JP6342074B2 - Vehicle periphery monitoring device and driving support system - Google Patents

Description

  The present invention relates to a technique for monitoring the periphery of a vehicle, and more particularly to a technique for monitoring the movement of a rear vehicle approaching the vehicle from behind.

  2. Description of the Related Art In recent years, a technique for monitoring the periphery of a vehicle using a captured image obtained by an in-vehicle camera has been provided in order to assist driving operation by a driver and to ensure safety. For example, in Patent Document 1 (Japanese Patent Laid-Open No. 2008-9724), Patent Document 2 (Japanese Patent Laid-Open No. 2003-306057), and Patent Document 3 (Japanese Patent Laid-Open No. 11-99879), imaging indicating a rear region of a vehicle is described. A technique for displaying an image on a display of a navigation system or a display screen of an instrument panel is disclosed.

  In the prior art disclosed in Patent Document 1, a captured image indicating a rear region of a vehicle is displayed on captured image display means such as a display constituting a navigation system. In addition, a vehicle determination device that determines whether an emergency vehicle such as an ambulance appears in a captured image and issues a warning when the emergency vehicle exists is disclosed. However, even if the driver suddenly receives the warning during the driving operation, the driver cannot always take an appropriate action.

  On the other hand, in the prior art of Patent Document 2, a captured image indicating the situation behind the vehicle is displayed in the instrument panel. Thereby, since the amount of line-of-sight movement for visually recognizing the captured image is small, the driver can easily confirm the situation behind the automobile. Similarly, in the prior art of Patent Document 3, a monitor screen is provided in a meter cluster that can display meter information, and when a rear vehicle approaches, a captured image indicating vehicle rear information is displayed on the monitor screen.

Japanese Patent Laying-Open No. 2008-9724 (for example, paragraphs 0021 and 0036) Japanese Patent Laying-Open No. 2003-306057 (for example, FIG. 1 and paragraph 0013) JP-A-11-99879 (for example, FIGS. 1 to 3 and paragraphs 0007, 0008, 0014)

  However, even if a captured image of the vehicle rear region is displayed on the instrument panel or meter cluster in the vehicle, the driver of the vehicle may not always be able to confirm the display image during the driving operation. . For this reason, there is a limit in quickly performing an appropriate driving operation corresponding to the movement of the vehicle behind.

  In view of the above, an object of the present invention is to provide a vehicle periphery monitoring device and a driving support system that can perform driving support for the movement of a rear vehicle.

A vehicle periphery monitoring device according to an aspect of the present invention includes an inter-vehicle distance between an input unit that receives a captured image of a rear region from an imaging unit that captures a rear region of the vehicle and a rear vehicle that appears in the captured image, the vehicle A vehicle information generating unit that generates vehicle information indicating at least one of a relative speed of the rear vehicle with respect to the vehicle and a relative acceleration of the rear vehicle with respect to the vehicle, and the rear based on the vehicle information. A determination unit that determines whether or not the vehicle corresponds to the vehicle of interest and generates and outputs an alarm notification signal when it is determined that the vehicle behind the vehicle corresponds to the vehicle of interest, and directly in front of the driver's seat of the vehicle And a display control unit configured to display the captured image together with the vehicle information on the arranged display unit.

A driving support system according to another aspect of the present invention is a driving support system including an imaging unit that images a rear region of a vehicle, a display unit that is disposed in front of the driver's seat of the vehicle, and a vehicle periphery monitoring device. The vehicle periphery monitoring device includes an inter-vehicle distance between an input unit to which a captured image of the rear region is input from the imaging unit and a rear vehicle appearing in the captured image, a relative speed of the rear vehicle with respect to the vehicle, And a vehicle information generation unit that generates vehicle information indicating a transition of at least one of the relative accelerations of the vehicle behind the vehicle to the present, and whether the vehicle behind corresponds to the vehicle of interest based on the vehicle information. A determination unit that generates and outputs an alarm notification signal when it is determined that the rear vehicle corresponds to the vehicle of interest, and the imaging unit together with the vehicle information Characterized in that it comprises a display control unit for parallel display the image.

  According to the present invention, the vehicle information indicating the movement of the rear vehicle and the captured image representing the rear vehicle are displayed in parallel on the display unit disposed in front of the driver's seat of the vehicle. The vehicle information and the captured image are displayed on the display unit arranged at an easy position. Therefore, the driver can receive an alarm indicating that the rear vehicle corresponds to the vehicle of interest while recognizing the movement of the rear vehicle to some extent. Therefore, the driver can take an appropriate avoidance action with quick judgment according to the warning.

It is a functional block diagram which shows schematic structure of the driving assistance system of Embodiment 1 which concerns on this invention. 3 is a diagram illustrating an arrangement example of a rear camera, a millimeter wave radar device, and a laser radar device in Embodiment 1. FIG. It is a figure which shows the instrument panel of Embodiment 1. FIG. It is a figure which shows schematically the structural example of the display screen of the instrument panel of Embodiment 1. FIG. 3 is a flowchart schematically illustrating an example of a driving support process by a determination unit according to the first embodiment. 3 is a flowchart schematically illustrating an example of a driving support process by a determination unit according to the first embodiment. It is a figure which shows an example of the display content of an instrument panel when a back vehicle is detected. It is a figure which shows an example of the display content of an instrument panel when a back vehicle corresponds to an attention vehicle. It is a functional block diagram which shows roughly an example of the hardware constitutions of a vehicle periphery monitoring apparatus.

  Hereinafter, various embodiments according to the present invention will be described in detail with reference to the drawings. In addition, the component which attached | subjected the same code | symbol in drawing shall have the same structure and the same function.

Embodiment 1 FIG.
FIG. 1 is a functional block diagram showing a schematic configuration of a driving support system 1 according to the first embodiment of the present invention. The driving support system 1 includes a rear camera 11, a millimeter wave radar device 12, and a laser radar device 13 in order to acquire information on the rear region of the vehicle. FIG. 2 is a diagram illustrating an arrangement example of the rear camera 11, the millimeter wave radar device 12, and the laser radar device 13 in the vehicle 2 on which the driving support system 1 is mounted. The rear camera 11 is a stereo camera having two image pickup devices, and has a left image pickup device 11L and a right image pickup device 11R respectively attached near both ends of the rear bumper 19 of the vehicle 2 as shown in FIG. . Further, the millimeter wave radar device 12 and the laser radar device 13 may be attached near the center of the rear bumper 19. The present invention is not limited to these attachment positions.

  The rear camera 11 performs image processing on the image signals acquired by the left imaging element 11L and the right imaging element 11R, respectively, and a distance image that is stereoscopic image information of the rear region of the vehicle 2 and a two-dimensional image. An intensity image that is information can be generated. Here, the distance image is an image expressing the distance between the subject and the vehicle 2 in units of pixels. Data indicating the distance image and the intensity image is supplied to the vehicle periphery monitoring device 10.

  On the other hand, the millimeter wave radar device 12 is a sensor that detects the inter-vehicle distance and direction between the object and the vehicle 2 in the rear region of the vehicle 2. Data indicating the inter-vehicle distance detected by the millimeter wave radar device 12 is supplied to the vehicle periphery monitoring device 10. Further, the laser radar device 13 can scan the laser pulse light in the rear region of the vehicle 2 and generate a distance image and an intensity image based on the reflected light data. Data indicating the distance image and the intensity image is also supplied to the vehicle periphery monitoring device 10.

  Note that the imaging unit of the present invention can be configured by either the rear camera 11 or the laser radar device 13.

  As shown in FIG. 1, the driving support system 1 includes a vehicle periphery monitoring device 10, a drawing circuit 14, a display unit 15, an audio circuit 16, and a speaker 17. As will be described later, the vehicle periphery monitoring device 10 detects a rear vehicle that appears in the rear region of the vehicle 2, and the vehicle information indicating the movement of the rear vehicle and a captured image representing the rear vehicle are arranged in parallel on the display unit 15. Can be displayed. Further, as will be described later, the vehicle periphery monitoring device 10 has a function of outputting a warning notification signal to either the drawing circuit 14 or the audio circuit 16 when it is determined that the rear vehicle corresponds to the vehicle of interest. Have. Here, the vehicle of interest refers to a vehicle to be noted such as an emergency vehicle (for example, an ambulance) or a dangerous vehicle. As a dangerous vehicle, for example, (a) a vehicle that compulsorily gives way to another vehicle that travels ahead, (b) a vehicle that approaches abnormally by reducing the inter-vehicle distance, (c) other vehicles (D) driving that threatens or harasses other vehicle occupants by, for example, high beam irradiation, passing (flashing headlights towards other vehicles), using horns or shifting the horn Vehicle on which a person gets on. A vehicle in which a so-called “driving operation” is performed corresponds to a dangerous vehicle. The audio circuit 16 and the speaker 17 can constitute the audio output unit of the present invention.

  The display part 15 can be comprised with a liquid crystal display or an organic electroluminescent display, for example. The drawing circuit 14 receives the image signal output from the vehicle periphery monitoring device 10 and causes the display unit 15 to display an image based on the image signal. As shown in FIG. 3, the display unit 15 of the present embodiment includes an instrument panel 31 disposed in the vicinity of the operation handle 30 in front of the driver's seat of the vehicle 2, a front of the driver's seat, and an instrument. And a projection unit 39 for HUD (head-up display) disposed in front of the panel 31. The drawing circuit 14 can display an image on one or both of the instrument panel 31 and the HUD projection unit 39.

  The instrument panel 31 has a display screen that faces the direction of the driver's seat. On the other hand, the HUD projection unit 39 can display an image Pi by projecting an optical image onto the surface of the windshield 37 of the vehicle 2. In the present embodiment, a head-up display device can be configured by the HUD projection unit 39 and the windshield 37, but the present invention is not limited to this. As the image projection surface, a translucent sheet member instead of the windshield 37 may be used. As this type of translucent sheet member, for example, a half mirror called a combiner that displays an image of a front area of a vehicle and a projected image in an overlapping manner can be used. The vehicle 2 also includes an in-vehicle navigation system having a navigation screen 38 shown in FIG.

  FIG. 4 is a diagram schematically illustrating a configuration example of the display screen 31 </ b> D of the instrument panel 31. As shown in FIG. 4, the display screen 31 </ b> D displays a traveling state display area 32 that displays a traveling state value of the vehicle 2 and an intensity image for rear monitoring (hereinafter referred to as “monitoring image”). An image display area 34, a vehicle information display area 35 for displaying vehicle information to be described later, and a notification area 36 for displaying notification information by a notification signal to be described later are provided. In the traveling state display area 32, a tachometer 33A representing the engine speed of the vehicle 2 and a vehicle speed meter 33B representing the speed of the vehicle 2 are displayed. In the running state display area 32, running state values such as the remaining amount of fuel and the running distance may be displayed in addition to the engine speed and the vehicle speed.

  On the other hand, the audio circuit 16 can receive an audio signal output from the vehicle periphery monitoring device 10 and output audio from the speaker 17 based on the audio signal.

  Referring to FIG. 1, the vehicle periphery monitoring device 10 includes an input circuit 21 as an input unit that receives outputs of the rear camera 11, the millimeter wave radar device 12, and the laser radar device 13, and a distance that represents a rear region of the vehicle 2. A vehicle detection unit 22 that detects a rear vehicle appearing in the image, a distance measurement unit 23 that detects an inter-vehicle distance between the detected rear vehicle and the vehicle 2, and a behavior of the driver of the rear vehicle appearing in the monitoring image A driver recognition unit 24 that automatically recognizes the vehicle, a vehicle information generation unit 25 that generates vehicle information indicating the movement of the rear vehicle in real time, and whether or not the rear vehicle corresponds to the vehicle of interest based on the vehicle information. A determination unit 27 and a display control unit 26 that provides an image signal to the drawing circuit 14 to control the display content of the display unit 15 are provided.

  The vehicle detection unit 22 acquires a distance image from the input circuit 21 and analyzes the distance image using a known image recognition technique such as pattern matching, thereby detecting a rear vehicle appearing in the distance image in real time. Can do. Here, the vehicle detection unit 22 normally detects the rear vehicle using the distance image generated by the rear camera 11. However, when the image quality of the distance image generated by the rear camera 11 is low due to factors such as poor visibility (for example, when the S / N ratio is less than the allowable value), the vehicle detection unit 22 uses the millimeter wave radar. The rear vehicle can be detected using the detection output of the device 12 or the detection output of the laser radar device 13. The vehicle detection unit 22 acquires a monitoring image from the input circuit 21 and outputs data indicating the monitoring image to the vehicle information generation unit 25.

  The distance measuring unit 23 can detect the inter-vehicle distance between the rear vehicle and the vehicle 2 using the distance image acquired from the input circuit 21 based on the detection result by the vehicle detection unit 22. Data indicating the inter-vehicle distance is given to the determination unit 27 and the vehicle information generation unit 25.

  On the other hand, the vehicle information generation unit 25 detects the relative speed of the rear vehicle with respect to the vehicle 2 and the relative acceleration of the rear vehicle with respect to the vehicle 2 based on the detection result of the vehicle detection unit 22 and the detected value of the inter-vehicle distance. The vehicle information generation unit 25 outputs the distance information supplied from the distance measurement unit 23 together with the relative speed and the relative acceleration to the display control unit 26 as vehicle information. The display control unit 26 can display the relative speed, the relative acceleration, and the inter-vehicle distance in the vehicle information display area 35 of the display screen 31D shown in FIG. As shown in FIG. 4, in the vehicle information display area 35, the value of the relative speed relating to the elapsed time up to the present, the value of the relative acceleration relating to the elapsed time up to the present, and the value of the inter-vehicle distance relating to the elapsed time up to the present. And are displayed respectively. In FIG. 4, the value of the relative speed is displayed as “speed”, the value of the relative acceleration is displayed as “acceleration”, and the value of the inter-vehicle distance is displayed as “distance”.

  Further, the vehicle information generation unit 25 outputs data indicating the monitoring image input from the vehicle detection unit 22 to the display control unit 26. The display control unit 26 generates an image signal based on the data input from the vehicle information generation unit 25 and supplies the image signal to the drawing circuit 14. Thereby, the drawing circuit 14 can display the monitoring image on one or both of the instrument panel 31 and the HUD projection unit 39. The drawing circuit 14 can cause the HUD projection unit 39 to display an image having the same contents as the display screen 31D shown in FIG.

  The driver recognition unit 24 can automatically recognize the behavior of the driver of the rear vehicle by analyzing the distance image acquired from the input circuit 21 based on the detection result by the vehicle detection unit 22. This type of automatic recognition can be realized by using, for example, a pattern recognition technique using a known neural network. The driver recognition unit 24 can detect, for example, the line of sight of the driver of the rear vehicle and recognize whether the line of sight is stable.

  When the image quality of the distance image generated by the rear camera 11 is low (for example, when the S / N ratio is lower than the allowable value) due to factors such as poor visibility, the distance measuring unit 23 and driver recognition The unit 24 can use the distance image generated by the laser radar device 13. The distance measuring unit 23 and the driver recognizing unit 24 use, for example, a distance image generated by the millimeter wave radar device 12 when the inter-vehicle distance is large, and the measurement accuracy of the inter-vehicle distance is small. A distance image generated by the high laser radar device 13 can be used.

  And the determination part 27 can determine whether the said back vehicle is an attention vehicle based on the said vehicle information. If it is determined that the rear vehicle is the vehicle of interest, the determination unit 27 outputs a warning notification signal to the audio circuit 16 or the display control unit 26. When the notification signal is output to the audio circuit 16, the speaker 17 outputs an alarm sound toward the driver's seat. On the other hand, when the notification signal is output to the display control unit 26, a warning message is displayed in the notification area 36 of the display screen 31D shown in FIG.

  Next, the operation of the vehicle periphery monitoring device 10 will be described with reference to FIGS. 5 and 6. 5 and 6 are flowcharts schematically showing an example of the driving support process by the determination unit 27 of the first embodiment. The flowchart shown in FIG. 5 and the flowchart shown in FIG. 6 are connected to each other via connectors C1 and C2. This driving support process is executed during operation of the engine of the vehicle 2. Further, this driving support process may be performed not only when the vehicle 2 is in a traveling state but also when the vehicle 2 is in a stopped state.

  As FIG. 5 shows, the determination part 27 is standing by until the vehicle detection part 22 detects a back vehicle (NO of step ST10). When the vehicle detection unit 22 detects a rear vehicle (YES in step ST10), the determination unit 27 detects the state and acquires the current value of the relative speed from the vehicle information generation unit 25 (step ST11). Next, the determination unit 27 determines whether or not the relative speed is equal to or higher than a predetermined upper limit speed (step ST12).

  When the relative speed is equal to or higher than the upper limit speed (YES in step ST12), the determination unit 27 acquires the current value of the inter-vehicle distance from the distance measurement unit 23 (step ST13). Then, when the inter-vehicle distance is within a predetermined proximity distance, the determination unit 27 determines that the rear vehicle corresponds to the vehicle of interest (YES in step ST14), and notifies the audio circuit 16 or the display control unit 26. A signal is output (step ST15). Then, the determination part 27 returns the procedure of a driving assistance process to step ST10.

  On the other hand, when the inter-vehicle distance exceeds the predetermined proximity distance, the determination unit 27 determines that the rear vehicle does not correspond to the vehicle of interest (NO in step ST14), and the procedure of the driving support process is performed in step ST16. To migrate.

  When it is determined in step ST12 that the relative speed is less than the upper limit speed (NO in step ST12), step ST16 is executed. In step ST <b> 16, the determination unit 27 acquires the current value of relative acceleration from the vehicle information generation unit 25. Next, the determination unit 27 determines whether or not the relative acceleration is greater than or equal to a predetermined upper limit acceleration (step ST17).

  When the relative acceleration is equal to or greater than the upper limit acceleration (YES in step ST17), the determination unit 27 acquires the current value of the inter-vehicle distance from the distance measurement unit 23 (step ST18). Then, when the inter-vehicle distance is within a predetermined proximity distance, the determination unit 27 determines that the rear vehicle corresponds to the vehicle of interest (YES in step ST19), and notifies the audio circuit 16 or the display control unit 26. A signal is output (step ST20). Then, the determination part 27 returns the procedure of a driving assistance process to step ST10.

  On the other hand, when the inter-vehicle distance exceeds the predetermined proximity distance in step ST19, the determination unit 27 determines that the rear vehicle does not correspond to the vehicle of interest (NO in step ST19), and performs the driving support process. The procedure is shifted to step ST21 in FIG.

  In step ST21, the determination unit 27 monitors the behavior of the driver of the vehicle behind the vehicle using the recognition result obtained by the driver recognition unit 24. When the behavior of the driver matches a predetermined specific condition (YES in step ST22), the determination unit 27 acquires the current value of the inter-vehicle distance from the distance measurement unit 23 (step ST23). For example, when it is recognized that the driver's line of sight of the rear vehicle is not stable, or when it is recognized that the driver of the rear vehicle is operating the portable communication terminal, the rear vehicle is the vehicle of interest. Is likely. In such a case, the determination unit 27 can determine that the behavior of the driver matches the specific condition. Thereafter, when the inter-vehicle distance is within a predetermined proximity distance, the determination unit 27 determines that the rear vehicle corresponds to the vehicle of interest (YES in step ST24), and notifies the audio circuit 16 or the display control unit 26. A signal is output (step ST25). Then, the determination part 27 returns the procedure of a driving assistance process to step ST10 of FIG.

  On the other hand, if the inter-vehicle distance exceeds a predetermined proximity distance in step ST24, the determination unit 27 determines that the rear vehicle does not correspond to the vehicle of interest (NO in step ST24), and the procedure for the driving support process Is transferred to step ST26.

  In step ST22, when the driver's behavior does not match the specific condition (NO in step ST22), the determination unit 27 shifts the driving support process to step ST26. In step ST26, for example, when there is an end command, the driving support process ends (YES in step ST26). On the other hand, when the driving support process does not end (NO in step ST26), the procedure of the driving support process returns to step ST10 in FIG.

  FIG. 7 is a diagram illustrating an example of display contents of the instrument panel 31 when a rear vehicle is detected. As shown in FIG. 7, a captured image of the detected rear vehicle is displayed in the image display area 34. The vehicle information display area 35 shows changes in relative speed, relative acceleration, and inter-vehicle distance. FIG. 8 is a diagram illustrating an example of display contents of the instrument panel 31 when it is determined that the rear vehicle corresponds to the vehicle of interest after detection of the rear vehicle. As shown in FIG. 8, a warning message is displayed in the notification area 36.

  All or part of the functions of the vehicle periphery monitoring device 10 described above can be realized by a computer program. In this case, a processor including a CPU (Central Processing Unit) can realize the function by loading and executing the computer program from a computer-readable recording medium.

  FIG. 9 is a functional block diagram schematically showing an example of the hardware configuration of the vehicle periphery monitoring device 10M realized by a computer program. 9 includes a determination circuit 41 that is a processor including a CPU 41C, a general-purpose processor 42 including a CPU 42C, a RAM (Random Access Memory) 43, and a non-volatile memory such as a ROM (Read Only Memory). 44, a recording medium 45 such as a flash memory or an HDD (Hard Disk Drive), and an input / output interface 46. These components 41 to 46 are connected to each other via a bus 49. The determination circuit 41 has the functions of the vehicle detection unit 22, the distance measurement unit 23, the driver recognition unit 24, the vehicle information generation unit 25, the display control unit 26, and the determination unit 27 described above. On the other hand, the input / output interface 46 has the function of the input circuit 21 (FIG. 1). The input / output interface 46 also functions as an interface to the drawing circuit 14 and the audio circuit 16 (FIG. 1).

  The determination circuit 41 loads the driving support program that is a software program from the nonvolatile memory 44 or the recording medium 45 and operates according to the driving support program, thereby realizing the function of the vehicle periphery monitoring device 10 described above. Can do. A part of the functions of the vehicle periphery monitoring device 10 may be realized by a general-purpose processor 42.

  As described above, in the driving support system 1 of the first embodiment, the vehicle information indicating the movement of the rear vehicle is displayed on the display unit 15 together with the monitoring image in real time. In a state where the movement of the vehicle is recognized to some extent, a warning that the rear vehicle corresponds to the vehicle of interest is received. Therefore, compared to the case where the warning is received in the state where the movement of the rear vehicle is not recognized or the movement of the rear vehicle is vaguely recognized, the driver can take appropriate risk avoidance action with quick judgment. Can take. Accordingly, even when an unpredictable movement suddenly occurs in the rear adjacent vehicle, an appropriate driving operation for avoiding danger can be performed in response to this movement. For example, when a driver receives a warning sound or a warning message for a rear vehicle approaching rapidly on an expressway, the driver can quickly take a risk avoidance action such as a lane change. The driver can immediately respond to an emergency situation.

  As mentioned above, although embodiment which concerns on this invention was described with reference to drawings, this embodiment is an illustration of this invention, Various forms other than this embodiment can also be employ | adopted. For example, in the above embodiment, the rear camera 11, the millimeter wave radar device 12, and the laser radar device 13 are used as the sensor group used for detecting the inter-vehicle distance. However, the present invention is not limited to these. Absent. For example, a quasi-millimeter wave radar device, an ultrasonic sensor, or a microwave sensor can be used.

  It should be noted that within the scope of the present invention, any component of the above embodiment can be modified, or any component of the above embodiment can be omitted.

  The vehicle periphery monitoring device and the driving support system according to the present invention are suitable for use in an automobile traveling on a roadway, but are not limited thereto. For example, the present invention can be applied to a railway vehicle traveling on a rail.

  DESCRIPTION OF SYMBOLS 1 Driving support system, 2 Vehicle, 10, 10M Vehicle periphery monitoring apparatus, 11 Rear camera, 11R Right side image sensor, 11L Left side image sensor, 12 Millimeter wave radar apparatus, 13 Laser radar apparatus, 14 Drawing circuit, 15 Display part, 16 Audio circuit, 17 speaker, 19 rear bumper, 21 input circuit, 22 vehicle detection unit, 23 distance measurement unit, 24 driver recognition unit, 25 vehicle information generation unit, 26 display control unit, 27 determination unit, 30 operation handle, 31 instrument Instrument panel, 31D display screen, 32 running state display area, 33A tachometer, 33B speedometer, 34 image display area, 35 vehicle information display area, 36 notification area, 41 determination circuit, 42 processor, 43 RAM, 44 nonvolatile memory, 45 recording media, 46 I / O interface, 49 buses.

Claims (13)

An input unit that receives a captured image of the rear region from an imaging unit that captures the rear region of the vehicle;
Vehicle information is generated that indicates at least one of the distance between the rear vehicle appearing in the captured image, the relative speed of the rear vehicle relative to the vehicle, and the relative acceleration of the rear vehicle relative to the vehicle. A vehicle information generation unit;
A determination unit that determines whether or not the rear vehicle corresponds to a vehicle of interest based on the vehicle information, and generates and outputs a warning notification signal when it is determined that the rear vehicle corresponds to a vehicle of interest;
A vehicle periphery monitoring apparatus comprising: a display control unit configured to display the captured image together with the vehicle information on a display unit disposed in front of a driver seat of the vehicle. The vehicle periphery monitoring device according to claim 1,
The display unit includes an instrument panel disposed in front of the driver's seat of the vehicle,
The display screen of the instrument panel has a running state display area indicating a running state value of the vehicle, an image display area for displaying the captured image, and a vehicle information display area for displaying the vehicle information.
A vehicle periphery monitoring device characterized by that.   3. The vehicle periphery monitoring device according to claim 2, wherein the display screen of the instrument panel further has a notification area for displaying alarm information indicated by the notification signal.   2. The vehicle periphery monitoring device according to claim 1, wherein the display unit displays the vehicle information and the captured image by projecting an optical image onto an image projection surface disposed in front of the driver's seat of the vehicle. A vehicle periphery monitoring device comprising an up-display device.   The vehicle periphery monitoring device according to claim 1, wherein the determination unit includes an audio signal that outputs a warning sound from an audio output unit mounted on the vehicle, and an image signal that displays alarm information on the display unit. At least one of them is produced | generated as said notification signal, The vehicle periphery monitoring apparatus characterized by the above-mentioned. A vehicle periphery monitoring device according to claim 1, further comprising a distance measuring unit supplies the following distance detecting the inter-vehicle distance to the vehicle information generating unit,
The vehicle information generation unit supplies the inter-vehicle distance to the determination unit as a part of the vehicle information.   The vehicle periphery monitoring device according to claim 6, wherein the determination unit determines that the rear vehicle corresponds to a vehicle of interest when the inter-vehicle distance is within a predetermined proximity distance. apparatus. The vehicle periphery monitoring device according to claim 6 ,
The vehicle information generating unit calculates a pre-SL-relative speed as a part of the vehicle information,
The determination unit determines whether or not the rear vehicle corresponds to a vehicle of interest when the relative speed is equal to or higher than a predetermined upper limit speed. The vehicle periphery monitoring device according to claim 6,
The vehicle information generating unit calculates a pre-SL-relative acceleration as part of the vehicle information,
The determination unit determines whether or not the rear vehicle corresponds to a vehicle of interest when the relative acceleration is equal to or greater than a predetermined upper limit acceleration. The vehicle periphery monitoring device according to claim 1, further comprising a driver recognition unit that analyzes the captured image and recognizes the behavior of the driver of the rear vehicle,
The vehicle periphery monitoring device, wherein the determination unit determines whether or not the rear vehicle corresponds to a vehicle of interest when the detected behavior matches a specific condition. A driving support system comprising an imaging unit that images a rear region of a vehicle, a display unit disposed in front of the driver's seat of the vehicle, and a vehicle periphery monitoring device,
The vehicle periphery monitoring device is
An input unit to which a captured image of the rear region is input from the imaging unit;
Vehicle information is generated that indicates at least one of the distance between the rear vehicle appearing in the captured image, the relative speed of the rear vehicle relative to the vehicle, and the relative acceleration of the rear vehicle relative to the vehicle. A vehicle information generation unit;
A determination unit that determines whether or not the rear vehicle corresponds to a vehicle of interest based on the vehicle information, and generates and outputs a warning notification signal when it is determined that the rear vehicle corresponds to a vehicle of interest;
A driving support system comprising: a display control unit configured to display the captured image together with the vehicle information on the display unit. The driving support system according to claim 11,
The display unit includes an instrument panel disposed in front of the driver's seat of the vehicle,
The display screen of the instrument panel has a running state display area indicating a running state value of the vehicle, an image display area for displaying the captured image, and a vehicle information display area for displaying the vehicle information.
A driving support system characterized by that.   12. The driving support system according to claim 11, wherein the display unit projects the optical image onto an image projection surface arranged in front of the driver's seat of the vehicle to display the vehicle information and the captured image. A driving support system comprising a display device.

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