CN108353147A

CN108353147A - Display control unit and the non-transitory computer-readable storage media for storing display control program

Info

Publication number: CN108353147A
Application number: CN201680060479.5A
Authority: CN
Inventors: 富山圭史
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2015-10-15
Filing date: 2016-10-11
Publication date: 2018-07-31
Anticipated expiration: 2036-10-11
Also published as: DE112016004694T5; JP2017076890A; DE112016004694B4; WO2017065132A1; JP6493143B2; CN108353147B

Abstract

In display control unit (100), whether determination processing unit (33) is 0 by judging the detection rotation amount of the tire of this vehicle in step S14, whether the displacement that perpetual object is determined whether there is in step S16 and S20, the amount of movement to judge this vehicle based on detection rotation amount are consistent with the amount of movement of this vehicle of the displacement based on perpetual object.In the case where being determined as that the amount of movement of the amount of movement and this vehicle of the displacement based on perpetual object of this vehicle based on detection rotation amount is inconsistent, image processing part (34) replaces the amount of movement according to this vehicle based on detection rotation amount, and so that synthesis is got a bird's eye view the vehicle reference change in location of image according to the amount of movement of this vehicle of the displacement based on perpetual object.

Description

Display control unit and the non-transitory computer for storing display control program can Read storage medium

Technical field

The present invention relates to display control unit and store the computer-readable storage of non-transitory of display control program Medium.

Background technology

There is known the defined coverages for shooting vehicle-surroundings repeatedly using the in-vehicle camera for being equipped on vehicle, will shoot Image gets a bird's eye view the image for being converted to the viewpoint overlooked from the top of vehicle, and the display device in vehicle is made to show that this gets a bird's eye view conversion The technology for getting a bird's eye view image afterwards.

In this art, have and image and past is got a bird's eye view to newest shooting image by being shown in display device Image is got a bird's eye view in the synthesis that image is synthesized into of getting a bird's eye view of shooting image, to expand the image display range of vehicle-surroundings Technology that is, historical record synthetic technology.In the historical record synthetic technology, make the synthesis bird based on past shooting image Look down from a height image the position on the basis of vehicle based on vehicle amount of movement variation, and override it is newest shooting image birds-eye view As getting a bird's eye view image to update synthesis.Like this, by making synthesis get a bird's eye view the change in location of image with the movement of vehicle, can make Display device shows getting a bird's eye view the big range of image, for example indicate the constant range centered on vehicle than newest shooting image Get a bird's eye view image.Here, the calculating of the amount of movement of vehicle has used the speed obtained from vehicle as described in Patent Document 1 Signal etc..

Patent document 1：No. 4156214 bulletins of Japanese Patent No.

As above-mentioned speed signal, usually using the sensor that is, rotation amount of the rotation amount of the tire by detection vehicle The testing result that is, detection rotation amount that sensor detects, specifically, usually using the quantity of vehicle speed pulse.However, In the case of making the change in location that image is got a bird's eye view in synthesis according to the amount of movement of the vehicle based on detection rotation amount, it will produce following Problem.

(1) it dallies

Such as on the road surface of frost, has and do not moved and the rotation amount a considerable amount of tire tire rotates vehicle In other words situation has the case where tire idle running.

If the case where dallying as tire, and consider situation about not moved completely tire rotates vehicle, then vehicle Physical location do not change, so the birds-eye view of the newest shooting image in image is got a bird's eye view in the synthesis for being shown in display device As the part occurred that is, real-time partial does not change.And on the other hand, due to the amount of movement of the vehicle based on detection rotation amount Indicate that vehicle is moving, thus the synthesis for being shown in display device get a bird's eye view the past shooting image in image get a bird's eye view image The change in location of the part of appearance that is, the image of history portion.

Thus, for example, when in real-time partial, there are tires in the case ofs barrier or road markings etc. on road to the barrier When the direction of object etc. being hindered to be dallied, barrier etc. is still shown in real-time partial, but is also shown in that there is no the history of barrier etc. Record part.

Like this, according to based on detection rotation amount vehicle amount of movement make synthesis get a bird's eye view image change in location structure Cheng Zhong, if generating the idle running of tire, the unsuitable image of history portion is shown in display device.

(2) it slides

Such as when applying braking suddenly in the case where vehicle is just run at high speed, there is vehicle mobile than the rotation with tire Turn the big situation of amount a considerable amount, in other words there is the case where vehicle sliding.

If the case where as vehicle sliding, consider that such as tire is locked and does not rotate the feelings that rear vehicle also moves completely Condition, the physical location variation of vehicle, so the real-time partial variation of image is got a bird's eye view in synthesis.And on the other hand, based on detection rotation The amount of movement of the vehicle of amount indicates that vehicle does not move, so the position of the image of history portion does not change.

Thus, for example, when in real-time partial, there are vehicles in the case ofs barrier etc. on road to the side of the barrier etc. To barrier etc. when sliding, is not shown from real-time partial, on the other hand, in the history portion that should have barrier etc. Do not show barrier.

Like this, according to based on detection rotation amount vehicle amount of movement make synthesis get a bird's eye view image change in location structure Cheng Zhong, in the case of vehicle sliding, the unsuitable image of history portion is also shown in display device.

Invention content

The present invention is completed in view of above-mentioned, and its purpose is to provide in the shifting according to the vehicle based on detection rotation amount Momentum makes in the historical record synthetic technology for the change in location that synthesis gets a bird's eye view image, the tire for producing vehicle idle running and Also include the technology in display device by image appropriate in the case of at least one party in the sliding of vehicle.

An aspect of of the present present invention is the shooting image of the prescribed limit on the periphery of the display device display vehicle in vehicle Display control unit, have shooting image acquiring unit, get a bird's eye view converter section, synthesis establishment portion, display processing portion and consistent Determination unit.Shooting image acquiring unit obtains shooting image repeatedly from the in-vehicle camera for being equipped on vehicle.Converter section is got a bird's eye view to shooting Conversion is got a bird's eye view in the shooting image implementation that image acquiring unit is got repeatedly, and create shooting image successively gets a bird's eye view image that is, shooting Get a bird's eye view image.Synthesis establishment portion creates synthesis and gets a bird's eye view image, which seems to being created successively by getting a bird's eye view converter section What shooting got a bird's eye view that image is synthesized into staggered positions gets a bird's eye view image.Display processing portion makes display device display synthesis Get a bird's eye view image.Coincidence determining unit judges whether first movement amount and the second amount of movement are consistent, wherein above-mentioned first movement amount is base In detection rotation amount vehicle amount of movement, the detection rotation amount be by the rotation amount of the tire of detection vehicle sensor that is, The testing result that rotation quantity sensor detects, above-mentioned second amount of movement is the amount of movement of the vehicle based on mobile message, the shifting Dynamic information is the information other than the rotation amount of the tire of vehicle and is information by the influence of the movement of vehicle.Synthesize establishment portion Have mobile processing unit and update processing unit.Mobile processing unit makes the synthesis for being stored in storage region get a bird's eye view based on first movement amount The position on the basis of vehicle of image that is, vehicle reference change in location are corresponding with current vehicle location.Update processing unit Image is got a bird's eye view by overriding newest shooting to synthesis birds-eye view picture in storage region, gets a bird's eye view image to update synthesis.It is mobile Processing unit by coincidence determining unit in the case where being determined as that first movement amount is inconsistent with the second amount of movement, instead of being based on the first shifting Momentum and vehicle reference change in location is made based on the second amount of movement.

In addition, another aspect of the present invention is stored for making computer show vehicle as the display device in vehicle Periphery prescribed limit shooting image the non-transitory meter of display control program that plays a role of display control unit Calculation machine readable storage medium storing program for executing, display control program make computer as shooting image acquiring unit, get a bird's eye view converter section, synthesis establishment Portion, display processing portion and coincidence determining unit play a role.Shooting image acquiring unit is from being equipped on the in-vehicle camera of vehicle repeatedly Obtain shooting image.It gets a bird's eye view converter section and conversion is got a bird's eye view to the shooting image implementation that shooting image acquiring unit is got repeatedly, successively Image is got a bird's eye view in getting a bird's eye view image that is, shooting for establishment shooting image.Synthesis establishment portion creates synthesis and gets a bird's eye view image, which gets a bird's eye view Image is to getting a bird's eye view the birds-eye view that image is synthesized into staggered positions by getting a bird's eye view the shooting that converter section creates successively Picture.Display processing portion makes display device display synthesis get a bird's eye view image.Coincidence determining unit judges first movement amount and the second amount of movement It is whether consistent, wherein above-mentioned first movement amount is the amount of movement of the vehicle based on detection rotation amount, which is by examining The testing result that the sensor that is, rotation quantity sensor of the rotation amount of the tire of measuring car detect, above-mentioned second amount of movement are The amount of movement of vehicle based on mobile message, the mobile message are the information other than the rotation amount of the tire of vehicle and are by vehicle Movement influence information.Synthesis establishment portion has mobile processing unit and update processing unit.Mobile processing unit is based on first Amount of movement makes the synthesis for being stored in storage region get a bird's eye view the position on the basis of vehicle that is, the vehicle reference change in location of image It is corresponding with current vehicle location.Processing unit is updated by overriding newest shooting to synthesis birds-eye view picture in storage region Image is got a bird's eye view, gets a bird's eye view image to update synthesis.Mobile processing unit is being determined as that first movement amount is moved with second by coincidence determining unit In the case that momentum is inconsistent, vehicle reference change in location is made based on the second amount of movement instead of being based on first movement amount.

According to such composition, the feelings of at least one party in the sliding of the idle running for the tire for producing vehicle and vehicle Under condition, image appropriate can also be shown in display device.That is, the unsuitable image of history portion produce idle running with And become also by the vehicle reference position for making synthesis get a bird's eye view image according to first movement amount in the case of at least one party in sliding Change to show.If in addition, at least one party in generating idle running and sliding, first movement amount and the second amount of movement are inconsistent. Therefore, in the case where being determined as that first movement amount is inconsistent with the second amount of movement, based on this vehicle other than first movement amount Amount of movement that is, the second amount of movement so that synthesis is got a bird's eye view the vehicle reference change in location of image, to produce idle running and cunning In the case of at least one party in row, also image appropriate can be shown in display device.

Description of the drawings

Figure 1A is the block diagram of the composition for the display control program for indicating the first embodiment of the present invention.

Figure 1B is the functional block diagram of the display control unit of first embodiment.

Fig. 2 is the flow chart of the idling slide determination processing of first embodiment.

Fig. 3 is the flow chart of the display control processing of first embodiment.

Fig. 4 is the shooting bird created by the display control processing before 1 period indicated under situation that vehicle is just retreating It looks down from a height the figure of image.

Fig. 5 is to indicate that image is got a bird's eye view in the shooting created by newest display control processing under situation that vehicle is just retreating Figure.

Fig. 6 A are the block diagrams of the composition for the display control program for indicating second embodiment of the present invention.

Fig. 6 B are the functional block diagrams of the display control unit of second embodiment.

Fig. 7 is the flow chart of the idling slide determination processing of second embodiment.

Fig. 8 is the flow chart of the display control processing of second embodiment.

Specific implementation mode

Hereinafter, being illustrated in more details to embodiments of the present invention with reference to attached drawing.But the present invention can also be with more A different mode is implemented, and should not be construed as being defined in embodiment described in this specification.Not equal to these are implemented Mode is to thoroughly and be completely carried out disclosure of the invention and fully transmit the present invention to those skilled in the art Range and provide.In addition, similar reference numeral indicates similar component in all the appended drawings.

1. first embodiment

1-1. constituting

Display control program 1 shown in figure 1A is equipped on vehicle, have in-vehicle camera 10, sensor class 20, ECU30 and Display device 40.Hereinafter, the vehicle equipped with display control program 1 is known as " this vehicle ".

In-vehicle camera 10 is fixedly equipped near the rear end of this vehicle, repeatedly (such as with 1/30 second period) shoot this vehicle Around, specifically, shooting the defined coverage at the rear of this vehicle.In other words, described in present embodiment " coverage " refer to range on the basis of this vehicle, and be the characteristic (visual angle etc.) and in-vehicle camera by in-vehicle camera 10 10 range relative to decisions such as the loading position of this vehicle and directions.In-vehicle camera 10 is by the obtained bat of the result of shooting It takes the photograph image and is output to ECU30.

Sensor class 20 has rotation quantity sensor 21, gear shift sensor 22 and steering angle sensor 23.

Rotation quantity sensor 21 is the sensor of the rotation amount for the tire for detecting this vehicle.In the present embodiment, it rotates Quantity sensor 21 detects this by the generation pulse signal proportional to the rotation amount of the axle of this vehicle that is, vehicle speed pulse The rotation amount of the tire of vehicle.The axle is fixed on the tire of this vehicle, and the rotation amount of axle is consistent with the rotation amount of tire. In addition, in the present embodiment, rotation quantity sensor 21 is set to driving wheel.

Gear shift sensor 22 is the operating position for the shift bar for detecting driver's operation that is, the sensor of shift pattern.

Steering angle sensor 23 is the sensor of the steering angle or yaw-rate that detect this vehicle.Rotation quantity sensor 21, Respective testing result is output to ECU30 by gear shift sensor 22 and steering angle sensor 23.Hereinafter, quantity sensor will be rotated 21 testing result is known as " detection rotation amount ", and the testing result for detecting rotation amount, gear shift sensor 22 and steering angle are passed The testing result of sensor 23 is generally referred to " vehicle behavior information ".In addition, the number of detection rotation amount specifically vehicle speed pulse Amount.

ECU30 be have input signal processing unit 31,32, determination processing unit 33, image processing part 34, storage part 35 and The electronic control unit of output signal processing unit 36.In addition, ECU is that (electronic control is single by Electronic Control Unit Member) abbreviation.

Input signal processing unit 31 is that the shooting image for will be inputted from in-vehicle camera 10 is output to determination processing unit 33 And the interface of image processing part 34.

Input signal processing unit 32 is that the vehicle behavior information for will be inputted from sensor class 20 is output to image procossing The interface in portion 34.

Determination processing unit 33 has CPU (central processing unit：Central processing unit), ROM (read- only memory：Read-only memory) and RAM (random access memory：Random access memory) etc. be used as component Microcomputer.Determination processing unit 33 is by CPU according to the program for being recorded in the ROM for being used as non-transitory physical record medium Processing is executed, to determine whether the idle running of tire and sliding for this vehicle of this vehicle.Specifically, determination processing unit 33 passes through Shooting image is obtained from in-vehicle camera 10 by input signal processing unit 31, in addition, via input signal processing unit 32 from rotation amount Sensor 21 obtains detection rotation amount.Determination processing unit 33 is shown in Fig. 2 aftermentioned by being executed based on these information got Idling slide determination processing, to detect the idle running of tire and sliding for this vehicle of this vehicle.In addition, determination processing unit 33 The testing result for dallying and sliding is output to image processing part 34.

Here, the idle running of so-called tire refer to even if tire rotate vehicle do not move it is comparable with the rotation amount of tire Amount.In addition, it refers to that vehicle is mobile greatlyyer than with the rotation amount a considerable amount of tire to slide.

In the present embodiment, determination processing unit 33 only judges tire rotates this vehicle completely not as described later The presence or absence of mobile such idle running.In other words, although determination processing unit 33 does not judge its mobile amount of movement ratio of this vehicle and wheel The presence or absence of small such idle running of rotation amount a considerable amount of tire.

In addition, what determination processing unit 33 only judged to slide as the movement of under the completely non-rotary state of tire this vehicle Whether there is or not.In other words, determination processing unit 33 do not judge this vehicle make tire rotate and it is mobile than with rotation amount a considerable amount it is big this Sample the presence or absence of slides.

Image processing part 34 has the microcomputer as component by CPU, ROM and RAM etc..Image processing part 34 Various processing are executed according to the program for being recorded in ROM.Specifically, image processing part 34 via input signal processing unit 31 from vehicle-mounted Camera 10 obtains shooting image, in addition, obtaining vehicle behavior information from sensor class 20, also, is obtained from determination processing unit 33 Judge result.Image processing part 34 by executing aftermentioned display control processing shown in Fig. 3 based on these information for getting, At least to execute processing below.

That is, image processing part 34 is by getting a bird's eye view conversion well known to implementing to the shooting image that gets, by the shooting figure As being converted into getting a bird's eye view image from the viewpoint of the upper direction of this vehicle underface or obliquely downward vertical view successively.In other words, scheme As processing unit 34 successively create shooting image get a bird's eye view image that is, shooting get a bird's eye view image.Here, described in present embodiment " according to It is secondary " refer to as described later every Time constant (such as 1/30 second period).But, it is not limited to this, is for example, it is also possible to will The amount of movement of this vehicle is as benchmark, every constant distance.In addition, shooting get a bird's eye view around graphical representation this vehicle in this vehicle Rear prescribed limit newest situation.

In addition, image processing part 34 is staggered by getting a bird's eye view amount of movement side of the image based on this vehicle to the shooting created successively Position side is synthesized, and the synthesis that image connects is got a bird's eye view in the different shooting in camera site gets a bird's eye view image to create.In this way The synthesis of establishment gets a bird's eye view movement of the image with this vehicle gradually to the coverage external expansion of in-vehicle camera 10.In this implementation In mode, get a bird's eye view image by using the synthesis created in this way, display device 40 display for example as shown in Figure 4, not only Include the rear of this vehicle for getting a bird's eye view graphical representation by shooting, also includes the left and right side and the vehicle-surroundings in front of this vehicle Range (such as longitudinal 10m, transverse direction 5m centered on this vehicle) gets a bird's eye view image.

As for storing the various storage regions for getting a bird's eye view image, real-time region 35a has been ensured in advance that in storage part 35, has been gone through History posting field 35b and display region 35c.

Real-time region 35a is the region that image is got a bird's eye view for storing newest shooting.

Historical record region 35b is to take out the newest shooting birds-eye view for being stored in real-time region 35a for storing to pass through As and to the synthesis on the 35b of historical record region gets a bird's eye view that image is override and the memory block of image is got a bird's eye view in updated synthesis Domain.As described above, it is to get a bird's eye view the range wide range of image than newest shoot and get a bird's eye view image that image is got a bird's eye view in synthesis.At this In embodiment, historical record region 35b be configured to store a circle bigger than vehicle-surroundings range range (for example, with Longitudinal 20m, transverse direction 20m centered on this vehicle) synthesis get a bird's eye view image.

The display storage region that region 35c is for storing the image for being shown in display device 40.In present embodiment In, display, which is stored with region 35c from synthesis, gets a bird's eye view the synthesis birds-eye view that image cuts out the part that vehicle-surroundings range is included A part for picture.

Output signal processing unit 36 is to be output to display dress for synthesizing of being created by image processing part 34 to be got a bird's eye view image Set 40 interface.

Display device 40 is can to show the display of various images, and being arranged at interior driver being capable of visual confirmation Position as shown image.

1-2. idling slide determination processings

Next, being illustrated using the idling slide determination processing that the flow chart of Fig. 2 executes determination processing unit 33.It is empty Turn to slide determination processing and periodically carry out during the ignition switch of this vehicle.In addition, shown in Fig. 3 aftermentioned aobvious Show that control process also periodically carries out.In the present embodiment, idling slide determination processing and display control processing with Identical period execution when being shot to coverage of in-vehicle camera 10.Specifically, in-vehicle camera 10 is opened after being shot Beginning idling slide determination processing starts display control processing after idling slide determination processing.

In step s 11, determination processing unit 33 is newest from the acquisition of in-vehicle camera 10 one via input signal processing unit 31 Shooting image.

In step s 12, determination processing unit 33 is got a bird's eye view the newest shooting image implementation got in step s 11 and is turned It changes, creates shooting and get a bird's eye view image.

In step s 13, determination processing unit 33 obtains regulation via input signal processing unit 32 from rotation quantity sensor 21 The detection rotation amount of period (such as during nearest 1/30 second).

In step S14, determination processing unit 33 judges whether the detection rotation amount got in step s 13 is 0.This Outside, in step S14, although whether judgement detection rotation amount is a value that is, 0, determination method is not limited thereto.Example Such as, it is also contemplated that the generation error of vehicle speed pulse caused by rotation by the pettiness amount of tire, is to be detected rotation amount It is no to be contained in the judgement for including 0 prescribed limit.It is also identical for the later described processing judge.

In step S14, determination processing unit 33 moves to processing in the case where being determined as that it is not 0 to detect rotation amount Step S15.

In step S15, determination processing unit 33 determines whether to determine the position in shooting image along with this vehicle Mobile and variation object that is, perpetual object.In the present embodiment, determination processing unit 33 is by the step S12 before 1 period Image is got a bird's eye view in the shooting of middle establishment and the shooting that is created in newest step S12 get a bird's eye view the object occurred in image this both sides or Person's road markings (hereinafter referred to as " object etc. ".) it is determined as perpetual object.As the object for being determined as perpetual object like this, Such as it enumerates lock in parking lot etc. or falls object etc. on the ground.In addition, hereinafter, by the step before 1 period The shooting created in S12 gets a bird's eye view image and is simply referred as " image is got a bird's eye view in the shooting before 1 period ", will be in newest step S12 The shooting of establishment is got a bird's eye view image and is simply referred as " image is got a bird's eye view in newest shooting ".

Determination processing unit 33 specifically executes the processing of step S15 as described below.Namely it is decided that processing unit 33 is first to most New shooting gets a bird's eye view image and carries out well known image procossing that is, edge detection, identifies that the whole in image is got a bird's eye view in newest shooting Object etc. outer rim.In addition, outer rim mentioned here refers to appearing in the object for shooting and getting a bird's eye view in image as two dimensional image Deng outer rim, the outer rim in other words indicated as one-dimensional curve.

Next, determination processing unit 33 by the shooting before 1 period get a bird's eye view image with it is newest shooting get a bird's eye view image it Between compare object identified etc. outer rim shape, to determine whether to identify the outer rim of same object etc..Here, at judgement Reason portion 33 no matter the direction of the outer rim of object etc. and be based only upon shape to determine whether to identify the outer rim of same object etc..

Then, it is determined that processing unit 33 in the case where being judged to identifying the outer rim of same object etc., will have the outer rim Object etc. be determined as perpetual object.In addition, determination processing unit 33 is in the case where determining multiple perpetual objects, to from determination The perpetual object arbitrarily selected in the perpetual object gone out executes later processing.

For example, at Fig. 4 and situation shown in fig. 5, the processing of step S15 is carried out as described below.Fig. 4 and Fig. 5 The situation that this vehicle retreats to stop in parking lot is shown.Fig. 4 shows that image 51 is got a bird's eye view in the shooting before 1 period, and Fig. 5 shows Go out newest shooting and gets a bird's eye view image 52.In addition, in Fig. 4 and Fig. 5, image 51 and newest is got a bird's eye view in the shooting before 1 period Shooting gets a bird's eye view image 52 and gets a bird's eye view a part for image as the synthesis for being shown in display device 40 and show.

In image 51,52 is got a bird's eye view in these shootings, indicate that the rectangular line 53 of the stop position of the trailing wheel of vehicle is located at The rear of this vehicle.In addition, this vehicle is directly retreated without idle running and other places.Therefore, this vehicle became smaller at a distance from line 53, from 1 week Shooting before phase gets a bird's eye view image 51 and gets a bird's eye view image 52 to newest shooting, and line 53 is translated to this vehicle side.

In this condition, shooting of the determination processing unit 33 before 1 period gets a bird's eye view image 51 and gets a bird's eye view image with newest shooting The rectangular outer rim of identification line 53 in 52 this both sides.Then, it is determined that processing unit 33 gets a bird's eye view image by the shooting before 1 period 51 and newest shooting get a bird's eye view and be judged to identifying the outer rim of same line 53 into the comparison of the shape of line 53 between image 52, Line 53 with the outer rim is determined as perpetual object.

In the case that determination processing unit 33 is judged to determining perpetual object in step S15, processing is made to move to step S16。

In step s 16, determination processing unit 33 determines whether there is the displacement of perpetual object.Here, determination processing unit 33 is 1 Shooting before period gets a bird's eye view image and between newest shooting gets a bird's eye view image, shooting get a bird's eye view the position of perpetual object in image with And in the case that at least one party in direction is inconsistent, it is determined as the displacement for having perpetual object.On the other hand, in unanimous circumstances Under, image processing part 34 is judged to being not concerned with the displacement of object.

For example, at above-mentioned Fig. 4 and situation shown in fig. 5, the shooting before 1 period get a bird's eye view image 51 with it is newest Between image 52 is got a bird's eye view in shooting, the position for being determined as the line 53 of perpetual object is inconsistent.Therefore, determination processing unit 33 is determined as having The displacement of perpetual object.

In step s 16, determination processing unit 33 is in the case of the displacement for being judged to having perpetual object, in step S17 It is determined as no idle running, terminates idling slide determination processing.On the other hand, determination processing unit 33 is being judged to being not concerned with object In the case of displacement, it is determined as thering is idle running in step S18, terminates idling slide determination processing.

In other words, to be judged to detecting rotation amount be not 0, (in other words, the tire of this vehicle is being for determination processing unit 33 Rotation), and be determined as in the case of not shooting the displacement for getting a bird's eye view the perpetual object in image, it is determined as thering is idle running.

In addition, in above-mentioned step S15, determination processing unit 33 is the case where being judged to failing to determine perpetual object Under, above-mentioned step S16 is skipped, is determined as no idle running in step S17, terminates idling slide determination processing.

On the other hand, in above-mentioned step S14, determination processing unit 33 be determined as detect rotation amount be 0 in the case of, Processing is set to move to step S19.

The processing of step S19 and following step S20 is respectively and above-mentioned step S15 and step S16 phases Same processing, so omitting the description.

In step S20, determination processing unit 33 is in the case of the displacement for being judged to having perpetual object, in the step s 21 It is judged to sliding, terminates idling slide determination processing.

In other words, determination processing unit 33 is being determined as that it is that 0 (in other words, the tire of this vehicle does not revolve to detect rotation amount Turn), and in the case of being determined as the displacement for having perpetual object, be judged to sliding.

On the other hand, in step S20, determination processing unit 33 in the case where being judged to being not concerned with the displacement of object, It is judged to, without sliding, terminating idling slide determination processing in step S22.

In addition, in above-mentioned step S19, determination processing unit 33 is the case where being judged to failing to determine perpetual object Under, above-mentioned step S20 is skipped, is judged to, without sliding, terminating idling slide determination processing in step S22.

1-3. display control processing

Next, being illustrated using the display control processing that the flow chart of Fig. 3 executes image processing part 34.In addition, Display control processing is in the ignition switch of this vehicle, also, the shift pattern of this vehicle is the phase of reverse gear (going-back position) Between periodically carry out.

In step S31, image processing part 34 is newest from the acquisition of in-vehicle camera 10 one via input signal processing unit 31 Shooting image.

In step s 32, it includes detection that image processing part 34, which is obtained via input signal processing unit 32 from sensor class 20, The vehicle behavior information of rotation amount.

In step S33, image processing part 34 judges the idle running of tire and the presence or absence of sliding for this vehicle.It is specific and Speech, image processing part 34 obtain newest judgement result from determination processing unit 33.Then, the judgement of image processing part 34 is got Judgement is the result is that without dallying, there is idle running, sliding and without which of sliding.Determination processing unit 33 is being determined as no idle running In the case of, so that processing is moved to step S34.

In step S34, well known to image processing part 34 implements the newest shooting image that is got in step S31 Conversion is got a bird's eye view, gets a bird's eye view image to create shooting.It is stored to real-time in addition, the shooting created is got a bird's eye view image by image processing part 34 Region 35a.

In step s 35, image processing part 34 calculates this vehicle based on the vehicle behavior information got in step s 32 Amount of movement Δ X1, be based on calculated amount of movement Δ X1, so that the synthesis for being stored in historical record region 35b is got a bird's eye view the vehicle of image The variation of reference position.

The amount of movement Δ X1 of this described vehicle refers to being timed to from the acquisition of the shooting image of last time in present embodiment Current shooting image obtain timing during, in other words, this vehicle in the acquisition interval of shooting image position and The variation in direction.Aftermentioned amount of movement Δ X2, Δ X3 are also identical.In addition, vehicle reference position described in present embodiment is Refer to position on the basis of this vehicle, image processing part 34 make synthesis get a bird's eye view image vehicle reference change in location be with it is current The position of this vehicle corresponds to.

In step S35, particularly, image processing part 34 calculates the amount of movement Δ of this vehicle based on detection rotation amount X1.More specifically, image processing part 34 is multiplied by the circumference of tire based on the number of rotations with the detection comparable tire of rotation amount It is measured obtained from length to calculate the amount of movement of this vehicle.

In step S36, image processing part 34 takes out newest shooting from real-time region 35a and gets a bird's eye view image, and will take out Newest shooting get a bird's eye view image storage to historical record region 35b.The processing of step S36 is in historical record region 35b It is stored in the state that synthesis gets a bird's eye view image, by overriding newest bat to synthesis birds-eye view picture in the 35b of historical record region It takes the photograph and gets a bird's eye view image, to update the processing that image is got a bird's eye view in synthesis.In addition, image processing part 34 synthesis get a bird's eye view in image with it is current The newest shooting of the comparable position in position overriding at rear of this vehicle get a bird's eye view image.

In step S37, image processing part 34 gets a bird's eye view image from the synthesis for being stored in historical record region 35b and cuts out vehicle Display region 35c is arrived in the part and storage that peripheral extent is included.The image for being stored in display region 35c is defeated from ECU30 Go out to display device 40, is shown in display device 40.

In addition, in the present embodiment, for ease of understanding that it is in being with this vehicle to be shown in the image of display device 40 The image of the heart, and image is got a bird's eye view in the synthesis that the image for being overlapped this vehicle is shown in display device 40.But it is shown in display The synthesis of device 40 is got a bird's eye view image and is not limited thereto, and can also show that image is got a bird's eye view in the synthesis of the image of underlapped vehicle.

If image processing part 34 executes the processing of step S37, terminate display control processing.

On the other hand, in the case that image processing part 34 is judged to having idle running in above-mentioned step S33, processing is made to move to Step S38.

In step S38, image processing part 34 carries out image processing for being stored in display with the image of region 35c.This In described image processing be processing that the display mode for making the synthesis for being shown in display device 40 get a bird's eye view image changes.In this reality It applies in mode, image processing is to reduce the processing for the contrast that image is got a bird's eye view in synthesis.Implement the synthesis birds-eye view of image processing As being shown in display device 40.

If image processing part 34 executes the processing of step S38, terminate display control processing.In other words, image procossing In the case that portion 34 is judged to having idle running in step S33, do not execute with above-mentioned step S34~comparable processing of step S37, In other words the processing etc. for the vehicle reference change in location for making synthesis get a bird's eye view image is not executed.

On the other hand, image processing part 34 is determined as that end display is controlled without in the case of sliding in above-mentioned step S33 System processing.

In other words, image processing part 34 is in the case where being determined as without sliding, and in other words, is not rotated and this vehicle in tire In the case of not moving, the processing etc. for the vehicle reference change in location for making synthesis get a bird's eye view image is not executed.

On the other hand, in the case that image processing part 34 is judged to sliding in above-mentioned step S33, processing is made to move to Step S39.

Step S39 is processing identical with above-mentioned step S34, so omitting the description.

In step s 40, image processing part 34 gets a bird's eye view image and newest shooting birds-eye view based on the shooting before 1 period Amount of movement Δ X2 as calculating this vehicle, is based on calculated amount of movement Δ X2, makes the synthesis for being stored in historical record region 35b Get a bird's eye view the vehicle reference change in location of image.

Specifically, amount of movement Δ X2 is calculated based on the displacement for the perpetual object determined by determination processing unit 33, example Such as, it calculates as described below.Image processing part 34 is primarily based on the detection of the steering angle sensor 23 got in step s 32 As a result, in during until calculating the acquisition timing for being timed to newest shooting image from the acquisition of the shooting image before 1 period This vehicle movement circular motion central point position.

Circular motion central point mentioned here is will be on this vehicle when including a band of this vehicle from overhead Some movement of (such as the point in the center on the direction all around of this vehicle) when being considered as circular motion, provide the circumference and transport The central point of dynamic circle.Hereinafter, by a bit " vehicle specified point " is known as on this above-mentioned vehicle.In addition, in this vehicle along straight When threadiness is mobile, the position of circular motion central point is the unlimited position far from this vehicle.

Next, image processing part 34 calculates the displacement of the perpetual object of the circular motion along with vehicle specified point. Here, image processing part 34 arbitrarily selects shooting to get a bird's eye view the point (such as the comparable point of 1 pixel) on image and paid close attention to constitute A bit of object.Then, image and newest bat are got a bird's eye view in the shooting before 1 period of any that the calculating of image processing part 34 is selected Take the photograph the displacement between getting a bird's eye view image.Hereinafter, being a little known as " object specified point " by what the selection went out.

In addition, image processing part 34 is considered as circular motion of the object specified point progress centered on circular motion central point. Moreover, displacement (in other words, the circle as mobile track of the circular motion of 34 computing object specified point of image processing part The length of arc).

Then, the displacement of calculated object specified point in order to is scaled the amount of movement of this vehicle by image processing part 34 Δ X2, and to the displacement of object specified point be multiplied by from circular motion central point to the distance of object specified point with from circular motion Ratio of the central point to the distance of vehicle specified point.Amount of movement Δ X2 is calculated as a result,.

In addition, the calculated amount of movement Δ X2 of displacement based on perpetual object is usually and the base in above-mentioned step S35 In the detection calculated amount of movement Δ X1 of the rotation amount amount of movements low compared to precision.

Step S41~step S43 is processing identical with above-mentioned step S36~step S38, so omitting the description.

In other words, image processing part 34 in above-mentioned step S33 other than in the case of being judged to having idle running, also Image processing is also executed in the case where being judged to sliding.

If image processing part 34 executes the processing of step S43, terminate display control processing.

1-4. effect

According to first embodiment described in detail above, effect below is obtained.

(1a) in the present embodiment, whether the judgement detection rotation amount of determination processing unit 33 is 0.It is 0 in detection rotation amount In the case of, the amount of movement Δ X1 of this vehicle based on detection rotation amount is also 0.On the contrary, detecting the case where rotation amount is not 0 Under, the amount of movement Δ X1 of this vehicle based on detection rotation amount is nor 0.Therefore, detection rotation amount whether be 0 judgement it is practical It is upper for amount of movement Δ X1 whether be 0 judgement.

In addition, determination processing unit 33 determines whether there is the displacement of perpetual object.In the case where there is the displacement of perpetual object, The amount of movement Δ X2 of this vehicle of the displacement based on perpetual object is not 0.On the contrary, the displacement for being not concerned with object the case where Under, the amount of movement Δ X2 of this vehicle of the displacement based on perpetual object is 0.Therefore, if having the judgement of the displacement of perpetual object Be actually amount of movement Δ X2 whether be 0 judgement.

In other words, in the present embodiment, determination processing unit 33 by judgement detect rotation amount whether be 0 and whether The displacement for having perpetual object, actually to judge the amount of movement Δ X1 of this vehicle based on detection rotation amount and be based on perpetual object Displacement this vehicle amount of movement Δ X2 it is whether consistent.In addition, determination processing unit 33 is in amount of movement Δ X1 and amount of movement Δ X2 In the case of inconsistent, it is judged to having idle running or slides.

Moreover, image processing part 34 is being determined as amount of movement Δ X1 and situation inconsistent amount of movement Δ X2, in other words, In the case of being judged to having idle running or sliding, instead of the amount of movement Δ X1 according to this vehicle based on detection rotation amount, and root According to the amount of movement Δ X2 of this vehicle of the displacement based on perpetual object, synthesis is made to get a bird's eye view the vehicle reference change in location of image.Cause Image appropriate can be also shown in display device by this in the case of at least one party in producing idle running and sliding.

(1b) in the present embodiment, reality calculates amount of movement Δ X1 and amount of movement Δ X2 for determination processing unit 33, and It is that simply whether judgement amount of movement Δ X1 and amount of movement Δ X2 is consistent.Therefore, amount of movement Δ X1 and movement are calculated with practical The case where measuring Δ X2 compares, and can reduce the processing load of determination processing unit 33.

(1c) in the present embodiment, gets a bird's eye view image based on the shooting before 1 period and image is got a bird's eye view in newest shooting, change Yan Zhi calculates the sheet based on detection rotation amount based on the multiple shooting images shot at different times by in-vehicle camera 10 The amount of movement that is, amount of movement Δ X2 of this vehicle other than the amount of movement Δ X1 of vehicle.Therefore, it is carrying out amount of movement Δ X1 and is moving In other words judgement whether consistent momentum Δ X2 when being made whether the judgement dallied or slided, can divert historical record In-vehicle camera 10 used in synthesis.

(1d) in the present embodiment, based on detection rotation amount this vehicle amount of movement Δ X1 other than this vehicle shifting Momentum is that image is got a bird's eye view in the shooting based on perpetual object, before 1 period and the sheet of the displacement between image is got a bird's eye view in newest shooting The amount of movement Δ X2 of vehicle.Reflect cunning therefore, it is possible to divert in-vehicle camera 10 used in historical record synthesis and calculate The amount of movement of the actual amount of movement of this vehicle when row.

(1e) in the present embodiment, image processing part 34 is being judged to having idle running by determination processing unit 33 or is being slided In the case of, in other words, in the case of being determined as that amount of movement Δ X1 and amount of movement Δ X2 is inconsistent, execute image processing.In other words It says, image processing part 34 is in the case where being determined as amount of movement Δ X1 and amount of movement Δ X2 unanimous circumstances by determination processing unit 33 and judges Be it is inconsistent in the case of keep the display mode that the synthesis for being shown in display device 40 gets a bird's eye view image different.Therefore, it is possible to pass through The display of display device 40 makes the driver of this vehicle identify at least one party in producing idle running and sliding.

Figure 1B is the functional block diagram of the display control unit 100 of present embodiment.Display control unit 100 has at judgement Reason portion 33 and image processing part 34.

Determination processing unit 33 has the processing for executing the step S11 in idling slide determination processing shown in Fig. 2 Shooting the consistent of processing with for executing step S14, S16, S20 in idling slide determination processing of image acquiring unit 331 is sentenced Determine portion 332.

Image processing part 34 has the shooting of the processing for executing the step S31 in display control processing shown in Fig. 3 Image acquiring unit 341, processing for executing step S34 and S39 in display control processing get a bird's eye view converter section 342, use In the synthesis establishment portion 343 for the processing for executing step S35, S36, S40 and S41 in display control processing, aobvious for executing Show the display processing portion 344 of the processing of step S37, S38, S42 and S43 in control process, for executing at display control The mobile processing unit 345 of the processing of step S35 and S40 in reason and for executing the step S36 in display control processing And the update processing unit 346 of the processing of S41.

The function of above-mentioned each function module of determination processing unit 33 and image processing part 34 is respectively in determination processing unit 33 And it executed by CPU in image processing part 34 and is stored in the program of ROM, be loaded into the program of RAM to realize.Alternatively, can also By realizations such as logic circuit or analog circuits.

In addition, being equivalent to mobile message by multiple shooting images that in-vehicle camera 10 takes at different times, it is based on The amount of movement Δ X1 for detecting this vehicle of rotation amount is equivalent to first movement amount.In addition, based on perpetual object, before 1 period Image is got a bird's eye view in shooting and the newest amount of movement Δ X2 for shooting this vehicle for getting a bird's eye view the displacement between image is equivalent to the second movement Amount.

2. second embodiment

The difference of 2-1. and first embodiment

The composition substantially of second embodiment is identical with first embodiment, so common composition is omitted the description, with It is illustrated centered on difference.In addition, using identical reference numeral to common composition.

The display control program 2 of second embodiment shown in Fig. 6 A has in-vehicle camera 10, sensor class 20, display dress Set 40, acceleration transducer 60, determination processing unit 70 and ECU80.In other words, in the display control system of second embodiment System 2 is being also equipped with acceleration transducer 60, is having instead of ECU30 on the point of determination processing unit 70 and ECU80, real with first The display control program 1 for applying mode is different.Hereinafter, the vehicle equipped with display control program 2 is known as " this vehicle ".

Acceleration transducer 60 is the sensor for the acceleration for detecting this vehicle.In the present embodiment, acceleration sensing Device 60 detects the acceleration of the three-dimensional of x-axis, y-axis and z-axis.Testing result is output at judgement by acceleration transducer 60 Reason portion 70 and ECU80.Hereinafter, the testing result of acceleration transducer 60 is known as " detection acceleration ".

Determination processing unit 70 has the microcomputer as component by CPU, ROM and RAM etc..Determination processing unit 70 from Sensor class 20 obtains vehicle behavior information, in addition, obtaining detection acceleration from acceleration transducer 60.Determination processing unit 70 is logical It crosses and executes aftermentioned idling slide determination processing shown in Fig. 7 based on these information got, to judge the tire of this vehicle Idle running and this vehicle the presence or absence of slide.Also, determination processing unit 70 will judge that result is output to ECU80.In this way, at this In embodiment, the judgement the presence or absence of dallied and slided is executed by the external device (ED) that is, determination processing unit 70 of ECU80.

Determination processing unit 70 identically as the determination processing unit 33 of first embodiment, even if only judgement tire rotate this vehicle The presence or absence of such idle running is not moved completely yet.In addition, determination processing unit 70 only judges in the completely non-rotary state of tire The presence or absence of slided as lower vehicle movement.

ECU80 is that have input signal processing unit 31,32, storage part 35, output signal processing unit 36 and image procossing The electronic control unit in portion 81.In other words, the ECU80 of second embodiment do not have determination processing unit 33, instead of image Processing unit 34 and have on the point of image processing part 81, it is different from the ECU30 of first embodiment.

For image processing part 81 compared with the image processing part 34 of first embodiment, hardware constitutes place that is identical, but executing Reason is different.Image processing part 81 executes aftermentioned display control processing shown in Fig. 8.

2-2. idling slide determination processings

Next, being illustrated using the idling slide determination processing that the flow chart of Fig. 7 executes determination processing unit 70.This Outside, start the idling slide determination processing of second embodiment and the condition of aftermentioned display control processing, period and suitable Sequence is identical with first embodiment.

In step s 51, determination processing unit 70 obtains the respective of x-axis, y-axis and z-axis direction from acceleration transducer 60 Detection acceleration.

The step of processing of step S52 and S53 are the idling slide determination processings with first embodiment shown in Fig. 2 The identical processing of S13 and S14, so omitting the description.

In step S53, determination processing unit 70 makes processing move in the case where being determined as that it is not 0 to detect rotation amount Step S54.

In step S54, determination processing unit 70 judges whether the detection acceleration got in step s 51 is 0.This In, determination processing unit 70 is determined as that detection accelerates in the case where the detection acceleration of x-axis, y-axis and z-axis direction is entirely 0 Degree is 0.

In step S54, determination processing unit 70 is sentenced in the case where being determined as that it is 0 to detect acceleration in step S55 Being set to has idle running, terminates idling slide determination processing.

In other words, determination processing unit 70 is being determined as that it is not that 0 (in other words the tire of this vehicle is revolving to detect rotation amount Turn), and be judged to detecting in the case that acceleration is 0 (this vehicle does not accelerate), it is determined as thering is idle running.

On the other hand, in S54, determination processing unit 70 is in the case where being determined as that it is not 0 to detect acceleration, in step It is determined as no idle running in S56, terminates idling slide determination processing.

On the other hand, in above-mentioned step S53, determination processing unit 70 be determined as detect rotation amount be 0 in the case of, Processing is set to move to step S57.

Step S57 is processing identical with above-mentioned step S54, so omitting the description.

In step S57, determination processing unit 70 is in the case where being determined as that it is not 0 to detect acceleration, in step S58 It is judged to sliding, terminates idling slide determination processing.

As the case where detection acceleration is not 0 is determined as in step S57, because being judged to detecting in step S53 Rotation amount is 0 (tire does not rotate), it is assumed that the case where this vehicle just slows down.In other words, determination processing unit 70 is judging It is 0 (tire of this vehicle does not rotate) for detection rotation amount, and is determined as that it is not 0 (this vehicle is slowing down) to detect acceleration In the case of, it is judged to sliding.

On the other hand, in step S57, determination processing unit 70 is in the case where being determined as that it is 0 to detect acceleration, in step It is judged to, without sliding, terminating idling slide determination processing in S59.

2-3. display control processing

Next, being said using the display control processing that the flow chart of Fig. 8 executes the image processing part 81 of ECU80 It is bright.

In step S61, image processing part 81 obtains the respective of x-axis, y-axis and z-axis direction from acceleration transducer 60 Detection acceleration.

Step S62~S70 is that step S31~39 of the display control processing of first embodiment as shown in figure 3 are identical Processing, so omitting the description.

In step S71, image processing part 81 is based on the detection acceleration progress time product to being got in step S61 Value obtained from point calculates the amount of movement Δ X3 of this vehicle, is based on calculated amount of movement Δ X3, synthesis is made to get a bird's eye view the vehicle of image The variation of reference position.Specifically, image processing part 81 calculates amount of movement Δ X3 as described below.

That is, in step S71, image processing part 81 calculates the speed of this vehicle.Then, image processing part 81 by The speed of calculated vehicle is multiplied by the cycle T of display control processing in step S71 before 1 period, to calculate shooting figure Amount of movement in the acquisition interval of picture that is, amount of movement Δ X3.

Here, the speed of this vehicle calculates as described below.First, in the judgement result of step S64 other than sliding Change to the step S71 (hereinafter referred to as " first step S71 " after sliding.) in, image processing part 81 is based on judgement and ties Before fruit changes, in other words, this vehicle start to slide before period step S63 in the detection rotation amount that gets calculate The speed of this vehicle.

Then, after having first step S71 in the case of sliding such judgement result continuously multiple periods In step S71, image processing part 81 by the speed of calculated vehicle in the step S71 before 1 period plus pair The detection acceleration got in step S61 before 1 period, which is multiplied by obtained from cycle T, to be measured, to calculate the speed of this vehicle Degree.

Like this, image processing part 81 will detect acceleration and is multiplied by the amount that cycle T obtains successively is added, in other words, with from It dissipates time T to integrate detection acceleration, thus calculates the speed of this vehicle, and then calculate amount of movement Δ X3.

In addition, the amount of movement Δ X3 based on this vehicle to being worth obtained from detection acceleration progress time integral is usually The low amount of movement of precision compared with based on the amount of movement Δ X1 of calculated detection rotation amount in above-mentioned step S66.

Step S72~S74 is that step S41~S43 of the display control processing of first embodiment as shown in figure 3 is identical Processing, so omitting the description.

2-3. effect

According to second embodiment described in detail above, in addition to above-mentioned first embodiment effect (1b) and (1e) with Outside, effect below is also obtained.

(2a) in the present embodiment, whether the judgement detection rotation amount of determination processing unit 70 is 0.The judgement is actually to move Momentum Δ X1 whether be 0 judgement.

In addition, whether the judgement detection acceleration of determination processing unit 70 is 0.Detect acceleration be 0 in the case of, based on pair It is also 0 that detection acceleration, which carries out the amount of movement Δ X3 of this vehicle being worth obtained from time integral,.On the contrary, detecting acceleration not In the case of being 0, based on carrying out the amount of movement Δ X3 of this vehicle being worth obtained from time integral to detection acceleration nor 0.Therefore, detection acceleration whether be 0 judgement be actually amount of movement Δ X3 whether be 0 judgement.

In other words, in the present embodiment, determination processing unit 70 actually judges this vehicle based on detection rotation amount Amount of movement Δ X1 with based on whether carrying out the amount of movement Δ X3 of this vehicle being worth obtained from time integral to detection acceleration Unanimously.

Moreover, image processing part 34 is in the case where being determined as that amount of movement Δ X1 and amount of movement Δ X3 are inconsistent, in other words In the case where being judged to having idle running or sliding, instead of the amount of movement Δ X1 according to this vehicle based on detection rotation amount, and Make synthesis birds-eye view according to based on carrying out the amount of movement Δ X3 of this vehicle being worth obtained from time integral to detection acceleration The vehicle reference change in location of picture.Therefore, in the case of at least one party in producing idle running and sliding, can also make to fit When image be shown in display device 40.

(2b) in the present embodiment, using the testing result that is, detection acceleration of acceleration transducer 60, is calculated The amount of movement that is, amount of movement Δ X3 of this vehicle other than the amount of movement Δ X1 of this vehicle based on detection rotation amount.Acceleration passes Sensor is used in the gas-bag system etc. of auto-navigation system or vehicle, is usually equipped on vehicle.Like this, in present embodiment In, can from be usually equipped on vehicle composition obtain for calculates based on detect rotation amount this vehicle amount of movement Δ X1 with The information of the amount of movement of this outer vehicle.

(2c) in the present embodiment, image processing part 81 is based on to detection acceleration obtained from time integral be worth The amount of movement Δ X3 of this vehicle other than amount of movement Δ X1 to calculate this vehicle based on detection rotation amount.Therefore, it is possible to than Calculate to degree of precision the amount of movement of this vehicle.

(2d) in the present embodiment, idling slide determination processing by the external device (ED) as ECU80 determination processing unit 70 execute.In other words, ECU80 does not have the hardware composition for executing idling slide determination processing in inside.Therefore, it is possible to right ECU80 diverts the hardware of the previous ECU of the judgement without the presence or absence of dallying and sliding.

Fig. 6 B are the functional block diagrams of the display control unit 200 of present embodiment.Display control unit 200 has at judgement Reason portion 70 and image processing part 81.

Determination processing unit 70 have for execute step S53, S54 in idling slide determination processing shown in Fig. 7 and The coincidence determining unit 701 of the processing of S57.

Image processing part 81 has the shooting of the processing for executing the step S62 in display control processing shown in Fig. 8 Image acquiring unit 811, processing for executing step S65 and S70 in display control processing get a bird's eye view converter section 812, use In the synthesis establishment portion 813 for the processing for executing step S66, S67, S71 and S72 in display control processing, aobvious for executing Show the display processing portion 814 of the processing of step S68, S69, S73 and S74 in control process, for executing at display control The mobile processing unit 815 of the processing of step S66 and S71 in reason and for executing the step S67 in display control processing And the update processing unit 816 of the processing of S72.

The function of above-mentioned each function module of determination processing unit 70 and image processing part 81 is respectively in determination processing unit 70 And it is stored in the program of ROM, is loaded into the program of RAM by being executed by CPU in image processing part 81 and realizes.Alternatively, The realizations such as logic circuit or analog circuit can be passed through.

In addition, the testing result of acceleration transducer 60 is equivalent to mobile message, this vehicle based on detection rotation amount Amount of movement Δ X1 is equivalent to first movement amount.In addition, based on this vehicle being worth obtained from time integral is carried out to detection acceleration Amount of movement Δ X3 be equivalent to the second amount of movement.

3. other embodiments

More than, embodiments of the present invention are illustrated, but the invention is not limited in the above embodiment, it can be with Take various modes.

(3a) in the respective embodiments described above, determination processing unit 33,70 judges the presence or absence of to dally and slide this both sides, but The object that determination processing unit determines whether is not limited thereto.Determination processing unit can also for example judge in dallying and sliding The presence or absence of either side.

(3b) in the above-described first embodiment, determination processing unit 33 is got a bird's eye view spectral discrimination idle running using shooting and is slided The presence or absence of, but the image used in idling slide determination processing is not limited thereto.Determination processing unit can also for example use It is not the common shooting image for getting a bird's eye view image.In addition, in the above-described first embodiment, by newest shooting birds-eye view Perpetual object is determined as carrying out edge detection, but the determination method of perpetual object is not limited thereto.Perpetual object is for example It can also be determined by using the methods of template matches as well known image procossing.

(3c) in the above-described first embodiment, the amount of movement Δ X2's of this vehicle as the displacement based on perpetual object Computational methods, the method for exemplifying calculating of position for carrying out circular motion central point etc., but the computational methods of amount of movement Δ X2 It is not limited thereto.Amount of movement Δ X2 can also for example be easily calculated as shooting and get a bird's eye view the point on image and be to constitute concern pair The air line distance of the position behind position and displacement before the displacement of any of elephant.

Similarly, the meter based on the amount of movement Δ X3 for carrying out this vehicle being worth obtained from time integral to detection acceleration Calculation method is not limited to the computational methods of above-mentioned second embodiment.Amount of movement Δ X3 for example can not also be by being based on the time The methods of the multiple detection acceleration got as integral calculates, and is based only upon the detection acceleration got It calculates.

(3d) in the above-described first embodiment, as perpetual object, exemplify the shooting before 1 period get a bird's eye view image and The object etc. of image this both sides appearance is got a bird's eye view in newest shooting, but perpetual object is not limited thereto.Perpetual object for example also may be used With in such object etc. especially with respect to the indeclinable resting in the position on ground and direction.

(3e) in the respective embodiments described above, determination processing unit 33,70 by be detected rotation amount whether be 0 judgement Deng to judge the amount of movement that is, first movement amount and this vehicle based on mobile message of this vehicle based on detection rotation amount Amount of movement that is, whether the second amount of movement is consistent.In other words, determination processing unit 33,70 is not practical calculates first movement amount and the Two amount of movements, but simply carry out first movement amount and the whether consistent judgement of the second amount of movement.But first movement amount with The whether consistent determination method of second amount of movement is not limited thereto.

For example, determination processing unit can also calculate first movement amount and the second amount of movement by practical, and compares and calculate Value judge whether two amount of movements consistent.

In this case, for example, determination processing unit can also based on the comparison result of calculated value, even if come judge by This vehicle moves, and amount of movement has again smaller than the idle running being included of dallying as the rotation amount a considerable amount with tire Nothing.In addition, for example, determination processing unit can also be based on the comparison result of calculated value, to judge to make tire revolve on this vehicle Turn and it is mobile than with rotation amount a considerable amount it is big slide the presence or absence of sliding of being included.Specifically, determination processing Portion can also be determined as there is idle running in the case where first movement amount is more than the second amount of movement, and being less than second in first movement amount moves It is judged to sliding in the case of momentum.

In addition, in the composition for actually calculating first movement amount and the second amount of movement, it need not be only stringent in two amount of movements It is determined as that two amount of movements are consistent under unanimous circumstances.Determination processing unit can also for example judge two amount of movement slightly difference It is consistent for two amount of movements.

(3f) in the above-described first embodiment, as mobile message, exemplify the shooting before 1 period get a bird's eye view image and Image is got a bird's eye view in newest shooting, in other words, take at different times 2 shooting images, but make as mobile message The number of shooting image is not limited thereto.For example, 3 or more shooting images can also be used as mobile message.

In addition, mobile message is not limited to shooting image, for example, it is also possible to more widely indicate this vehicle-surroundings The information of object etc. and the relative position of this vehicle.As such information, other than above-mentioned multiple shooting images, such as Object of this vehicle-surroundings etc. and the relative position detection dress of the relative position of this vehicle can be detected by enumerating radar, sonar etc. The testing result set.

In addition, mobile message for example can also be the information for the absolute position for indicating this vehicle.As such information, example Such as, the output signal for the GPS receiver for receiving the transmission electric wave of the moonlet from GPS via GPS antenna is enumerated.

In addition, in the above-described 2nd embodiment, exemplifying detection acceleration as mobile message, but mobile message is not It is confined to this.Mobile message for example can also be broadly the movement of this vehicle changed along with the movement of this vehicle Amount.

(3g) in the above-described first embodiment, the microcomputer independently by being equipped on an ECU30 is held Row idling slide determination processing and display control processing.But execute idling slide determination processing and display control processing Composition is not limited thereto, for example, it is also possible to by be equipped on ECU same microcomputer execute idling slide determination processing and Display control processing.

In addition, in the respective embodiments described above, can also be made of in a manner of hardware one or more IC etc. ECU30,80 and determination processing unit 70 execute function it is some or all.

(3h) in the respective embodiments described above, image processing is to reduce the processing for the contrast that image is got a bird's eye view in synthesis, image Processing unit 34,81 makes the synthesis for being shown in display device 40 get a bird's eye view the display mode of image not by executing the image processing Together, but image processing is not limited thereto.Image processing for example can also be raising or reduce synthesis get a bird's eye view image lightness, Saturation degree, brightness etc., the processing in other words changing it.

In addition, in the respective embodiments described above, in the case where being judged to having idle running and in the case of being judged to sliding, Identical image processing is executed, but image processing is not limited thereto.For example, it is also possible in the case where being judged to having idle running and It is determined as in the case of sliding, executes the image processing of different contents.Also, it can also be determined as thering is the case where idle running Down and it is determined as at least one party for having in the case of sliding, does not execute image processing.

(3i) in the above-described embodiment, the range of image, example is got a bird's eye view as the synthesis for being stored in historical record region 35b The range of a circle bigger than vehicle-surroundings range is shown, but the synthesis for being stored in historical record region 35b gets a bird's eye view the range of image simultaneously It is not limited to this.For example, the range that image is got a bird's eye view in the synthesis for being stored in historical record region 35b can also be and vehicle-surroundings model The range of image is got a bird's eye view in the synthesis for enclosing identical range.

(3j) in the above-described embodiment, in-vehicle camera 10 is equipped near the rear end of this vehicle, but loading position is not It is confined to this, for example, it is also possible to be equipped on the side on the front of this vehicle, a left side or the right side.In addition, equipped with 1 in this vehicle Platform in-vehicle camera 10, however, it is not limited to this, can also be equipped with more in-vehicle cameras.In this case, for example, it is also possible to The front and rear portion of this vehicle carry 1, amount to 2 in-vehicle cameras respectively.In addition, for example, it is also possible to before this vehicle 1 is carried respectively, amounts to 4 in-vehicle cameras in the side in portion, rear portion and left and right.

(3k) in the above-described embodiment, as display device, is exemplified and is set to interior display that is, display dress 40 are set, but display device is not limited thereto.As other examples of display device, such as HUD (head-up displays are enumerated Device) etc..

The function that (3l) can also be such that a component in the above embodiment has is separated into multiple components, or makes more The function that a component has is unified to a component.Alternatively, it is also possible to omit the above embodiment composition a part.Separately Outside, can also by least part of the composition of the above embodiment to the composition of other the above embodiments carry out it is additional or Person replaces.In addition, all modes that the technological thought only determined by the sentence recorded in claims is included are these The embodiment of invention.

(3m) is other than above-mentioned determination processing unit 33,70 and image processing part 34,81, additionally it is possible to by the judgement Processing unit 33 and image processing part 34 are used as structure as the system of component, by the determination processing unit 70 and image processing part 81 The method of the presence or absence of the system of part, judgement idle running and at least one party in sliding, based at least one in dallying and sliding The method of establishment of image etc. is got a bird's eye view in the synthesis of the judgement of the presence or absence of side, record has idling slide determination processing and display control The various forms such as the medium of the program of processing realize the present invention.

Claims

1. a kind of display control unit is the prescribed limit on the periphery of display device (40) the display vehicle in vehicle Shoot the display control unit (100,200) of image, wherein the display control unit has：

Image acquiring unit (331,341,811) is shot, the bat is obtained repeatedly from the in-vehicle camera (10) for being equipped on the vehicle Take the photograph image；

Converter section (342,812) is got a bird's eye view, the shooting image implementation got repeatedly to the shooting image acquiring unit is got a bird's eye view Conversion, create successively it is described shooting image get a bird's eye view image that is, shooting get a bird's eye view image；

Establishment portion (343,813) is synthesized, synthesis is created and gets a bird's eye view image, the synthesis birds-eye view seems to getting a bird's eye view converter section by described What the shooting created successively got a bird's eye view that image is synthesized into staggered positions gets a bird's eye view image；

Display processing portion (344,814) makes the display device show that image is got a bird's eye view in the synthesis；And

Coincidence determining unit (332,701) judges whether first movement amount and the second amount of movement are consistent, wherein the first movement Amount is the amount of movement of the vehicle based on detection rotation amount, and the detection rotation amount is the rotation of the tire by detecting the vehicle Turn the sensor of amount that is, rotate the testing result that quantity sensor (21) detects, second amount of movement is to be based on mobile message The vehicle amount of movement, the mobile message is the information other than the rotation amount of the tire of the vehicle and is by described The information of the influence of the movement of vehicle,

The synthesis establishment portion has：

Mobile processing unit (345,815), makes the synthesis for being stored in storage region get a bird's eye view image based on the first movement amount The position on the basis of the vehicle that is, vehicle reference change in location be it is corresponding with the current position of the vehicle；And

Processing unit (346,816) is updated, it is newest described by getting a bird's eye view image overriding to the synthesis in the storage region Image is got a bird's eye view in shooting, gets a bird's eye view image to update the synthesis,

The mobile processing unit is being determined as that the first movement amount differs with second amount of movement by the coincidence determining unit In the case of cause, become the vehicle reference position based on second amount of movement instead of being based on the first movement amount Change.

2. display control unit (100) according to claim 1, wherein

The mobile message is the multiple shooting images taken at different times.

3. display control unit (100) according to claim 2, wherein

Second amount of movement is the amount of movement of the vehicle of the displacement between the multiple shooting image based on perpetual object, The perpetual object is the object that the position in the shooting image changes along with the movement of the vehicle.

4. display control unit (200) according to claim 1, wherein

The mobile message is the sensor of the acceleration by detecting the vehicle that is, acceleration transducer (60) detects Testing result.

5. display control unit (200) according to claim 4, wherein

Second amount of movement is obtained based on time integral is carried out to the testing result detected by the acceleration transducer The amount of movement of the vehicle of the value arrived.

6. the display control unit (100,200) according to any one of Claims 1 to 5, wherein

The display processing portion (344,814) by the coincidence determining unit (332,701) be determined as the first movement amount with Under the second amount of movement unanimous circumstances and be determined as it is inconsistent in the case of make the conjunction for being shown in the display device It is different at the display mode for getting a bird's eye view image.

7. a kind of non-transitory computer-readable storage media is stored for making computer as the display device in vehicle (40) show the display control unit (100,200) of shooting image of the prescribed limit on the periphery of the vehicle come what is played a role Display control program, wherein

The display control program makes the computer as playing a role with lower component：

The synthesis establishment portion has：