JP2010257242A - Image data generation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image data generation device for providing more information to a driver or the like without giving a driver who views an image any feeling of incompatibility. <P>SOLUTION: The image data generation device 30A includes: an imaged data obtaining part 31 for obtaining imaged data related with imaging results of at least one camera 11 to 15 installed in a vehicle; a vehicle image data storage part 32 for preliminarily storing vehicle image data related with the image of a vehicle; an image data generation part 33A for generating image data related with an image including the vehicle when it is viewed from the external virtual viewpoint of the vehicle based on the stored vehicle image data and the obtained imaged data; and an output part 34 for outputting the generated imaged data to a display device. The image data generation part 33A generates the imaged data so that the imaging result is synthesized in the image of the vehicle based on the imaged data. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an image data generation device, and more particularly to an image data generation device for displaying an image on a display device provided in a vehicle cabin.

  Conventionally, based on a simulated image representing the appearance of the host vehicle and an imaging result around the vehicle, an overhead image obtained by viewing the host vehicle from an external virtual viewpoint is displayed on a display device provided in the cabin of the host vehicle. The technique to do is known (refer patent document 1).

JP 2008-210084 A

  In such a display technique, it is desired to provide more information to the driver or the like without giving the driver or the like viewing the image a sense of incongruity.

  The present invention was devised in view of the above-described demands, and provides an image data generation device capable of providing more information to a driver or the like without giving the driver or the like viewing the image a sense of incongruity. The issue is to provide.

  In order to solve the above-described problem, an image data generation device according to the present invention includes an imaging data acquisition unit that acquires imaging data regarding an imaging result of at least one camera provided in a vehicle, and vehicle image data regarding the image of the vehicle in advance. Based on the stored vehicle image data storage unit, the stored vehicle image data, and the acquired imaging data, image data relating to an image including the vehicle viewed from a virtual viewpoint outside the vehicle. An image data generation unit to generate, and an output unit to output the generated image data to a display device, the image data generation unit, based on the imaging data, the imaging result is within the image of the vehicle The image data is generated so as to be combined with each other.

  In the present invention, the vehicle image may be an image representing the appearance of the vehicle, may be an image representing only the contour of the vehicle, or may be an image representing the contour of the vehicle and the contour of the wheel. Also good. According to such a configuration, an image of the vehicle in which the imaging results of the camera are combined can be displayed on the display device, and a realistic image can be shown to the driver or the like, so that the uncomfortable feeling given to the driver or the like can be reduced. it can. Moreover, since the image of the vehicle in which the imaging results of the camera are combined is displayed on the display device, more information can be provided to the driver or the like without causing the driver or the like to see the image feel uncomfortable.

  The imaging data acquisition unit acquires vehicle interior imaging data related to the imaging result of the vehicle interior from a camera that images the vehicle interior, and the image data generation unit is configured to acquire the imaging result of the vehicle interior based on the vehicle interior imaging data. The image data may be generated so that the image data is synthesized in the vehicle image.

  According to such a configuration, an image of the vehicle in which the images in the passenger compartment are combined can be displayed on the display device, and a realistic image can be shown to the driver or the like, so that the uncomfortable feeling given to the driver or the like can be reduced. it can. Further, since the image of the vehicle in which the imaging results in the passenger compartment are combined is displayed on the display device, information on the passenger compartment can be provided to the driver or the like without causing the driver or the like who sees the image to feel uncomfortable. Moreover, since the situation around the vehicle and the situation in the passenger compartment can be displayed at the same time, the movement of the viewpoint of the driver or the like who views the display device can be reduced. That is, the operator can check the situation around the vehicle and the situation in the passenger compartment at the same time by simply looking at the display device without looking back or looking at the room mirror.

  Further, the imaging data acquisition unit acquires vehicle surrounding imaging data related to imaging results around the vehicle from a camera that images the surroundings of the vehicle, and the imaging results around the vehicle are reflected in the image of the vehicle The image data generation unit further includes a reflection position storage unit in which a reflection position is stored in advance, and the image data generation unit is configured to synthesize an imaging result around the vehicle in the image of the vehicle based on the reflection position. The image data may be generated.

  According to such a configuration, it is possible to display on the display device a vehicle image synthesized as a result of imaging of the surroundings of the vehicle and to show a realistic image to the driver etc. Can be reduced. In addition, since the image of the vehicle in which the imaging results around the vehicle are combined is displayed on the display device, it is possible to provide information on the surroundings of the vehicle to the driver and the like without giving the driver an uncomfortable feeling. it can. In addition, images that cannot be seen from the virtual viewpoint can be indirectly displayed as a reflection on the vehicle, so driving without seeing any discomfort in the image from the virtual viewpoint to view the display device Can be provided.

  In addition, the imaging data acquisition unit acquires vehicle surrounding imaging data related to imaging results around the vehicle from a camera that images the surroundings of the vehicle, and vehicle surrounding imaging data in which the acquired vehicle surrounding imaging data is stored A storage unit, wherein the image data generation unit generates vehicle lower image data relating to an image below the vehicle based on the stored vehicle surrounding imaging data, and based on the generated vehicle lower image data The image data may be generated so that an image below the vehicle is combined with the image of the vehicle.

  According to such a configuration, since the vehicle image in which the image below the vehicle is combined is displayed on the display device, the information below the vehicle is provided to the driver or the like without giving the driver an uncomfortable feeling. be able to. Further, for example, a vehicle image in which an image below the vehicle is combined with a translucent vehicle image can be displayed on a display device and shown to a driver or the like. The situation (road marking etc.) can be displayed, and more surrounding situations can be provided to the display device user (driver etc.) without making the image from the virtual viewpoint feel uncomfortable.

  According to the present invention, it is possible to synthesize the imaging results of the camera in the image of the own vehicle and to show a realistic image to the driver or the like, so that the uncomfortable feeling given to the driver or the like can be reduced. Thus, it becomes possible to provide more information to the driver or the like.

BRIEF DESCRIPTION OF THE DRAWINGS It is an external view of the vehicle with which the image display system which concerns on 1st embodiment of this invention is applied, (a) is a side view, (b) is a top view. 1 is a block diagram illustrating an image data generation device according to a first embodiment of the present invention. (A) is an example of an image displayed by a conventional image display system, and (b) is an example of an image displayed by the image display system according to the first embodiment of the present invention. It is an external view of the vehicle with which the image display system which concerns on 2nd embodiment of this invention is applied, (a) is a side view, (b) is a top view. It is a block diagram which shows the image data generation apparatus which concerns on 2nd embodiment of this invention. (A) is an example of an image displayed by a conventional image display system, and (b) is an example of an image displayed by the image display system according to the second embodiment of the present invention. It is a block diagram which shows the image data generation apparatus which concerns on 3rd embodiment of this invention. (A) is an example of an image displayed by a conventional image display system, and (b) is an example of an image displayed by an image display system according to the third embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings as appropriate. Similar parts are denoted by the same reference numerals, and redundant description is omitted.

<First embodiment>
First, an image data display system according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an external view of a vehicle to which an image display system according to a first embodiment of the present invention is applied, (a) is a side view, and (b) is a plan view. FIG. 2 is a block diagram showing the image data generation apparatus according to the first embodiment of the present invention. FIG. 3A is an example of an image displayed by a conventional image display system, and FIG. 3B is an example of an image displayed by the image display system according to the first embodiment of the present invention.

  As shown in FIG. 1, the image display system 1A according to the first embodiment of the present invention includes a front camera 11 that images the front of the vehicle V, a left camera 12 that images the left side of the vehicle V, and the right side of the vehicle V. And a rear camera 14 that captures the rear of the vehicle V, and a vehicle interior camera 15 that captures the interior of the vehicle V. As an example, the front camera 11 is provided on the front bumper of the vehicle V, the left camera 12 is provided on the left door mirror of the vehicle V, the right camera 13 is provided on the right door mirror of the vehicle V, and the rear camera 14 is provided on the vehicle V. Located on the rear bumper. The vehicle interior camera 15 is provided in the front part of the vehicle interior (for example, near the rear view mirror, near the front map lamp, on the dashboard, etc.), and can take images of passengers such as drivers from the front. Moreover, in order to cover the whole vehicle interior as an imaging region, the structure which installs a some camera as the vehicle interior camera 15 may be sufficient. As the front camera 11, the left camera 12, the right camera 13, the rear camera 14, and the upper camera 16 described later, a wide-angle camera or the like can be suitably used. The imaging results of the cameras 11, 12, 13, 14, and 15 are output to the image data generation device 30A as digital imaging data.

  As shown in FIG. 2, the image display system 1A according to the first embodiment of the present invention includes a display device 20 and an image data generation device 30A. The display device 20 is provided in the front part of the passenger compartment of the vehicle V, and can display an image to an occupant such as a driver. As such a display device 20, various devices such as a display of a car navigation system, a head-up display on a windshield, and the like that allow a driver seated in the driver's seat to see a display image can be suitably used.

  The image data generation device 30A includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read-Only Memory), an input / output circuit, and the like. A vehicle image data storage unit 32, an image data generation unit 33A, and an image data output unit 34 are provided.

  The imaging data acquisition unit 31 acquires imaging data relating to imaging results of the front camera 11, the left camera 12, the right camera 13, the rear camera 14, and the vehicle interior camera 15. The acquired imaging data is output to the image data generation unit 33A.

  The vehicle image data storage unit 32 stores an image of the appearance of the vehicle V, that is, vehicle image data related to the vehicle image in advance.

  33 A of image data generation parts are the said seen from the virtual viewpoint outside the vehicle V based on the vehicle image data memorize | stored in the vehicle image data memory | storage part 32, and the imaging data acquired by the imaging data acquisition part 31. Image data relating to an image including the vehicle V is generated. In the present embodiment, the image data generation unit 33A generates vehicle image data so that the image of the vehicle interior is combined with the image of the vehicle V based on vehicle interior image data related to the image of the vehicle interior camera 15. The vehicle image data processing unit 33a, the overhead image data generation unit 33b, and the image data synthesis unit 33c are generated.

  The vehicle image data processing unit 33a synthesizes the imaging result of the vehicle interior in the image of the vehicle V (in this embodiment, the windshield of the vehicle V) based on the vehicle interior imaging data related to the imaging result of the vehicle interior camera 15. Thus, the vehicle image data is processed. Here, the vehicle image data processing unit 33a performs transparency processing on the vehicle interior image data as necessary to make the image of the vehicle interior displayed based on the vehicle interior image data translucent, The vehicle interior image data is processed so that the imaging result becomes an image seen from a virtual viewpoint. The processed vehicle image data is output to the image data composition unit 33c.

  The bird's-eye view image data generation unit 33b is a bird's-eye view of the surroundings of the vehicle V viewed from a virtual viewpoint outside the vehicle V, based on the imaging data regarding the imaging results of the front camera 11, the left camera 12, the right camera 13, and the rear camera 14. Overhead image data relating to the image is generated. The generated overhead image data is output to the image data synthesis unit 33c. In the present embodiment, the virtual viewpoint is a viewpoint that looks down on the vehicle V from the front upper side of the vehicle V, and the overhead image data generation unit 33b applies the imaging data of the front camera 11, the left camera 12, the right camera 13, and the rear camera 14 to the imaging data. On the other hand, overhead image data is generated by performing processing such as inversion, rotation, enlargement, reduction, and deformation.

  Based on the processed vehicle image data and the generated overhead image data, the image data synthesis unit 33c generates image data related to an image including the vehicle V viewed from a virtual viewpoint outside the vehicle V. The generated image data is output to the image data output unit 34.

  The image data output unit 34 outputs the image data generated by the image data generation unit 33 to the display device 20.

  As shown in FIG. 3B, the display device 20 displays an image 100A including the vehicle V viewed from a virtual viewpoint outside the vehicle V using the image data generated by the image data generation unit 33A. . The image 100 </ b> A generates overhead image data of the front area 101 based on the image data obtained by processing the imaging data related to the imaging result of the front camera 11 by the overhead image data generation unit 33 b and the imaging data related to the imaging result of the left camera 12. A left region 102 based on image data obtained by processing by the unit 33b, a right region 103 based on image data obtained by processing the overhead image data generation unit 33b on imaging data related to the imaging result of the right camera 13, and Vehicle image data processing is performed on the rear area 104 based on the image data obtained by processing the imaging data relating to the imaging result of the rear camera 14 by the overhead image data generation unit 33b and the vehicle image data stored in the vehicle image data storage unit 32. The unit 33a uses imaging data regarding the imaging result of the vehicle interior camera 15. The vehicle area 105 by the image data obtained by processing, and a. That is, in the image display system 1A according to the first embodiment, the image of the vehicle V is combined with the image of the vehicle V, so the driver, passengers, the interior of the vehicle, etc. are displayed. Compared with the conventional example shown in FIG. 3A, a realistic image can be displayed. Moreover, since the image display system 1A according to the first embodiment can simultaneously display the situation around the vehicle V and the situation inside the vehicle interior, the viewpoint of the user (driver or the like) of the display device 20 can be moved. Can be reduced. That is, the operator can check the situation around the vehicle V and the situation in the passenger compartment at the same time by simply looking at the display device 20 without looking back or looking at the room mirror.

<Second Embodiment>
Next, an image display system according to a second embodiment of the present invention will be described with reference to FIGS. 4 to 6 with a focus on differences from the image display system 1A according to the first embodiment. 4A and 4B are external views of a vehicle to which the image display system according to the second embodiment of the present invention is applied. FIG. 4A is a side view and FIG. 4B is a plan view. FIG. 5 is a block diagram showing an image data generation apparatus according to the second embodiment of the present invention. FIG. 6A is an example of an image displayed by a conventional image display system, and FIG. 6B is an example of an image displayed by an image display system according to the second embodiment of the present invention.

  As shown in FIG. 4, the image display system 1 </ b> B according to the second embodiment of the present invention includes an upper camera 16 that images the upper side of the vehicle V instead of the vehicle interior camera 15. As an example, the upper camera 16 is provided in the vicinity of a rearview mirror in the vehicle interior, and images the upper side of the vehicle V through the windshield. The imaging result of the upper camera 16 is output to the image data generation device 30B as digital imaging data.

  As shown in FIG. 5, an image display system 1B according to the second embodiment of the present invention includes an image data generation device 30B instead of the image data generation device 30A. The image data generation device 30B further includes a reflection position storage unit 35 in addition to the functional blocks of the image data generation device 30A.

The reflection position storage unit 35 stores reflection positions at which the imaging results around the vehicle V are reflected in the image of the vehicle V. In detail, the front camera 11, the left camera 12, the right camera 13, and the upper The coordinates of the imaging result of the camera 16, the coordinates on the image of the vehicle V in which the pixels of these coordinates are reflected, and the pixel superposition ratio in the reflection at the coordinates are stored in association with each other.
For example, it is assumed that RGB pixel values are hierarchized from 0 to 255, and the RGB pixel value at a certain position in the vehicle image data is (128, 128, 128), and the RGB pixel of the imaging data superimposed at such a position When the value is (32, 160, 32) and the superposition ratio is 60%, the RGB pixel value reflecting the reflection of the position is
(128,128,128) × 40% + (32,160,32) × 60%
= (70, 147, 70)
It becomes.

  In the present embodiment, the vehicle image data processing unit 33a refers to the relationship stored in the reflection position storage unit 35, and the vehicle surroundings regarding the imaging results of the front camera 11, the left camera 12, the right camera 13, and the upper camera 16 Based on the imaging data, the vehicle image data is processed so that the imaging result around the vehicle V is synthesized in the image of the vehicle V.

  As illustrated in FIG. 6B, the display device 20 displays an image 100 </ b> B including the vehicle V viewed from the virtual viewpoint outside the vehicle V using the image data generated by the image data generation unit 33. . The image 100B generates overhead image data of the front area 101 based on the image data obtained by processing the imaging data related to the imaging result of the front camera 11 by the overhead image data generation unit 33b and the imaging data related to the imaging result of the left camera 12. A left region 102 based on image data obtained by processing by the unit 33b, a right region 103 based on image data obtained by processing the overhead image data generation unit 33b on imaging data related to the imaging result of the right camera 13, and Vehicle image data processing is performed on the rear area 104 based on the image data obtained by processing the imaging data relating to the imaging result of the rear camera 14 by the overhead image data generation unit 33b and the vehicle image data stored in the vehicle image data storage unit 32. The unit 33a is the front camera 11, the left camera 12, the right camera 13, and the upper camera. The vehicle area 106 by the image data obtained by processing using the 16 imaging data related to the imaging result of, and a. Here, in the vehicle area 106, the imaging result of the front camera 11 is reflected in the center of the front grille of the vehicle V, and the left camera 12 and the right camera 13 are respectively displayed on the left and right ends of the front grille of the vehicle V. The respective imaging results are reflected, and the imaging result of the upper camera 16 is reflected in the hood and windshield of the vehicle V. That is, in the image display system 1B according to the second embodiment, the imaging result around the vehicle V is synthesized as a reflection in the image of the vehicle V, so that it is compared with the conventional example shown in FIG. A more realistic image can be displayed. Moreover, since the image display system 1B according to the second embodiment can indirectly display an image that cannot be seen from the virtual viewpoint as a reflection on the vehicle V, the image from the virtual viewpoint feels uncomfortable. Thus, more surrounding situations can be provided to users (drivers, etc.) of the display device 20.

<Third embodiment>
Next, an image display system according to a third embodiment of the present invention will be described with reference to FIGS. 7 and 8 with a focus on differences from the image display system 1A according to the first embodiment. FIG. 7 is a block diagram showing an image data generation apparatus according to the third embodiment of the present invention. FIG. 8A is an example of an image displayed by the conventional image display system, and FIG. 8B is an example of an image displayed by the image display system according to the third embodiment of the present invention.

  As shown in FIG. 7, the image display system 1C according to the third embodiment of the present invention does not include the vehicle interior camera 15, but includes an image data generation device 30C instead of the image data generation device 30A.

  Compared with the image data generation device 30A, the image data generation device 30C further includes a vehicle surrounding imaging data storage unit 35, and includes an image data generation unit 33C instead of the image data generation unit 33A.

  The imaging data acquired by the imaging data acquisition unit 31 is stored in the vehicle surrounding imaging data storage unit 35 as a series of video data.

  In addition to the functional blocks of the image data generation unit 33A, the image data generation unit 33C further includes a vehicle lower image data generation unit 33d and a transparency processing unit 33e.

  The vehicle lower image data generation unit 33 d generates vehicle lower image data relating to an image below the vehicle V based on the vehicle surrounding imaging data stored in the vehicle surrounding imaging data storage unit 35. For example, the vehicle lower image data generation unit 33d generates vehicle lower image data based on the surrounding imaging data related to the imaging result of the front camera 11 while the vehicle V is moving forward, and the rear camera 14 is moving while the vehicle V is moving backward. The vehicle lower image data can be generated based on the surrounding imaging data related to the imaging result. Further, the vehicle lower side imaging data generation unit 33d generates any of the past vehicle surrounding imaging data based on the detection result of the vehicle body speed sensor that detects the speed of the vehicle body provided in the vehicle V. Can be determined. Further, the vehicle lower side imaging data generation unit 33d, based on the detection result of the steering angle sensor that detects the steering angle of the steering (steering wheel) provided in the vehicle V, the imaging area in the past vehicle surrounding imaging data and the current vehicle Vehicle lower image data corresponding to the relationship with the position of V can also be generated. The generated vehicle lower image data is output to the vehicle image data processing unit 33a.

  The transparency processing unit 33e performs transparency processing on the vehicle image data stored in the vehicle image data storage unit 32, thereby changing the transparency of the image of the vehicle V displayed based on the vehicle image data. Translucent V image. The vehicle image data subjected to the transparency processing is output to the vehicle image data processing unit 33a.

  In the present embodiment, the vehicle image data processing unit 33a processes the vehicle image data based on the vehicle lower image data so that the image below the vehicle V is combined with the translucent image of the vehicle V. To do. Here, in one vehicle image data, the vehicle lower image data is generated using data captured in the past than the vehicle surrounding image data used for the overhead image data.

  As illustrated in FIG. 8B, the display device 20 displays an image 100 </ b> C including the vehicle V viewed from a virtual viewpoint outside the vehicle V using the image data generated by the image data generation unit 33. . The image 100 </ b> C generates the overhead image data of the front area 101 based on the image data obtained by processing the imaging data related to the imaging result of the front camera 11 by the overhead image data generation unit 33 b and the imaging data related to the imaging result of the left camera 12. A left region 102 based on image data obtained by processing by the unit 33b, a right region 103 based on image data obtained by processing the overhead image data generation unit 33b on imaging data related to the imaging result of the right camera 13, and The rear area 104 based on the image data obtained by processing the imaging data related to the imaging result of the rear camera 14 by the overhead image data generation unit 33b and the vehicle lower image data generation unit 33d generate the vehicle lower image data and the vehicle image. Transparent to vehicle image data stored in the data storage unit 32 A vehicle region 107 based on image data obtained by the processing unit 33e performing a transparency process, and the vehicle image data processed by the vehicle image data processing unit 33a using the vehicle lower image data; Consists of That is, in the image display system 1C according to the third embodiment, since the image below the vehicle V is synthesized with the translucent image of the vehicle V, compared to the conventional example shown in FIG. Since the situation below the vehicle V that cannot be seen from the virtual viewpoint (road markings, etc.) can be displayed, more surrounding conditions can be used without causing the image from the virtual viewpoint to feel uncomfortable. Can be provided to the driver (driver, etc.).

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the summary of this invention. For example, a vehicle V is provided with an image data generation device that combines all of the first to third embodiments, and the driver operates an input device such as a button or a touch panel. The display device 20 may be configured to display any one of the images 100A to 100C of the first embodiment to the third embodiment based on the input signal. For example, when the left camera 12 and the right camera 13 are provided on the left and right door mirrors of the vehicle V, sensors for detecting the angles of the left and right door mirrors are provided on the vehicle V, and the image data generating devices 1A, 1B, 1C are provided. The overhead image data generation unit 33b may generate overhead image data by correcting the orientation of the imaging results of the left camera 12 and the right camera 13 based on the detection result of the sensor. Similarly, the vehicle image data processing unit 33a according to the second embodiment corrects the reflection positions of the imaging results of the left camera 12 and the right camera 13 based on the detection result of the sensor, and processes the vehicle image data. It may be configured to. Further, the installation positions of the vehicle interior camera 15 and the upper camera 16 are not limited to the above-described positions. For example, the vehicle interior camera 15 is provided at the rear part of the vehicle interior, and the vehicle image data processing unit 33a is provided while the vehicle V is moving backward. However, even if it is the structure which processes vehicle image data so that the imaging result by the vehicle interior camera 15 is synthesize | combined with the rear glass of the image of the vehicle V based on the vehicle interior imaging data regarding the imaging result of the vehicle interior camera 15. Good.

  In the image data generation device 30C according to the third embodiment, the vehicle image data stored in the vehicle image data storage unit 32 is data representing only the contour line of the vehicle V, or the contour line and wheels of the vehicle V. The vehicle image data processing unit 33a may directly synthesize the vehicle image corresponding to the vehicle image data and the vehicle lower image corresponding to the vehicle lower image data. The vehicle image data is data that can display the outline of the vehicle V (and the outline of the wheels) as a translucent line as a vehicle image, and can display the inside of the outline of the vehicle V as transparent. . In this case, since the transparency processing unit 33e can be omitted, the image data generation device 30C is simplified. Further, in the image data generation device 30C according to the third embodiment, the vehicle image data stored in advance in the vehicle image data storage unit 32 is also transparent when the appearance of the vehicle V is displayed in a translucent manner. The processing unit 33e can be omitted.

1A, 1B, 1C Image display system 11 Front camera 12 Left camera 13 Right camera 14 Rear camera 15 Car interior camera 16 Upper camera 20 Display device 30A, 30B, 30C Image data generation device 31 Imaging data acquisition unit 32 Vehicle image data storage unit 33A, 33C Image data generation unit 34 Image data output unit

Claims (4)

An imaging data acquisition unit that acquires imaging data related to an imaging result of at least one camera provided in the vehicle;
A vehicle image data storage unit in which vehicle image data relating to the image of the vehicle is stored in advance;
An image data generation unit that generates image data relating to an image including the vehicle viewed from a virtual viewpoint outside the vehicle, based on the stored vehicle image data and the acquired imaging data;
An output unit for outputting the generated image data to a display device;
With
The image data generation unit generates the image data based on the imaging data so that the imaging result is synthesized in an image of the vehicle. The imaging data acquisition unit acquires vehicle interior imaging data related to an imaging result in the vehicle interior from a camera that images the vehicle interior;
The image data generation unit generates the image data based on the vehicle interior image data so that an imaging result in the vehicle interior is synthesized in an image of the vehicle. The image data generation device described. The imaging data acquisition unit acquires vehicle surrounding imaging data related to imaging results around the vehicle from a camera that images the surroundings of the vehicle,
A reflection position storage unit in which a reflection position at which an imaging result around the vehicle is reflected in an image of the vehicle is stored in advance;
The image data generation unit generates the image data based on the reflection position so that an imaging result around the vehicle is synthesized in an image of the vehicle. The image data generation device described. The imaging data acquisition unit acquires vehicle surrounding imaging data related to imaging results around the vehicle from a camera that images the surroundings of the vehicle,
A vehicle surrounding imaging data storage unit for storing the acquired vehicle surrounding imaging data;
The image data generation unit generates vehicle lower image data related to an image below the vehicle based on the stored vehicle surrounding imaging data, and based on the generated vehicle lower image data, The image data generation apparatus according to claim 1, wherein the image data is generated so that an image is synthesized in an image of the vehicle.

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