JP2007221199A - On-vehicle camera display device and image processing unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an on-vehicle camera display device capable of displaying a desired region according to the turning state of a vehicle, and to provide an image processing unit. <P>SOLUTION: An image processor generates image data for display containing the image of a region, where a portion corresponding to the turning state of the vehicle is cut out in a captured image by the camera based on output from a first turning quantity determination section. A display shows an image of display based on the image data for display. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a technique for imaging a scenery around a vehicle.

  2. Description of the Related Art Conventionally, there is a technique in which a scene that becomes a blind spot around a vehicle is captured by an in-vehicle camera provided outside the vehicle, and this captured image is displayed on a monitor in the vehicle interior.

  In this case, there is a technology for displaying a guide line or the like superimposed on the captured image. In addition, there is a technique in which a captured image is displayed on a monitor by performing image processing such as screen division and enlargement, extraction of a predetermined area, etc., in order to make the image easy to understand for the driver.

  By the way, when a wide-angle camera is used as the vehicle-mounted camera as described above, it is possible to capture a wider area with a single camera and project this on a monitor in the vehicle interior.

  However, since the image from such a wide-angle camera has a large distortion, if it is displayed on the monitor as it is, it may give the driver a sense of discomfort with the real world. In view of this, a technique has been proposed in which a region that is highly necessary to be monitored is extracted from a wide-angle region that has been imaged, and subjected to distortion correction processing or the like as appropriate, and displayed on a monitor. As an example of an area with high necessity for monitoring, assuming a back camera that captures an image of the rear of the vehicle, there are an obliquely lower rear area of the vehicle, a rear side area of the vehicle, and the like. That is, the rear diagonally lower region image of the vehicle is provided as an image for confirming whether or not there is an obstacle in the region. Further, the rear side area image of the vehicle is provided as an image for confirming whether or not the vehicle is traveling on the road when the vehicle leaves the parking area.

  However, considering the case where the vehicle goes out of the parking area on the road, the back camera as described above does not display the necessary road area in the rear side area image of the vehicle as the vehicle turns. . That is, in the initial state where the vehicle is in a substantially vertical posture with respect to the road in the parking area, the road to be monitored is displayed in the rear side area image of the vehicle. However, if the vehicle turns on the road while turning, the relative angle of the vehicle with respect to the road changes, and the road to be monitored is not displayed in the rear side area image of the vehicle.

  Therefore, an object of the present invention is to display a desired area according to the turning state of the vehicle.

  An in-vehicle camera display device according to the present invention includes an imaging unit that captures a vehicle surrounding scene, an image processing unit that performs image processing on an image captured by the imaging unit and generates display image data, and the display image. Display means for displaying a display image based on the data, and a turning state acquisition means for acquiring a turning state of the vehicle, and the image processing means outputs the display image data from the turning state acquisition means. Based on the output, image data including an image obtained by cutting out a portion corresponding to the turning state of the vehicle from the image captured by the imaging unit is generated.

  In this case, the turning state acquisition means may include first turning amount determination means for obtaining a turning amount of the vehicle based on an output from a yaw rate sensor that detects an angular velocity at which the vehicle rotates.

  Further, the turning state acquisition unit may include a second turning amount determination unit that obtains a turning amount of the vehicle based on an image captured by the imaging unit.

  The second turning amount determination means includes at least one of reference image data including a part of an image captured at a reference timing, and conversion processing corresponding to the turning amount of the reference image data. The turning amount comparison image data may be generated in advance, and the turning amount of the vehicle may be obtained based on the image data captured by the imaging unit, the reference image data, and the turning amount comparison image data. .

  Furthermore, the reference image data may include an image of an obliquely lower region from the vehicle.

  In addition, the imaging unit is a unit capable of imaging a region including the side of the vehicle, and the image processing unit moves from the side of the vehicle from the center in the vehicle width direction as the turning amount of the vehicle increases. The display image data may be generated by cutting out the region sequentially or stepwise.

  Further, the turning state acquisition means may acquire the turning state of the vehicle starting from the start of the behavior of the vehicle from the vehicle stop state.

  The image processing apparatus according to the present invention includes an image processing unit that performs image processing on the input captured image to generate and output display image data, and a turning state acquisition unit that acquires a turning state of the vehicle. The image processing means is an image obtained by cutting out a portion corresponding to the turning state of the vehicle from the image picked up by the image pickup means based on the output from the turning state acquisition means as the display image data. Is generated.

  According to the vehicle-mounted camera display device of the present invention, the image processing means cuts out a portion corresponding to the turning state of the vehicle from the image taken by the imaging means as display image data based on the output from the turning state acquisition means. In order to generate the image data including the obtained image, a desired area can be displayed on the display means in accordance with the turning state of the vehicle.

  Further, when the turning state acquisition means has a first turning amount calculation determination stage for obtaining a turning amount of the vehicle based on an output of a yaw rate sensor that detects an angular velocity at which the vehicle rotates, based on the yaw rate sensor. Thus, the turning amount of the vehicle can be obtained.

  Further, when the turning state acquisition means has the second turning amount determination means for obtaining the turning angle of the vehicle based on the image taken by the imaging means, the turning state obtaining means obtains the turning amount of the vehicle without being connected to another sensor or the like. be able to.

  The second turning amount determination means includes at least one of reference image data including a part of an image captured at a reference timing, and conversion processing corresponding to the turning amount of the reference image data. When the turning amount comparison image data is generated in advance and the turning amount of the vehicle is obtained based on the image data captured by the imaging means, the reference image data, and the turning amount comparison image data, The turning amount can be obtained quickly.

  Further, when the reference image data includes an image of a region obliquely below the vehicle, the turning amount of the vehicle can be obtained more accurately.

  In addition, the imaging unit is a unit capable of imaging a region including the side of the vehicle, and the image processing unit moves from the side of the vehicle from the center in the vehicle width direction as the turning amount of the vehicle increases. When the display image data is generated by cutting out the regions sequentially or stepwise, it is suitable for continuously displaying the side road when the vehicle enters the side road.

  When the turning state acquisition means acquires the turning state of the vehicle starting from the start of the behavior of the vehicle from the vehicle stop state, the turning state acquisition means can continue to display a desired region based on the vehicle stop state.

  Further, according to the image processing apparatus of the present invention, the image processing unit displays, as display image data, a portion corresponding to the turning state of the vehicle in the image captured by the imaging unit based on the output from the turning state acquisition unit. Since image data including the cut-out image is generated, image data including a desired region can be obtained according to the turning state of the vehicle.

{Embodiment}
Hereinafter, an in-vehicle camera display device according to an embodiment of the present invention will be described. FIG. 1 is a diagram illustrating an installation example of an in-vehicle camera display device, and FIG. 2 is a block diagram illustrating the in-vehicle camera display device.

  This in-vehicle camera display device includes a camera 10, an image processing unit 20, and a display 30.

  The camera 10 is an image pickup unit that picks up an image of the surrounding scenery of the vehicle 2. More specifically, the camera 10 includes an imaging element such as a CCD element and an optical lens. Here, the camera 10 includes a single image sensor and a wide-angle lens such as a fish-eye lens or a wide-angle lens, and is configured to be able to image a predetermined wide-angle region around the vehicle with the single image sensor. ing. In addition, the camera 10 is installed at a substantially central portion in the width direction of the rear portion of the vehicle with a posture directed toward the rear of the vehicle. A predetermined area behind the vehicle 2, here, a wide-angle area (refer to the hatched area in FIG. 1) including the left and right side areas and the rear oblique lower area at the rear of the vehicle is installed so as to be capable of imaging. As shown in FIG. 3, the camera 10 can obtain a wide-angle captured image including left and right side regions and a rear oblique lower region at the rear of the vehicle.

  Note that the camera 10 may be configured to capture a range including both side regions of the vehicle using a plurality of imaging elements or a combination of a prism and a lens.

  The image processing unit 20 includes an image processing unit 22, a memory 24, and a first turning amount determination unit 26.

  The image processing unit 22 is an image processing unit that performs image processing on an image captured by the camera 10 to generate display image data, and includes an image processing IC or the like. As shown in FIG. 4, the image processing unit 22 in the normal state is a left and right side region image and a rear oblique lower region image of the rear portion of the vehicle 2 in the captured image (see FIG. 3) captured by the camera 10. And a distortion correction process or the like is performed using the conversion table stored in the memory 24 to generate display image data. Further, while the vehicle 2 is traveling backward, display image data including an image obtained by cutting out a portion corresponding to the turning state of the captured image is generated based on the output from the first turning amount determination unit 26. . The latter process will be described in detail later.

  The memory 24 is a rewritable non-volatile memory such as an EPROM or a flash ROM, and stores a conversion table used for distortion correction in the image processing unit 22.

  The first turning amount determination unit 26 is a turning state acquisition unit that acquires the turning state of the vehicle 2. Here, the turning amount of the vehicle is determined based on the output from the yaw rate sensor 4 that detects the rotation speed of the vehicle. It functions as a first turning amount determination means to be obtained. The turning amount determination processing by the first turning amount determination unit 26 will be described in detail later.

  The display 30 is a display unit that displays a display image based on the display image data generated by the image processing unit 22, and is configured by a liquid crystal display device or the like and installed in the vehicle interior.

  Here, as shown in FIG. 5 and FIG. 6, consider the display range when the vehicle 2 equipped with this in-vehicle camera display device goes out from the parking area 6 to the road 8. The parking area 6 faces the road 8 directly, and the vehicle 2 is parked forward in a posture substantially orthogonal to the road 8 in the parking area 6. Then, it is assumed that the vehicle 2 goes backwards from the parking area 6 to the road 8.

  In this case, since the vehicle 2 is substantially orthogonal to the road 8 in the initial state when leaving the parking area 6 on the road 8, as shown in FIG. It overlaps with road 8. Therefore, as shown in FIG. 4, the road 8 is displayed on the both side area images of the rear portion of the vehicle 2 on the display 30. For this reason, the driver can drive to go out to the road 8 while confirming whether or not the vehicle 2 is traveling on the road 8 through the display 30.

  And if the vehicle 2 comes out of the parking area 6 to some extent, the inclination of the vehicle 2 with respect to the road 8 will change. Then, the rear side region of the vehicle 2 (region reference R1 surrounded by a two-dot chain line in FIG. 6) and the road 8 are deviated. For this reason, if the display in the initial state is continued, the road 8 is not projected on the display 30.

  Therefore, in the in-vehicle camera display device, image data is generated so as to include an image obtained by cutting out a portion corresponding to the turning state of the vehicle 2, and the road 8 is continuously displayed on the display 30.

  First, a process in which the first turning amount determination unit 26 determines the turning amount of the vehicle 2 will be described.

  That is, the first turning amount determination unit 26 is connected to the yaw rate sensor 4 provided in the vehicle 2. The yaw rate sensor 4 is constituted by an angular velocity sensor or the like, and is a means that is installed in the vehicle 2 and detects an angular velocity at which the vehicle 2 rotates. The detection result by the yaw rate sensor 4 is given to the first turning amount determination unit 26 through an in-vehicle LAN such as CAN, for example. For example, as shown in FIG. 5 and FIG. 6, when the vehicle 2 goes out from the parking area 6 to the road 8, as shown in FIG. Outputs a detection signal indicating the behavior of the vehicle 2 such that the vehicle turns significantly in one direction (in this case, the behavior in which the turning angle becomes + (plus)). Then, based on the detection result given from the yaw rate sensor 4, the first turning amount determination unit 26 determines the vehicle 2 from the predetermined reference timing to the predetermined turning amount determination time with reference to the turning angle of 0 °. The amount of turning of the vehicle 2 is obtained by calculating the integral value of the angular velocity. Here, the predetermined reference timing is the start of behavior when the vehicle 2 exits the road 8 from a state where it is stopped in the parking area 6, for example, the vehicle gear is put in the back based on the position sensor of the shift lever. It is determined that the vehicle 2 has actually started to move based on the output of the speed sensor, the acceleration sensor, the yaw rate sensor, etc. Or the timing at which the movement of the vehicle 2 is detected based on the captured image captured by the camera 10. Here, the description will be made assuming that the timing when the vehicle gear is put in the back is the start of the behavior. In this way, the turning amount of the vehicle 2 is obtained based on the posture in which the vehicle 2 is parked in the parking area 6, and a signal indicating the turning amount is given to the image processing unit 22.

  Next, the process which produces | generates image data so that the image process part 22 may include the image which cut out the part according to the turning state of the vehicle 2 is demonstrated.

  That is, the image processing unit 22 determines that the vehicle 2 from the side in the width direction of the vehicle 2 from the side of the vehicle 2 as the turning amount of the vehicle 2 increases based on the detection result of the first turning amount determination unit 26. Display image data is generated by cutting out the regions sequentially or stepwise.

  FIG. 8 is a diagram illustrating a change example of the cutout region with respect to a captured image by the camera, and FIGS. 9A to 9D are diagrams illustrating a change example of the display region in the imaging region within the horizontal plane by the camera.

  That is, a description will be given centering on processing related to one side region of the vehicle 2 (when turning rightward toward the rear of the vehicle in FIGS. 8 and 9), a plurality of (here, four) images taken by the camera 10. The cut-out areas D1, D2, D3, and D4 are preset. Each of the cutout areas D1, D2, D3, and D4 is set in a range that is stepwise from the side area of the vehicle 2 (in other words, the side area of the captured image) to the area from the center in the width direction of the vehicle 2. Yes.

  A conversion table for correcting distortion and the like is prepared in advance for each of the cutout areas D1, D2, D3, and D4 and stored in the memory 24. Each conversion table is generated, for example, by performing the following calibration in advance. That is, as shown in FIGS. 9A to 9D, the lattice pattern 50 is substantially perpendicular to the virtual optical axes A1, A2, A3, and A4 corresponding to the cutout regions D1, D2, D3, and D4. It arrange | positions so that it may reflect in the cutting | disconnection area | region D1, D2, D3, D4 by the attitude | position. And the said conversion table is produced | generated by imaging the lattice pattern 50 with the camera 10, and calculating the conversion value of each pixel which can remove the distortion of the imaged lattice pattern 50. FIG. In this way, by performing calibration separately for each of the cutout regions D1, D2, D3, and D4 and preparing the conversion tables separately, the respective cutout regions D1, D2, D3, and the like are prepared. An appropriate corrected image according to D4 can be obtained. Such a calibration process itself can be performed by an applicable technique including a known technique, and thus detailed description thereof is omitted here.

  In addition, assuming that the vehicle 2 moves backward while turning rightward toward the rear, the range of the turning amount is divided into a plurality of (here, four) ranges, and each range corresponds to each cut-out area. D1, D2, D3, and D4 are associated with each other, and this correspondence data is stored in the memory 24. For example, the range of 0 ° to 90 ° indicating the turning amount is the range of (0 ° to θ1), (θ1 to θ2), (θ2 to θ3), (θ3 to 90 °) (where 0 ° <θ1 < It is divided into θ2 <θ3 <90 ° and is associated with the cutout areas D1, D2, D3, D4, for example, each virtual optical axis corresponding to each cutout area D1, D2, D3, D4. A1, A2, A3, and A4 are set so as to correspond to the ranges of (0 ° to θ1), (θ1 to θ2), (θ2 to θ3), and (θ3 to 90 °), respectively. The image processing unit 22 selects one of the cutout areas D1, D2, D3, and D4 according to the turning amount based on the detection result of the first turning amount determination unit 26 and the correspondence data. Then, a corresponding image is cut out from the image picked up by the camera 10. The cut image is the conversion table. And the side region image of the vehicle 2 is superimposed on the portion to be originally displayed, whereby image data including an image obtained by cutting out the portion corresponding to the turning state of the vehicle 2 is generated. When the turning amount is the threshold value of each of the above ranges, any of the cutout regions D1, D2, D3, and D4 before and after the range may be selected.

  The processing related to the other side region of the vehicle 2 (when turning to the left side toward the rear of the vehicle in FIGS. 8 and 9) will be mainly described. With respect to the side region opposite to the above, Image processing is performed to generate display image data.

  As for the side image opposite to the turning direction when the vehicle 2 moves backward, the side image with respect to the vehicle 2 may be continuously displayed as it is, or the display itself may be stopped.

  The operation of the in-vehicle camera display device configured as described above will be described with reference to the flowchart of FIG.

  First, in step S1, the image processing unit 22 determines whether or not the back gear has been engaged based on the detection result from the position sensor of the shift lever. If it is determined that the gear is not in the back gear, the process of step S1 is repeated. If it is determined that the gear is in the back gear, the process proceeds to the next step S2.

  In step S <b> 2, the first turning amount determination unit 26 determines the turning amount of the vehicle 2 based on the detection result from the yaw rate sensor 4, and gives a signal indicating the obtained turning amount to the image processing unit 22.

  In subsequent step S3, the image processing unit 22 determines cutout regions D1, D2, D3, and D4 according to the obtained turning amount, and proceeds to next step S4.

  In step S <b> 4, the image processing unit 22 cuts out areas corresponding to the cut out areas D <b> 1, D <b> 2, D <b> 3, D <b> 4 determined from the image captured by the camera 10, and reads the conversion table corresponding to this from the memory 24. put out. Then, a predetermined image conversion process using a conversion table is performed on the cut image data to correct it, and display image data including the corrected cut image is generated and output. The output display image data is given to the display device 30 and displayed as a monitor display image to a driver or the like in the passenger compartment.

  In subsequent step S6, the image processing unit 22 determines whether or not the back gear is released based on the detection result from the position sensor of the shift lever. If it is determined that the back gear is not released, the process returns to step S2 and the processes of steps S2 to S6 are repeated, and the display of the cut areas D1, D2, D3, and D4 according to the turning amount of the vehicle 2 is continued. As a result, as the turning amount of the vehicle 2 with respect to the road 8 increases, the area from the center of the cutout areas D1, D2, D3, and D4 is selected and displayed on the display 30. The image of the region R2 that is included is continuously displayed.

  When the image processing unit 22 determines in step S6 that the back gear has been released, the process of displaying according to the turning amount is terminated.

  According to the in-vehicle camera display device configured as described above, the image processing unit 22 responds to the turning state of the vehicle 2 in the captured image of the camera 10 based on the output from the first turning amount determination unit 26. Since the display image data including the images of the regions D1, D2, D3, and D4 obtained by cutting out the portion is generated, a desired region can be displayed on the display 30 according to the turning state of the vehicle 2.

  More specifically, the camera 10 is configured to be able to image a region including the side of the vehicle 2, and the image processing unit 22 can be viewed from the side of the vehicle 2 as the turning amount of the vehicle 2 increases. Since the display image data is generated by stepping out the region from the center in the vehicle width direction, for example, when the vehicle 2 in a substantially vertical posture with respect to the road 8 enters the road 8, the road 8 It is suitable for displaying continuously.

  In particular, since the first turning amount determination unit 26 obtains the turning amount of the vehicle 2 based on the output of the yaw rate sensor 4, the turning amount of the vehicle 2 can be obtained relatively accurately.

  Further, since the turning amount of the vehicle 2 is obtained from the start of the behavior of the vehicle 2 from the state in which the vehicle 2 is stopped in the parking area 6, a desired region based on the vehicle stop state, that is, the vehicle 2 is obtained. You can continue to display the side area.

{Modifications}
In the above embodiment, the first turning amount determination unit 26 determines the turning amount of the vehicle 2 based on the detection result from the yaw rate sensor, but this is not necessarily required.

  Hereinafter, a modified example relating to the turning amount determination of the vehicle will be described. FIG. 11 is a block diagram showing an in-vehicle camera display device according to a modification.

  In this in-vehicle camera display device, an image processing unit 20B corresponding to the image processing unit 20 includes a second turning amount determination unit 26B instead of the first turning amount determination unit 26, and also includes a memory 40. It has become.

  The second turning amount determination unit 26B is a means for obtaining the turning amount of the vehicle based on an image captured by the camera 10, and includes an image processing IC or the like.

  The memory 40 is composed of, for example, a volatile memory such as SDRAM, and can temporarily store determination image data used for the turning amount determination processing in the first turning amount determination unit 26B. Yes.

  The turning amount determination process in the second turning amount determination unit 26B will be described.

  That is, an image captured by the camera 10 is sent to the second turning amount determination unit 26B through the image processing unit 22 at the reference timing when the behavior when the vehicle 2 exits the road 8 from the state where the vehicle 2 has stopped in the parking area 6 is started. Given. Then, the second turning amount determination unit 26B generates reference image data including a part of the captured image at the reference timing. Here, as shown in the frame of FIG. 12, reference image data including a diagonally lower region behind the vehicle in the captured image is generated. More specifically, reference image data T0 is generated by converting a diagonally lower area behind the vehicle into an overhead image (also referred to as an image viewed from above, also referred to as a top view image). The reference image data T0 includes road patterns, white lines, and the like.

  Further, the second turning amount determination unit 26B responds to the turning amount of the vehicle 2 with respect to the reference image data T0 as shown in FIGS. 13 (a), 13 (b), and 13 (c). Conversion processing such as rotation processing is performed to generate at least one (here, three) turning amount comparison image data T1, T2, T3. Note that the rotation angles d1 °, d2 °, d3 °, d4 ° for the reference image data T0 are, for example, 0 ° <d1 ° <θ1, θ1 <d2 ° <θ2, θ2 <d3 ° <θ3, θ3. It is set in the range of <d4 ° <90 °. A conversion table corresponding to the rotation angle used in the conversion process here is stored in a nonvolatile memory.

  The reference image data T0 and the turning amount comparison image data T1, T2, T3 are associated with the rotation angles d1 °, d2 °, d3 °, d4 ° in the memory 40 as image data for determination. Temporarily stored.

  Then, when determining the turning amount of the vehicle 2, an image captured by the camera 10 is given to the second turning amount determination unit 26 </ b> B through the image processing unit 22. Then, the second turning amount determination unit 26B performs matching processing and the like on the basis of each reference image data T0 and turning amount comparison image data T1, T2, and T3 on the image captured by the camera 10, and each reference image. An image region most similar to the data T0 and the turning amount comparison image data T1, T2, T3 is extracted. Then, the second turning amount determination unit 26B obtains a correlation value between each extracted image area and each corresponding reference image data T0 and turning amount comparison image data T1, T2, and T3, and obtains the most correlation degree. High reference image data T0 and turning amount comparison image data T1, T2, T3 are determined, and one of the corresponding rotation angles d1 °, d2 °, d3 °, d4 ° is determined. Then, a signal including one determined rotation angle d1 °, d2 °, d3 °, d4 ° is given to the image processing unit 22.

  The operation of the in-vehicle camera display device according to this modification will be described with reference to the flowchart of FIG.

  First, in step S <b> 11, the image processing unit 22 determines whether or not the back gear has been set. If it is determined that the gear is not in the back gear, the process of step S11 is repeated. If it is determined that the gear is in the back gear, the process proceeds to the next step S12.

  In step S12, the second turning amount determination unit 26B generates reference image data T0 and turning amount comparison image data T1, T2, and T3 based on the image captured by the camera 10 and the conversion table, and these are used for determination. The image data is stored in the memory 40.

  In the next step S13, the second turning amount determination unit 26B determines the turning amount of the vehicle 2 based on the image data captured by the camera 10 and the determination image data stored in the memory 40, and indicates this turning amount. The signal is supplied to the image processing unit 22.

  Thereafter, the image processing unit 22 executes the same processing as steps S3 to S6 in the flowchart of FIG. As a result, image data corresponding to the turning amount of the vehicle 2 is given to the display 30 and displayed as a monitor display image toward the driver in the vehicle compartment. If the image processing unit 22 determines in step S6 that the back gear has been released, the process returns to step S12 and repeats the processes of steps S12, S13, and S3 to S6, and cuts out according to the turning amount of the vehicle 2. The display of the areas D1, D2, D3, D4 is continued. On the other hand, if it is determined that the back gear is released, the process is terminated.

  The same effect as that of the above embodiment can also be obtained by the in-vehicle camera display device according to this modification.

  In addition, the second turning amount determination unit 26B obtains the turning amount of the vehicle 2 without being connected to another sensor such as a yaw rate sensor in order to obtain the turning angle of the vehicle 2 based on the image captured by the camera 10. There is an advantage that you can.

  The second turning amount determination unit 26B is for comparing reference image data including a part of an image captured at the reference timing, and turning amount comparison obtained by performing conversion processing on the reference image data according to the turning amount. Since the image data is generated in advance and the turning amount of the vehicle is obtained based on the image data and the captured image image data captured by the camera 10, the amount of processing at each determination step of the turning amount is reduced. The amount of turning can be reduced, and the turning amount can be obtained relatively quickly.

  In addition, since the reference image data includes an image of an obliquely lower region from the vehicle 2, the influence of the distance between the camera 10 and the subject is eliminated as much as possible, and the turning amount of the vehicle is determined relatively accurately. Can do.

  In this modification, the image pickup unit 10C having the image pickup element, the lens, and the like, the image processing unit 22, the second turning amount determination unit 26B, and the memories 24 and 40 are stored in a single case. You may comprise as one vehicle-mounted camera apparatus 20C. Thereby, it can mount in a vehicle easily by attaching this vehicle-mounted camera apparatus to a vehicle and connecting a video output to the indicator 30 in a vehicle.

  Moreover, the turning state acquisition means for acquiring the turning state of the vehicle 2 is not limited to the configuration according to the embodiment and the modification. For example, the turning amount of the vehicle may be obtained based on a sensor for detecting a turning angle of the steering wheel, a magnetic azimuth sensor, or the like.

  Moreover, although this embodiment and the said modification demonstrated by the example applied to the back camera which images the back of a vehicle, an application example is not restricted to this. For example, the present invention can also be applied to a front camera that images the front side of the vehicle.

  In the present embodiment and the above modification, a plurality of cutout areas D1, D2, D3, and D4 are set in advance, and one cutout area D1, D2, D3, and D4 is set according to the turning amount of the vehicle 2. Although the structure which selects is adopted, it is not always necessary. Based on the cutout area corresponding to the side area of the vehicle 2, the cutout area may be continuously moved in the direction from the center according to the turning amount of the vehicle 2.

It is a figure which shows the example of installation of the vehicle-mounted camera display apparatus which concerns on embodiment. It is a block diagram which shows a vehicle-mounted camera display apparatus. It is a figure which shows the example of a captured image with a camera. It is a figure which shows the example of a display image by a display. It is a figure which shows a mode that a vehicle goes out to a road from a parking area. It is a figure which shows the other mode that a vehicle goes out to a road from a parking area. It is a figure which shows the example of a change of the turning angle detected by the yaw rate sensor. It is a figure which shows the example of a change of the extraction area | region with respect to the captured image by a camera. FIG. 9A, FIG. 9B, FIG. 9C, and FIG. 9D are diagrams showing examples of changes in the display area in the horizontal imaging area by the camera. It is a flowchart which shows operation | movement of a vehicle-mounted camera display apparatus. It is a block diagram which shows the vehicle-mounted camera display apparatus which concerns on a modification. It is a figure which shows the target image contained in reference | standard image data. FIG. 13A, FIG. 13B, and FIG. 13C are diagrams showing examples of turning amount comparison image data. It is a flowchart which shows operation | movement of the vehicle-mounted camera display apparatus which concerns on a modification. It is a flowchart which shows operation | movement of the vehicle-mounted camera display apparatus which concerns on another modification.

Explanation of symbols

2 Vehicle 4 Yaw Rate Sensor 10 Camera 20 Image Processing Unit 22 Image Processing Unit 24, 40 Memory 26 First Turning Amount Determination Unit 26B Second Turning Amount Determination Unit 30 Display D1, D2, D3, D4 Cutout Area T0 Reference Image data T1, T2, T3 Image data for turning amount comparison

Claims (8)

Imaging means for imaging the scenery around the vehicle;
Image processing means for generating image data for display by performing image processing on an image captured by the imaging means;
Display means for displaying a display image based on the display image data;
Turning state acquisition means for acquiring the turning state of the vehicle;
With
The image processing means includes, as the display image data, image data including an image obtained by cutting out a portion corresponding to a turning state of a vehicle from an image taken by the imaging means based on an output from the turning state acquisition means. An in-vehicle camera display device to be generated. The in-vehicle camera display device according to claim 1,
The turning state acquisition means includes a first turning amount determination means for obtaining a turning amount of the vehicle based on an output from a yaw rate sensor that detects an angular velocity at which the vehicle rotates. The in-vehicle camera display device according to claim 1,
The on-vehicle camera display device, wherein the turning state acquisition means includes second turning amount determination means for obtaining a turning amount of the vehicle based on an image captured by the imaging means. The in-vehicle camera display device according to claim 3,
The second turning amount determination means includes at least one turning amount obtained by subjecting the reference image data including a part of an image captured at a reference timing and a conversion process corresponding to the turning amount of the vehicle to the reference image data. A vehicle-mounted camera display device that generates image data for comparison in advance and obtains a turning amount of the vehicle based on the image data picked up by the image pickup means, the reference image data, and the turning amount comparison image data. The in-vehicle camera display device according to claim 4,
The on-vehicle camera display device, wherein the reference image data includes an image of an obliquely lower region from the vehicle. The vehicle-mounted camera display device according to any one of claims 1 to 4,
The imaging means is means capable of imaging a region including the side of the vehicle,
The image processing means generates the display image data by sequentially or stepping out a region from the center of the vehicle width direction from the side of the vehicle as the turning amount of the vehicle increases. . The on-vehicle camera display device according to any one of claims 1 to 6,
The turning state acquisition means is an in-vehicle camera display device that acquires the turning state of the vehicle starting from the start of the behavior of the vehicle from the vehicle stop state. Image processing means for performing image processing on the input captured image to generate and output display image data; and
Turning state acquisition means for acquiring the turning state of the vehicle;
With
The image processing means includes, as the display image data, image data including an image obtained by cutting out a portion corresponding to a turning state of a vehicle from an image taken by the imaging means based on an output from the turning state acquisition means. An image processing apparatus to generate.