JP5196265B2 - Vehicle periphery recognition support device - Google Patents

Description

  The present invention provides an opportunity for the driver to pay attention to the object that the driver needs to pay attention to around the vehicle without having to worry about it. The present invention relates to a vehicle periphery recognition support device that assists so that a safe driving action can be taken.

  When driving a vehicle, it is important for the driver to check the situation around the vehicle, for example, the presence or approach of a person or other object. In other words, it is important for the driver himself / herself to confirm what the driver needs to pay attention to around the vehicle in order to take correct and safe driving behavior. In recent years, a driving support device and a vehicle periphery monitoring device have been put into practical use that assist in this confirmation by mounting a camera on a vehicle and displaying a captured image on a monitor device in the vehicle. Japanese Patent Laid-Open No. 2003-274393 (Patent Document 1) discloses a technique of a vehicle periphery monitoring device that effectively emphasizes only a portion to be watched and makes it easy to see and presents an image that easily draws attention to the driver. Has been. According to this, the image captured by the in-vehicle camera is divided into a part of a specific area that is an area that the driver wants to pay attention to and another area excluding the specific area. Then, the sharpening process is applied to the specific area, the smoothing process (non-sharpening process) is applied to the other areas, or both are performed to highlight the specific area that the driver wants to watch.

  Japanese Laid-Open Patent Publication No. 1-147983 (Patent Document 2) discloses a technology of a vehicle rear view display device that superimposes and displays a guide line indicating a predicted backward trajectory on a captured image. According to this, the predicted reverse trajectory corresponding to the snake angle detected by the snake angle sensor and the predicted reverse trajectory for a predetermined snake angle set in advance are superimposed as a guide line.

JP 2003-274393 A (paragraphs 24 to 28, etc.) Japanese Laid-Open Patent Publication No. 1-147983 (upper left column on page 2, FIG. 3 etc.)

  The predicted reverse trajectory corresponding to the rudder angle of Patent Document 2 has a role of transmitting the traveling direction to the driver. Further, the predicted backward trajectory with respect to a predetermined snake angle, for example, if the snake angle is set to zero (neutral position), the area where the vehicle is finally parked is divided into areas. Here, the guide line is superimposed on the captured image, but the video of the rear view on which the guide line is superimposed is an “unusual” video. Therefore, depending on the driver, the meaning indicated by the guide line may not be understood intuitively.

  Even in an environment in which the situation around the vehicle can be confirmed using a vehicle periphery monitoring device or a room mirror as described above, direct visual observation by the driver is important when driving. The visual effect, that is, the movement effect by dynamically moving the face, can be expected to improve the driver's thinking ability, judgment ability, and responsiveness related to driving operation. Therefore, cognitive support that prompts the user to visually check the situation around the vehicle is important. 2. Description of the Related Art Conventionally, various systems have been proposed in which notification is made directly by limiting the area to be noted, or detecting the presence or approach of a person or an object. However, few systems have been proposed that provide indirect support that makes use of the ability of human beings, such as cognitive support that encourages viewers to feel attentive as an opportunity to turn their consciousness.

  The present invention was devised in view of the above problems, and is a vehicle periphery recognition support device that makes a person feel attentive as an opportunity to turn his / her consciousness using an image captured by a vehicle-mounted camera and prompts the user to visually confirm the situation around the vehicle. The purpose is to provide.

In order to achieve the above object, the characteristic configuration of the vehicle periphery recognition support device according to the present invention is as follows:
An image receiving unit that receives a captured image captured by an in-vehicle camera that captures the periphery of the vehicle;
The reference axis on both sides of the reference axis that is an expected trajectory along the traveling direction of the vehicle set according to the steering angle of the vehicle based on the detection result of the movement state detection unit that detects the movement state of the vehicle An image processing unit that lowers the sharpness by changing at least one of sharpness, hue, lightness, and saturation of the captured image with a predetermined gradient from the captured image toward the periphery of the captured image. It is in the point to prepare.

According to this configuration, the hue, brightness, and color of the photographed image from the reference axis toward the periphery of the image on both sides of the reference axis that is an expected locus along the traveling direction of the vehicle set according to the steering angle of the vehicle. At least one of the color such as the degree and the sharpness is changed with a predetermined gradient. As a result, it is possible to make the driver intuitively understand the priority order in the screen area that the driver wants to pay attention to without feeling uncomfortable. The visibility of obstacles around the vehicle is improved by changing the color, etc., with a gradient from the reference axis toward the periphery of the image, rather than image processing that makes some parts clear and hides other parts. Priorities can be expressed after securing. For example, when a certain object including a person or an animal relatively enters from a less important area to an important area, the object is gradually and clearly displayed according to the approach. As the object approaches the reference axis, which is the center of the important area, and the sharpness of the object increases according to the predetermined gradient due to the approach, the image of the object becomes accelerated and sharp. The possibility that the driver will notice the object is increased. In addition, since the video provided by the vehicle periphery recognition support device of the present invention is not an “unusual” video in which a guide line is superimposed, it is understood that it is “intuitive” by utilizing the ability inherently human. It is possible video. Therefore, it is not a system for detecting and notifying an object, and it is possible to make the driver feel a sign that the driver is naturally aware without feeling troublesome. This sign that the driver feels is a motivation for the driver to confirm the situation around the vehicle directly by visual observation. Direct visual observation by the driver is important during driving, and according to this feature, it is possible to provide a vehicle periphery recognition support device that prompts the user to visually confirm the situation around the vehicle.

  In addition, it is preferable that the reference axis of the vehicle periphery recognition support apparatus according to the present invention is set in a curved shape according to the steering angle of the vehicle.

  When the reference axis is set according to the steering angle of the vehicle, the priority order of the screen areas that the driver should pay more attention to is set according to the traveling direction of the vehicle. Therefore, it is possible to make the driver intuitively understand the priority order in the screen area where the driver needs attention around the vehicle without feeling uncomfortable. Further, when the vehicle is being steered, the vehicle travels in an arc. By setting the reference axis in a curved line, it is possible to make the driver intuitively grasp the priority order in the screen area where the driver should pay more attention without further discomfort. In addition, although the guide line is not superimposed, the traveling direction of the vehicle can also be transmitted to the driver without feeling uncomfortable.

  In addition, it is preferable that the gradient of the vehicle periphery recognition support device according to the present invention has a change point that changes beyond a predetermined change rate before reaching the image periphery of the captured image from the reference axis. .

  The captured image includes both a very important area image and a less important area image. For example, an area where the vehicle may travel and pass is an important area where there is a possibility of contact with the vehicle if any object is present in the area. On the other hand, the region that the vehicle is considered not to pass is a region that is not so important because the possibility of contact with the vehicle is low even if any object exists in the region. Since the area where the vehicle is considered not to pass is the periphery of the captured image, an area that is not so important starts on the way from the reference axis to the periphery of the captured image. Here, if the gradient is set with a change point that changes beyond a predetermined change rate from the reference axis to the periphery of the captured image, the sharpness of a less important area is reduced. By doing so, the sharpness of important areas is relatively improved. Therefore, it is possible to make the driver intuitively understand the priority order in the screen area that the driver should be aware of, without being more clear and uncomfortable.

  Moreover, it is preferable that the change point of the gradient of the vehicle periphery recognition support device according to the present invention is set along a vehicle width extension line of the vehicle.

  The region where the vehicle is likely to pass through is a region between the reference axis and the extension line of the vehicle width of the vehicle. Therefore, when the change point is set in the vicinity of the vehicle width extension line along the vehicle width extension line of the vehicle, the change point is set without excess or deficiency. Further, with this configuration, the same effect as that of the guide line indicating the extension line of the vehicle width can be obtained even though the guide line is not superimposed. Since the guide line indicating the extension line of the vehicle width is not superimposed on the photographed image, it is not hidden by the guide line and the visibility of the photographed image is not impaired.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The vehicle periphery recognition support device of the present invention is used for, for example, a parking support device and a driving support device. 1 and 2 show a basic configuration of a vehicle 30 on which a vehicle periphery recognition support device is mounted. The steering 24 provided in the driver's seat is interlocked with the power steering unit 33 and transmits the rotational operation force to the front wheels 28f to steer the vehicle 30. An engine 32 and a speed change mechanism 34 having a torque converter, CVT, and the like that shift the power from the engine 32 and transmit it to the front wheels 28f and the rear wheels 28r are disposed at the front portion of the vehicle 30. Power is transmitted to the front wheel 28f and / or the rear wheel 28r according to the driving method of the vehicle 30 (front wheel drive, rear wheel drive, four wheel drive). In the vicinity of the driver's seat, an accelerator pedal 26 as an accelerator operating means for controlling the traveling speed, and a brake pedal 27 for applying a braking force to the front wheels 28f and the rear wheels 28r via the brake devices 31 for the front wheels 28f and the rear wheels 28r, Are arranged in parallel.

  A monitor 20 (display device) is provided at the upper position of the console near the driver's seat. The monitor 20 is a liquid crystal type equipped with a backlight. It is preferable that the monitor 20 is formed with a pressure-sensitive or electrostatic touch panel, and is configured to receive an instruction input by a user by outputting a contact position of a finger or the like as location data. The monitor 20 is also provided with a speaker, and it is preferable that various guidance messages and sound effects can be generated. When the navigation system is mounted on the vehicle 30, it is preferable that the monitor 20 is also used as a display device for the navigation system. The monitor 20 may be of a plasma display type or a CRT type, and the speaker may be provided in another place such as the inside of the door.

  A steering sensor 14 is provided in the operation system of the steering 24, and the steering operation direction and the operation amount are measured. The operation system of the shift lever 25 is provided with a shift position sensor 15 to determine the shift position. The operation system of the accelerator pedal 26 is provided with an accelerator sensor 16 to measure an operation amount. The operation system of the brake pedal 27 is provided with a brake sensor 17, which detects the presence or absence of operation.

  In addition, a rotation sensor 18 that measures the amount of rotation of at least one of the front wheel 28f and the rear wheel 28r is provided as a movement distance sensor. In this embodiment, the case where the rotation sensor 18 is provided in the rear wheel 28r is illustrated. As for the movement distance, the transmission mechanism 34 may measure the movement amount of the vehicle 30 from the rotation amount of the drive system. The vehicle 30 is provided with an electronic control unit (ECU) 10 serving as the core of the vehicle periphery recognition support device of the present invention.

  A camera 12 that captures a scene behind the vehicle 30 is provided at the rear of the vehicle 30. The camera 12 is a digital camera that incorporates an image sensor such as a charge coupled device (CCD) or a CMOS image sensor (CIS) and outputs information captured by the image sensor in real time as moving image information. The camera 12 includes a wide-angle lens and has a field angle of about 140 degrees on the left and right, for example. The camera 12 has a substantially horizontal viewpoint and is installed so that a scene behind the vehicle 30 can be photographed. The camera 12 is installed with a depression angle of, for example, about 30 degrees toward the rear of the vehicle 30 and photographs a region up to about 8 m behind. The captured image is input to the ECU 10.

  FIG. 3 is a block diagram schematically showing the configuration of the vehicle periphery recognition support device of the present invention. As shown in FIG. 3, in the present embodiment, the vehicle periphery recognition support device is configured with the ECU 10 as a core. The ECU 10 is configured to include functional units of an image receiving unit 1, an image processing unit 2, and a moving state calculation unit 3. ECU10 is comprised by the microcomputer, DSP (digital signal processor), etc., for example, The said each function part can share the function with a program etc. Accordingly, the functional units do not need to be physically provided independently, and it is sufficient if the functions are realized by cooperating with software such as a program using the same hardware.

  The image receiving unit 1 is a functional unit that receives a captured image captured by a camera 12 (vehicle-mounted camera) that captures the periphery of the vehicle 30. The image processing unit 2 is a functional unit that performs predetermined image processing on the captured image received by the image receiving unit 1 and outputs the processed image to the monitor 20 in the vehicle. Predetermined image processing refers to changing at least one of sharpness, hue, brightness, and saturation of a captured image with a predetermined gradient from the reference axis X along the traveling direction of the vehicle 30 toward the periphery of the image. This is a process for reducing the sharpness. The reference axis X along the traveling direction of the vehicle 30 is calculated by the movement state calculation unit 3. The movement state calculation unit 3 is a functional unit that calculates the movement state of the vehicle 30 based on detection results of various sensors such as the steering sensor 14, the shift position sensor 15, and the rotation sensor 18. The movement state calculation unit 3 and various sensors correspond to the movement state detection unit 5 of the present invention.

  In the block diagram shown in FIG. 3, the example in which the ECU 10 includes the movement state calculation unit 3 is shown. However, the movement state is detected and calculated in another device such as an ECU different from the ECU 10, and the result is transmitted to the ECU 10. It may be configured. In this case, the image processing processing unit 2 performs the predetermined image processing using the movement state information received by the ECU 10. And the other apparatus which detects and calculates a movement state is equivalent to the movement state detection part of this invention.

  As described above, the image processing unit 2 performs a process of changing at least one of sharpness, hue, lightness, and saturation of a captured image with a predetermined gradient. Since a specific method of changing the sharpness of a captured image, that is, a sharpening method or a blurring method on the contrary, is known as described in Patent Document 1, detailed description thereof is omitted. By changing the degree of sharpening and the degree of blurring, the sharpness can be changed with a predetermined gradient from the reference axis X toward the periphery of the image.

  When the photographed image is a color image, the sharpness of the photographed image may be changed with a predetermined gradient by changing the color. The color can be expressed by hue, brightness, and saturation, and different colors can be obtained by making one of them different. Of course, a plurality of elements may be different. Since many techniques are widely known for the method of changing colors according to various color spaces, detailed description thereof is omitted. By varying at least one of hue, lightness, and saturation, the color can be changed with a predetermined gradient from the reference axis X toward the periphery of the image. The sharpness may be varied along with the color.

  The predetermined gradient does not need to be completely linear, and may have fine steps in digital form. Further, the gradient need not be constant, and may change at a different change rate as long as it is less than a predetermined change rate. For example, the gradient from the reference axis X toward the periphery of the image may not be linear, and may change, for example, in a quadratic function. In addition, the captured image itself may be changed, and when changing by changing the color, a gradation image may be superimposed on the captured image.

  Hereinafter, the case where the sharpness and the color are changed with a predetermined gradient from the reference axis X toward the periphery of the image will be described using examples of images displayed on the monitor 20 shown in FIGS. .

  FIG. 4 is an example of an image displayed on the monitor 20 when the steering angle is zero. The movement state calculation unit 3 calculates the steering angle and the traveling direction of the vehicle 30 based on the detection results of the steering sensor 14, the shift position sensor 15, the rotation sensor 18, and the like. For example, the shift position sensor 15 detects that the shift lever 25 is in the reverse position, and the steering sensor 14 detects that the steering wheel 24 is held at a substantially neutral position. Further, it is detected by the rotation sensor 18 that the vehicle 30 is stopped or retreats at a slow speed. Accordingly, the movement state calculation unit 3 calculates that the vehicle 30 is in a state of going backward or is in a backward state.

  Since the traveling direction of the vehicle 30 is directly behind the vehicle 30, the reference axis X along the traveling direction of the vehicle 30 is a straight line in the vertical direction at the center of the image as shown in FIG. The image processing unit 2 changes at least one of sharpness, hue, brightness, and saturation of the captured image with a predetermined gradient from the reference axis X toward the periphery of the image. FIG. 4 illustrates a case where the brightness is changed. The lower graph in FIG. 4 shows the change in lightness along the alternate long and short dash line in the figure. The same applies to FIGS. 5 to 7 below. As shown in FIG. 4, the brightness changes from the bright side to the dark side with a predetermined gradient from the reference axis X toward the periphery of the image.

  FIG. 5 is an example of an image displayed on the monitor 20 when the vehicle is steered to turn leftward. In general, the captured image of the rear of the vehicle displayed on the monitor 20 is a mirror image in the same manner as when the rear of the vehicle is viewed through the rear mirror in order to reduce the driver's uncomfortable feeling. As described above, the movement state calculation unit 3 calculates the steering angle and the traveling direction of the vehicle 30 based on the detection results of the steering sensor 14, the shift position sensor 15, the rotation sensor 18, and the like. For example, the shift position sensor 15 detects that the shift lever 25 is in the reverse position, and the steering sensor 14 detects the steering angle and the steering direction. Further, it is detected by the rotation sensor 18 that the vehicle 30 is stopped or retreats at a slow speed. The moving state calculation unit 3 calculates the expected trajectory of the vehicle 30 by these.

  When the vehicle periphery recognition support device 10 cooperates with the parking support device, a parking target position is set. Accordingly, a standard travel route from the current position of the vehicle 30 to the parking target position is calculated as an expected trajectory. In addition, a parking support device or a driving support device that does not set the parking target position, but simply displays a captured image obtained by photographing the rear of the vehicle 30, or displays a guideline such as a vehicle width extension line superimposed on the captured image. When collaborating with a general travel route, a general travel route is calculated as an expected trajectory. If the predicted trajectory is calculated based only on the steering angle, the predicted trajectory becomes circular and may be different from the actual trajectory at a distance. In general, it is rare to turn 90 degrees or more while maintaining the steering angle. Therefore, a route that travels linearly after turning about 60 to 90 degrees is calculated as an expected trajectory. The predicted trajectory calculated in this way becomes the reference axis X of the present invention as shown in FIG. That is, the reference axis X is set in a curved shape according to the steering angle of the vehicle 30.

  The image processing unit 2 changes at least one of sharpness, hue, lightness, and saturation of the captured image from the reference axis X on the curve toward the periphery of the image with a predetermined gradient. FIG. 5 illustrates a case where the brightness is changed. The lower graph in FIG. 5 shows the change in lightness along the alternate long and short dash line in the figure. As shown in FIG. 5, the brightness changes from the bright side to the dark side with a predetermined gradient from the reference axis X toward the periphery of the image. Here, the gradients on the left and right of the reference axis are the same. However, the left and right gradients are not limited to be the same, and the left and right gradients may have different gradients.

  As described above, when the reference axis X is set according to the steering angle of the vehicle 30, the priority order of the screen areas that the driver should pay more attention to is set according to the traveling direction of the vehicle. Therefore, it is possible to make the driver intuitively understand the priority order in the screen area where the driver needs attention around the vehicle without feeling uncomfortable. Further, when the vehicle is being steered, the vehicle travels in an arc. By setting the reference axis X in a curved line, it is possible to make the driver intuitively grasp the priority order in the screen area where the driver should pay more attention without further discomfort.

  However, even when the steering 24 is not in the neutral position and the steering angle of the vehicle 30 is not zero, it does not prevent the reference axis X from being set in a straight line. For example, when the vehicle periphery recognition support device 10 is not cooperating with a parking support device or the like, it may be difficult to obtain an expected trajectory of the vehicle 30. Even if the vehicle periphery recognition support device 10 is not cooperating with a parking support device or the like, it is possible to set a linearly traveling route as the reference axis X after turning about 60 to 90 degrees while maintaining the steering angle. Is possible. However, there is a case where it is desired to suppress the calculation load. In such cases, the reference axis X may be set linearly according to the steering angle of the vehicle 30.

  FIG. 6 illustrates a case where the reference axis X is set linearly according to the steering angle of the vehicle 30. The image processing unit 2 changes at least one of sharpness, hue, lightness, and saturation of the captured image from the reference axis X on the straight line toward the periphery of the image with a predetermined gradient. FIG. 6 illustrates the case where the brightness is changed, as in the above examples. The same applies to the lower graph of FIG.

  As described above, from the reference axis X along the traveling direction of the vehicle 30 toward the periphery of the image, at least one of the hue, brightness, saturation, and other sharpness of the captured image has a predetermined gradient. It is changed. As a result, it is possible to make the driver intuitively understand the priority order in the screen area that the driver wants to pay attention to without feeling uncomfortable. As described in Japanese Patent Application Laid-Open No. H10-260260, the image processing is not performed by clarifying a part and hiding other parts, but changing a color or the like with a gradient from the reference axis toward the periphery of the image. Priorities can be expressed after ensuring the visibility of obstacles and the like in the vicinity.

  For example, when an object enters from a less important area to an important area relative to the vehicle 30, the object is gradually and clearly displayed according to the approach. By approaching the reference axis, which is the center of the important area, and by increasing the sharpness according to the predetermined gradient due to the approach, the driver is more likely to notice the object. In other words, it is not a system that detects and notifies an object, and it is possible to make the driver feel a sign that the driver is naturally aware without feeling troublesome. This sign that the driver feels motivates the driver to visually confirm the situation around the vehicle. When driving, direct visual observation by the driver is important, and the vehicle periphery recognition support device of the present invention can prompt the user to directly confirm the situation around the vehicle.

  Further, the image processing in the present invention is not an image processing that clearly separates an important region and an unimportant region as in Patent Document 1. In the example shown in FIGS. 4 to 6, an example emphasized for facilitating understanding of the invention is shown. However, in the present invention, an image that seems to be a normal display of a captured image at first glance. Can be displayed on the monitor 20. Therefore, it is possible to make the driver feel a so-called feeling without causing the driver to feel any sense of incongruity or excessively attracting attention to a part of the area. Further, the video provided by the vehicle periphery recognition support apparatus of the present invention is not an extraordinary video in which a guide line is superimposed as in Patent Document 2. Therefore, the image is an image that can be intuitively understood by taking advantage of human ability.

  FIG. 7 shows that a predetermined gradient at which at least one of sharpness, hue, lightness, and saturation of a captured image changes exceeds a predetermined change rate from the reference axis X to the periphery of the captured image. The example which has the change point Y which changes is shown. By having this change point, a slight contrast is generated on the image displayed on the monitor 20, so that it is easy to distinguish sensory regions. The change point Y is preferably set in the vicinity of the vehicle width extension line along the vehicle width extension line of the vehicle 30. If visibility and safety are taken into consideration, it is preferable to set the image peripheral side with respect to the vehicle width extension line. As shown in the lower graph of FIG. 7, the brightness changes from the bright side to the dark side with a predetermined gradient from the reference axis X toward the periphery of the image. It has changed beyond.

  The captured image naturally includes both an image of a very important region and an image of a region that is not so important. For example, an area where the vehicle 30 may travel and pass is an area that may come into contact with the vehicle 30 when an object is present in the area, and is an important area. On the other hand, the region that the vehicle 30 is considered not to pass is a region that is not so important because it is unlikely to come into contact with the vehicle 30 even if any object exists in the region. Since the region where the vehicle 30 is considered not to pass is the peripheral portion of the captured image, a change point Y at which the gradient changes beyond a predetermined change rate on the way from the reference axis X to the periphery of the captured image. Provided. Compared with the region from the reference axis X to the change point Y, the sharpness of the region from the change point Y to the periphery of the image is relatively lowered, and the sharpness of the region from the reference axis X to the change point Y is reduced. It will be relatively improved. Therefore, it becomes possible for the driver to intuitively grasp the priority order in the screen area where the driver should be more careful and without a sense of incongruity. Further, with this configuration, it is not necessary to superimpose a guide line such as a vehicle width extension line on the captured image, and the visibility of the screen is not lost due to the guide line being hidden.

  The region where the vehicle 30 is likely to travel and pass is a region between the reference axis X and an extension line of the vehicle width of the vehicle. Therefore, when the change point Y is set in the vicinity of the vehicle width extension line along the vehicle width extension line, the change point is set without excess or deficiency. Preferably, the change point Y is set in the vicinity of the vehicle width extension line of the vehicle and on the image peripheral side with a margin.

  As described above, according to the present invention, it is possible to provide a vehicle periphery recognition support device that makes a person feel attentive as an opportunity to turn his / her consciousness using an image captured by an in-vehicle camera and urges the user to visually confirm the situation around the vehicle. It becomes possible.

Illustration of the front of the driver's seat of the vehicle Block diagram showing the basic configuration of the vehicle Block diagram schematically showing the configuration of the vehicle periphery recognition support device Examples of images displayed on the monitor Examples of images displayed on the monitor Examples of images displayed on the monitor Examples of images displayed on the monitor

Explanation of symbols

1: Image receiving unit 2: Image processing unit 5: Movement state detection unit 10: ECU (vehicle periphery recognition support device)
12: Camera (vehicle camera)

Claims (4)

An image receiving unit that receives a captured image captured by an in-vehicle camera that captures the periphery of the vehicle;
The reference axis on both sides of the reference axis that is an expected trajectory along the traveling direction of the vehicle set according to the steering angle of the vehicle based on the detection result of the movement state detection unit that detects the movement state of the vehicle An image processing unit that lowers the sharpness by changing at least one of sharpness, hue, lightness, and saturation of the captured image with a predetermined gradient from the captured image toward the periphery of the captured image. A vehicle periphery recognition support apparatus.   The vehicle periphery recognition support apparatus according to claim 1, wherein the reference axis is set in a curved shape according to a steering angle of the vehicle.   3. The vehicle periphery recognition support device according to claim 1, wherein the gradient has a change point that changes beyond a predetermined change rate before reaching the image periphery of the captured image from the reference axis.   The vehicle periphery recognition support apparatus according to claim 3, wherein the change point is set along a vehicle width extension line of the vehicle.

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