not restricted to this. For example, the processing may be performed by hardware, or may be processing that combines both hardware and software.

  Further, the processing performed by the control device 30 in the above embodiment may be stored and distributed as a program in a storage medium.

  Furthermore, the present invention is not limited to the above, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 10 Vehicle visual recognition apparatus 14 Rear camera 16L, 16R Door camera 22 Monitor 26 Side monitor 30 Control apparatus 60 Virtual screen

Claims (7)

A display unit provided in front of the passenger compartment and displaying an image;
A first photographing unit that is provided on one side of both sides of the vehicle and photographs the rear of the vehicle;
A second imaging unit that is provided at one end in the vehicle rear direction and in the vehicle width direction and images the rear of the vehicle;
A control unit that performs display control to display a combined image obtained by combining the captured images of the first imaging unit and the second imaging unit on the display unit;
A vehicular visual recognition device.   The vehicular visual recognition device according to claim 1, wherein the first photographing unit and the second photographing unit are arranged on an extension line of a body side.   3. The vehicular visual recognition device according to claim 1, wherein the display control combines the captured images of the first imaging unit and the second imaging unit with an extension line on the body side as a boundary. The second photographing unit includes a predetermined wide-angle optical system,
The said control part inclines the virtual screen used when producing | generating the synthesized image displayed on the said display part with respect to the direction orthogonal to the vehicle front-back direction, and produces | generates a synthesized image. The vehicular visual recognition device according to claim 1.   The vehicular visual recognition device according to any one of claims 1 to 3, wherein the second imaging unit is arranged with an imaging direction inclined toward the other side of the vehicle on both sides with respect to the rear of the vehicle. The optical system of the second photographing unit has an angle of view of 90 degrees or more, and is disposed with a photographing direction inclined by 45 degrees in the direction of the other side with respect to the rear of the vehicle,
The vehicular visual recognition device according to claim 5, wherein the control unit generates a composite image by tilting a virtual screen used when generating a composite image to be displayed on the display unit with respect to a direction orthogonal to the vehicle front-rear direction. . A third photographing unit that is provided on the other side of the vehicle on both sides and photographs the rear of the vehicle;
The said control part performs the display control which displays the synthesized image which synthesize | combined each imaging | photography image of the said 1st imaging | photography part, the said 2nd imaging | photography part, and the said 3rd imaging | photography part on the said display part. The vehicle visual recognition device according to any one of the preceding claims.