JP2003235036A - Image display apparatus for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an image display apparatus for vehicle capable of accurately displaying an image around a vehicle including a coupled vehicle such as a trailer without distortion. <P>SOLUTION: The image display apparatus includes: an image composite means 4 that composites the entire image around the vehicle 200 by using an image around a first coupled vehicle 201A freely flexibly coupled to a second coupled vehicle 201B and an image around the second coupled vehicle 201B, the images being respectively composed from imaging data photographed by a plurality of cameras 11 or the like, in response to the coupled angle between the first coupled vehicle 201A and the second coupled vehicle 201B detected by a coupled angle detection means 3; and a display means 5 for displaying the composite image. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle image display device used in a vehicle including a plurality of connected vehicles that are flexibly connected.

[0002]

2. Description of the Related Art As an image display device for a vehicle of this type,
There is one that transforms / combines images captured by a plurality of cameras like an image from above the vehicle and displays the images (Japanese Patent Laid-Open No. Hei 11).
-151975).

[0003]

However, in a vehicle including a connected vehicle connected by a coupler such as a large trailer, the positional relationship between the vehicle and the camera is deviated due to the bending of the connected vehicle. There is a problem that the image is distorted at the (connected portion), and the displayed image is different from the actual image. The present invention provides an image display device for a vehicle and a program for the image display device for a vehicle, which displays an accurate image without distortion by synthesizing images around the vehicle according to the connection angle of the connected vehicle. To aim.

[0004]

(1) In order to achieve the above object, according to the invention of claim 1, a first connecting vehicle and a second connecting vehicle flexibly connected by a connecting means. A plurality of image pickup means provided in a vehicle including at least the above, and a plurality of image pickup means for picking up images of the periphery of the first connected vehicle and the periphery of the second connected vehicle, respectively, and the periphery of the first connected vehicle imaged by the image pickup means And the image data around the second connected vehicle are combined into an entire image around the vehicle according to the postures of the connected first connected vehicle and the second connected vehicle, and displayed on the display means. There is provided a vehicle image display device having an image synthesizing means for outputting.

According to another aspect of the present invention, there is provided a computer mounted on a vehicle, the periphery of the first combination vehicle being flexibly connected by a connecting means, and the second combination vehicle. The step of capturing images of the surroundings of the first connected vehicle and the captured image data of the surroundings of the second connected vehicle, respectively.
Executing a step of combining with a whole image of a vehicle periphery including the first connected vehicle and the second connected vehicle according to the postures of the connected first connected vehicle and second connected vehicle A program is provided for

In these inventions, the first connected vehicle and the second connected vehicle are connected vehicles including the driver's seat, connected vehicles for freight transportation, connected vehicles including tanks for transferring liquid or gas, and others. Includes all types of articulated vehicles. It is sufficient that at least the first connected vehicle and the second connected vehicle are included, and the number of connected vehicles is not limited.

Further, the first connected vehicle and the second connected vehicle are selected from arbitrary connected vehicles included in the vehicle. That is, the first connected vehicle and the second connected vehicle may be directly or indirectly connected to each other, and another connected vehicle may be provided between the connected first connected vehicle and the second connected vehicle. A vehicle may intervene. It is understood that the connecting means includes all means interposed between the first connecting vehicle and the second connecting vehicle, and includes not only a connector for engaging the connecting vehicles with each other but also another connecting vehicle. In this case, the postures of the first connected vehicle and the second connected vehicle that are connected are the first connected vehicle, another connected vehicle connected to the first connected vehicle, and the second connected vehicle connected to the first connected vehicle. It becomes a posture.

The attitudes of the first connected vehicle and the second connected vehicle, which are connected to each other, are obtained based on the relative positional relationship between the first connected vehicle and the second connected vehicle, and are derived from imaging data. The method of acquisition is not limited, such as an actual measurement method or a method estimated based on prestored data relating to the posture. That is, the “postures of the first connected vehicle and the second connected vehicle” may be obtained from the measured value of the connecting angle of the connection by the connecting means, and estimated from the history of steering wheel operation (change history of the steering angle). It may be inferred from the state of the gear, and it should be obtained from the specified mode (garbage entry mode, exit mode, straight ahead mode, right turn mode, left turn mode, curve curvature, etc., in which the corresponding posture is stored in advance). You can also In addition, the “postures of the first connected vehicle and the second connected vehicle” are the bending angles of the first connected vehicle and the second connected vehicle, the bending angles of the first connected vehicle and the second connected vehicle, respectively. Factors such as size, shape or length of the connecting means can be considered.

According to the above arrangement, the plurality of image pickup means are
Imaging data around the first connected vehicle and imaging data around the second connected vehicle are acquired. The image synthesizing unit synthesizes the acquired image pickup data with an entire image around the vehicle according to the postures of the coupled first and second coupled vehicles. The combined whole image is displayed via the display means.

Accordingly, it is possible to provide an image display device for a vehicle, which displays an accurate image without distortion of an image around the vehicle including a connected vehicle.

(2) In order to achieve the above object, in the invention described in claim 1, according to the invention described in claim 2,
The image capturing device further includes image capturing condition information acquiring unit that acquires image capturing condition information when the image capturing unit captures an image, and detection unit that detects postures of the connected first connected vehicle and second connected vehicle. The synthesizing unit, based on the image capturing condition information acquired by the image capturing condition information acquiring unit, the image capturing data around the first connected vehicle and the image capturing data around the second connected vehicle captured by the image capturing unit. A first image synthesizing unit for synthesizing the image around the first connected vehicle and the image around the second connected vehicle, respectively.
From the image around the first connected vehicle and the image around the second connected vehicle that are combined by the image combining unit, and the attitudes of the first connected vehicle and the second connected vehicle detected by the detecting means. An image display device for a vehicle is provided that includes a second image synthesizing unit that re-synthesizes the entire image around the vehicle.

According to the invention described in claim 7 from a different point of view, in the program according to claim 6, the step of synthesizing the entire image of the surroundings of the vehicle includes the step of reading out imaging condition information regarding imaging which is stored in advance. Based on the read imaging condition information, the image data of the surroundings of the first connected vehicle and the image data of the surroundings of the second connected vehicle are imaged around the first connected vehicle. And combining the images around the second connected vehicle with each other, detecting the attitudes of the connected first connected vehicle and second connected vehicle, and the combined first connected The image around the vehicle and the image around the second connected vehicle are reconstructed into an entire image around the vehicle according to the detected attitudes of the first connected vehicle and the second connected vehicle. Program including the steps of made is provided.

In these inventions, the "imaging condition information" that is acquired or read by the imaging condition information acquisition means is the position, angle, lens characteristic, etc. of the imaging means used for synthesizing the imaging data. This is information that is a condition for imaging.

The first image synthesizing section of the image synthesizing means is
The image data around the first connected vehicle captured by the image capturing means is combined with the image around the first connected vehicle based on the image capturing condition information, and the image data around the second connected vehicle is based on the image capturing condition information. And synthesizes the image around the second connected vehicle. That is, an image around the first connected vehicle,
The image around the second connected vehicle is combined with each other.

Subsequently, the second image synthesizing unit displays the synthesized image around the first connecting vehicle and the image around the second connecting vehicle as "the first connecting vehicle and the second connecting vehicle. posture"
Based on, the image is recombined into an entire image around the vehicle including the connected vehicle. This re-combination is based on the information about the "postures of the first connected vehicle and the second connected vehicle"
Can be performed based on the information regarding the "posture" such as what positional relationship, for example, how many times (angle) the vehicle is connected. In this way, by synthesizing the first image synthesizing unit and re-synthesizing the second image synthesizing unit, it is possible to display the entire image according to the posture of the coupled vehicle.

Thus, it is possible to provide an image display device for a vehicle, which displays an accurate image without distortion of an image around the vehicle including a connected vehicle.

(3) In order to achieve the above object, in the invention described in claim 1, according to the invention described in claim 3,
Imaging condition information acquisition means for acquiring imaging condition information when the imaging means takes an image, and detection means for detecting an attitude of the first articulated vehicle with respect to the vehicle and an attitude of the second articulated vehicle with respect to the vehicle. Further, the image synthesizing means detects the image pickup data of the periphery of the first connected vehicle imaged by the image pickup means by the image pickup condition information acquired by the image pickup condition information acquisition means and the detection means. Based on the attitude of the first connected vehicle with respect to the vehicle, the image is combined with the image around the first connected vehicle,
The image pickup data of the periphery of the second connected vehicle imaged by the image pickup means is used for the vehicle of the second connected vehicle detected by the image pickup condition information acquired by the image pickup condition information acquisition means and the detection means. An image display device for a vehicle is provided, which is combined with an image of the second connected vehicle surroundings based on the posture.

According to the invention described in claim 8 from a different point of view, in the invention described in claim 6, the step of synthesizing the entire image of the surroundings of the vehicle is a step of reading out imaging condition information relating to imaging stored in advance. A step of detecting a posture of the first connected vehicle with respect to the vehicle and a posture of the second connected vehicle with respect to the vehicle; A step of synthesizing an image around the first connected vehicle based on the acquired image capturing condition information and the detected attitude of the first connected vehicle with respect to the vehicle; Based on the acquired image capturing condition information and the detected attitude of the second connected vehicle with respect to the vehicle, image data of the periphery of the connected vehicle is connected to the second connected vehicle. Program including the step of combining both the peripheral image is provided.

In the above-described inventions according to claims 2 and 7, the image synthesizing means has a first image synthesizing section and a second image synthesizing section, and first the first image synthesizing section is the first. The image around the first vehicle and the image around the second vehicle are respectively synthesized, and then the second image synthesizing unit combines these two images in accordance with the "postures of the first coupled vehicle and the second coupled vehicle". And re-synthesized to obtain the whole image around the vehicle. In the inventions according to claim 3 and claim 8 described here, as the "postures of the first combined vehicle and the second combined vehicle", the direct positions of the first combined vehicle and the second combined vehicle are set. The attitude of the first articulated vehicle with respect to the vehicle and the attitude of the second articulated vehicle with respect to the vehicle, which is an indirect positional relationship via a positional relationship with the vehicle as a reference, are used instead of the relationship.

That is, the image pickup condition information obtaining means obtains the image pickup condition information, and the detecting means detects the posture of the first connecting vehicle with respect to the vehicle and the posture of the second connecting vehicle with respect to the vehicle. Then, the image synthesizing means in the present invention is based on the acquired “imaging condition information” and the detected “attitude of the first combined vehicle with respect to the vehicle” based on the captured imaged data of the periphery of the first combined vehicle. , The image around the first connected vehicle is combined. This combined image will be combined based on the coordinates (position) with respect to the vehicle. Similarly,
Based on the acquired “imaging condition information” and the detected “posture of the second linked vehicle with respect to the vehicle”, the imaged data around the second linked vehicle is captured as an image around the second linked vehicle. To synthesize. This combined image will be combined based on the coordinates (position) with respect to the vehicle. In this way, if the two images based on the position (coordinates) of the vehicle are combined to form the entire image of the periphery of the vehicle, the images of the first connected vehicle and the second connected vehicle that are connected may be distorted in the connecting means. Will be displayed correctly.

Accordingly, it is possible to provide a vehicle image display device for displaying an accurate image without distortion of an image around the vehicle including a connected vehicle.

(4) In order to achieve the above object, according to the invention of claim 4, the image pickup means is provided in either one of the first connecting vehicle or the second connecting vehicle, A mark is provided at a position on the other one of the first connected vehicle and the second connected vehicle at a position where the image is captured by the image capturing unit, and the detection unit is configured to connect the image based on the image data of the mark captured by the image capturing unit. An image display device for a vehicle is provided that detects a connection angle between the first connected vehicle and the second connected vehicle that are described above. According to the invention of claim 9 from a different point of view, the step of detecting the postures of the first connected vehicle and the second connected vehicle connected is the first connected vehicle or the second connected vehicle. Of the mark provided on either one of the first connected vehicle and the second connected vehicle by the image capturing means provided on the other of the first connected vehicle to acquire the imaged data regarding the mark, and the acquired image data is acquired. A program for detecting the connection angle between the first connected vehicle and the second connected vehicle from the imaged data regarding the mark is provided.

In the present invention, the "postures of the first connected vehicle and the second connected vehicle" are detected by the mark and the image pickup means for picking up the image of the mark. An image pickup means is provided on either one of the first connected vehicle and the second connected vehicle, and the image pickup means takes an image of the mark provided on the other. That is, the mark and the image pickup means are provided via the connecting means, and the first or second connected vehicle provided with the mark and the mark are provided based on the image pickup data of the mark taken by the image pickup means. The connection angle with the first or second connection vehicle that does not exist is detected. This makes it possible to easily obtain the “postures of the first connected vehicle and the second connected vehicle”.

(5) In order to achieve the above-mentioned object, according to the invention of claim 5, the detection means is a vehicle image display which is an angle detector for detecting the connection angle of the connected vehicles. A device is provided. According to the invention of claim 10 from a different point of view, the step of detecting the postures of the first and second connected vehicles connected to each other is performed by an angle detector mounted on the vehicle. A program is provided that is a step of detecting a connection angle between the first connected vehicle and the second connected vehicle that are connected.

In the present invention, the "first coupled vehicle and the second coupled vehicle"
The attitude of the connected vehicle of "is detected by the angle detector. As a result, the “postures of the first connected vehicle and the second connected vehicle”
Can be obtained easily and accurately.

[0026]

According to the invention described in claims 1 to 10, a vehicle image display device and a program for a vehicle image display device for displaying an accurate image without distortion of an image around a vehicle including a connected vehicle. Can be provided.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. The vehicle image display device 100 according to the present invention is provided in a vehicle having at least a first connected vehicle and a second connected vehicle that are flexibly connected by a connecting means, such as a trailer. These articulated vehicles include articulated vehicles including a driver's seat, cargo-carrying articulated vehicles, tank-mounted articulated vehicles, and any other type of articulated vehicle. In addition, the number of connected vehicles of the vehicle to which this embodiment is applied is not limited, and may be a vehicle including two connected vehicles including a connected vehicle including a driver's seat and a connected vehicle for freight transportation. It may be a vehicle including a connected vehicle including seats and a plurality of connected vehicles for transporting cargo. The image display device 100 for a vehicle of the present embodiment is a vehicle including two connected vehicles in which the first connected vehicle is a connected vehicle including a driver's seat, and the second connected vehicle is a connected vehicle for cargo transportation. It is installed in.

The block configuration of this embodiment is shown in FIG. As shown in FIG. 1, the present embodiment relates to a first image pickup means 1A for picking up an image of the periphery of a first connected vehicle, a second image pickup means 1B for picking up an image of the periphery of a second connected vehicle, and this image pickup operation. The imaging information acquisition unit 2 that acquires the imaging condition information, the detection unit 3 that detects the postures of the first and second connected vehicles connected to each other, and the image data captured by the above-described first imaging unit 1A. Based on the “imaging data” captured by the second imaging unit 1B, the “imaging condition information” is referred to, and the “posture”
An image synthesizing unit 4 for synthesizing the "entire image of the vicinity of the vehicle (including the first connected vehicle and the second connected vehicle)" according to
Display means 5 for displaying the synthesized whole image to the user.

These configurations will be further described.
The first image pickup means 1A images the periphery of the first connected vehicle. Although a digital camera using a CCD is adopted in the present embodiment, it is not particularly limited as long as it is a means capable of acquiring image information of the situation around the connected vehicle. A plurality of the first image pickup means 1A and the second image pickup means 1B are respectively arranged at appropriate positions so that the surroundings of the first connected vehicle or the circumference of the second connected vehicle can be uniformly imaged.

FIGS. 2 and 3 show an example of the arrangement of the camera 1 and an example of the image pickup range a of the camera 1. As shown in FIG. 2, the cameras 11 to 13 for picking up an image of the periphery of the first connected vehicle 201A of the vehicle 200 are the first connected vehicle 20.
It is arranged at the position illustrated on 1A. Similarly, cameras 14 to 16 for picking up an image around the second connected vehicle 201B of the vehicle 200 are arranged on the second connected vehicle 201B at the positions shown in the figure. FIG. 3 shows the imaging ranges of these cameras 11 to 16 from the sky. The imaging ranges of the respective cameras 11 to 16 overlap with each other, and the surroundings of the first connected vehicle 201A and the second connected vehicle 201B are evenly imaged. The imaged data captured here is sent to the image processing means 4.

The image pickup condition information obtaining means 2 obtains image pickup condition information when the image pickup means 1A and 1B perform image pickup. The image pickup condition information includes arrangement positions of the image pickup means 1A and 1B, angles, angles, lens characteristics, reference coordinates of image pickup data, and other information necessary for image synthesis.

Further, the detecting means 3 is provided with the "connected first
The postures of the connected vehicle and the second connected vehicle of ". The detection unit 3 may directly measure the connection angles of the attitudes of the first combined vehicle 201A and the second combined vehicle 201B, and determine the “posture” from the combined angle and the like. Further, the detection means 3 obtains the attitude of the first connected vehicle 201A with respect to the vehicle 200, and further detects the second attitude with respect to the vehicle 200.
The attitude of the connected vehicle 201B of
It is also possible to obtain the attitudes of the first combined vehicle 201A and the second combined vehicle 201B with respect to zero.

In this embodiment, the first connected vehicle 201A
A method of obtaining a connection angle between the first connected vehicle 201A and the second connected vehicle 201B by means of the mark provided on the first connected vehicle 201B and the image pickup means 1B provided on the second connected vehicle 201B for capturing the image of the mark, or an encoder or potentiometer Therefore, the method of measuring the connection angle in the connection means is used. These will be described later with reference to FIGS. 9 to 11.

In addition, the image synthesizing means 4 makes the first captured image data, in accordance with "imaging condition information" and "postures of the first and second connected vehicles connected". The combined vehicle 201A and the second combined vehicle 201B are combined into the “entire image of the vicinity of the vehicle 200”. The image synthesizing means 4 according to the present embodiment has a first image synthesizing section 41 and a second image synthesizing section 42. Furthermore, the first image combining unit 41 has a function 411 for combining images around the first connected vehicle 201A and a function 412 for combining images around the second connected vehicle 201B. The “function 411 for synthesizing images around the first connected vehicle 201A” of the first image combination unit 41 refers to the image pickup data obtained by the first image pickup unit 1A with reference to the image pickup condition information, and the first connected vehicle Two
The image around 01A is combined. At this time, the image around the first connected vehicle 201A is combined as an image of the state where the vehicle 201 is viewed from above. Similarly, the “function 412 for synthesizing images around the second connected vehicle 201 </ b> B” refers to the image pickup data captured by the second image pickup means 1 </ b> B from above around the second connected vehicle 201 </ b> B with reference to the image pickup condition information. It is composed as an image in the state you see it. Thus, the first connected vehicle 2
The image around 01A, the image around the second connected vehicle 201B, and the two images are combined. The second image synthesizing unit 42 re-synthesizes the two images into the entire image around the vehicle. The second image synthesizing unit 42 uses the two images synthesized by the first image synthesizing unit 41 and the “postures of the coupled first coupled vehicle and the second coupled vehicle” detected by the detection unit 3. , The entire image around the entire vehicle 200 including the connected vehicle is recombined. Specifically, as the "postures of the connected first and second connected vehicles", the "connection angle in the connecting means" is detected, and the first connected vehicle 201A is detected.
The image of the periphery and the image of the second connected vehicle 201B are overlapped with each other in position and rotated according to the detected connection angle to synthesize an image according to the "posture". Accordingly, even in the vehicle 201 in which the connected vehicle is connected by the connecting means such as a large trailer, it is possible to synthesize an accurate image of the entire vehicle 201 without distortion in the vicinity of the connecting means.

Incidentally, in the present embodiment, the first image synthesizing unit 41 and the second image synthesizing unit are provided to perform the synthesizing process of the entire image of the periphery of the vehicle 200. 4 can be performed, and such an embodiment is substantially the same as the present embodiment. Further, in the present embodiment, a process of synthesizing the images around the two connected vehicles and then resynthesizing the images according to the "posture" is performed.
As the “posture”, the first positional relationship with respect to the vehicle 200 is set as the third reference without using the direct positional relationship such as the connection angle between the first connected vehicle 201A and the second connected vehicle 201B. The attitude of the combined vehicle 201A and the attitude of the second combined vehicle 201B with respect to the vehicle 200 are detected, and based on this, the image around the first combined vehicle 201A and the image around the second combined vehicle 201B are obtained from the imaged data. To synthesize. The image obtained in this way already follows the coordinates with the vehicle 200 as a reference, so that by just adjusting the position, an accurate image without distortion near the connecting means can be obtained.

As described above, the entire image synthesized by the image synthesizing means 4 is output to the display means 5. In this embodiment, the display 5 is adopted as the display means 5,
The entire image of the vehicle 200 is displayed so as to be visible. The display 5 can be a display of a vehicle-mounted navigation device.

Next, the basic operation of the above configuration will be described. FIG. 4 is a flow chart showing the control procedure of the embodiment of the vehicle image display device of the present invention, FIG. 5 is a diagram for explaining the operating condition of the present embodiment, and FIG. 6 is the operating condition shown in FIG. FIG. 7 is a diagram showing an image captured by one camera, FIG. 7 is a diagram showing an image captured by another camera under the operating conditions shown in FIG. 5, and FIG. 8 is a description of composition of the images shown in FIGS. 6 and 7. FIG. Here, the control procedure of the present embodiment will be described based on FIG. 2 while referring to FIGS. 5 to 8. Now, as shown in FIG. 5, the vehicle 200 is about to be parked in the parking lot where the white line 401 of the parking frame is painted on the road surface. The vehicle 200 is a connected vehicle 2 including a driver's seat.
01A and connected vehicle 201B. A case where the vehicle image display device 100 of the present embodiment operates in this situation will be described. Vehicle image display device 10 of the present embodiment
0 starts at the timing when the gear is switched to the back position. Of course, it may be activated when the steering angle exceeds a predetermined value, or may be activated individually in response to an activation signal from the user.

First, the cameras 11 to 13 image the periphery of the first connected vehicle 201A, and the cameras 14 to 16 image the periphery of the second vehicle (S2). This imaging may be performed every predetermined time, or may be performed continuously. Note that, for convenience of description, it is set here that the cameras 11 to 13 capture images around the first connected vehicle 201A, but the present invention is not limited to this setting, and the captured data captured by the cameras 14 to 16 is set to the first. Of course, it is possible to handle it as image pickup data around the connected vehicle 201A. This imaging is repeated until the required imaging is completed (S3).

The picked-up image data of the first connected vehicle 201A and the picked-up image data of the second connected vehicle 201B are sent to the image synthesizing means 4. The first image synthesizing unit 41 of the image synthesizing unit 4 sets the image data of the periphery of the first connected vehicle to the periphery of the first coupled vehicle 201A from above based on the image capturing condition information acquired by the image capturing condition information acquiring unit 2. The images are combined as seen (S4). This combined image is the image A shown in FIG. Similarly, based on the image capturing condition information acquired by the image capturing condition information acquiring unit 2, the image data of the periphery of the second connected vehicle 201 is connected to the second connected vehicle 201.
The B periphery is combined as an image viewed from above (S
4). This combined image is image B shown in FIG. 7.
When the synthesis of each image is completed (S6), the detection means 3
Detects the "connecting angle in the connecting means" as the "postures of the connected first connected vehicle and second connected vehicle" (S7). Of course, this step may be performed before combining the images.

Next, the second image synthesizing section 42 combines the synthesized image A (image around the first connected vehicle 201A) and image B (image around the second connected vehicle 201B) with each other. Based on the detected "connecting angle in the connecting means", the whole image around the vehicle 201 is recombined (S7).
The recombined whole image is the image shown in FIG. As shown in FIG. 7, the image A and the image B are aligned with respect to the vehicle 201, and are rotated in accordance with the connection angle between the first connected vehicle 201A and the second connected vehicle 201B. Therefore, the actual vehicle 201 (see FIG. 5) is accurately displayed without any distortion in the vicinity of the connecting means. The recombined whole image is output to the display 5 of the display means 5 (S8).

As described above, according to the present embodiment, in the vehicle 201 including a plurality of connected vehicles, the vehicle image display device 100 for displaying an accurate image without distortion of the image around the vehicle 201 is provided. You can

Next, two examples of the detecting means 3 will be described with reference to the first example with reference to FIGS. 9 and 10 and the second example with reference to FIG. These detecting means 3 are
In both cases, the "connecting angle in the connecting means" as the "postures of the connected first connected vehicle and second connected vehicle" is detected.

(First Example) As shown in FIG. 9, a camera 17 is provided on the first articulated vehicle 201A, while an arrow shape is provided on the second articulated vehicle 201B at a position where an image is taken by the camera 17. A mark 31 including the mark is provided. The camera 17 and the mark 31 are arranged via a connecting means. Therefore, the change in the connection angle corresponds to the change in the image pickup data of the mark 31, and according to the image pickup data of the mark 31 continuously captured by the camera 17 at every predetermined time, the connected first combined vehicle 201A and The connection angle of the second combined vehicle 201B can be detected. Imaging data of the mark 31 is shown in FIG. FIG. 10 shows that in the image data of the mark 31, the arrow included in the mark 31 is rotated by the angle α with respect to the x axis. By processing the imaged data of the mark 31 in this way, the rotation of the mark 31 and thus the connecting angle in the connecting means of the first connected vehicle 201A and the second connected vehicle 201B can be calculated. By providing the mark 31 and the camera 17 in this way, the connection angle can be easily detected.

(Second Example) As shown in FIG. 11, the first
Of the connected vehicle 201A and the second connected vehicle 201B of
As the detection means 3, the connected vehicles 201A, 20 connected
An angle detector 3 for detecting the connection angle of 1B is provided. In this example, the potentiometer 32 is used.
Of course, the detecting means 3 using an encoder may be provided. Accordingly, the connection angle between the first connected vehicle 201A and the second connected vehicle 201B can be detected easily and accurately.

The above-described embodiments are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents within the technical scope of the present invention.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a vehicle image display device of the present invention.

FIG. 2 is a diagram showing an arrangement of cameras according to the present embodiment.

FIG. 3 is a diagram showing an imaging range of the camera of the present embodiment.

FIG. 4 is a flowchart showing a control procedure of the embodiment of the vehicle image display device of the present invention.

FIG. 5 is a diagram for explaining an operating condition of the present embodiment.

FIG. 6 is a diagram showing an image captured by one camera under the operation condition shown in FIG.

FIG. 7 is a diagram showing an image captured by another camera under the operating condition shown in FIG.

FIG. 8 is a diagram illustrating composition of the images shown in FIGS. 6 and 7.

FIG. 9 is a diagram for explaining an example of a method for detecting a connection direction.

FIG. 10 is a diagram illustrating an example of marks provided on a connected vehicle.

FIG. 11 is a diagram for explaining another example of the method for detecting the connection direction.

[Explanation of symbols]

100 ... Image display device for vehicle 1 ... Imaging means 1A ... First image pickup means for picking up an image around the first connected vehicle 1B: second image capturing means for capturing an image around the second connected vehicle 11-16, 17 ... Camera 2 ... Imaging information acquisition means, RAM 3 ... Detection means, angle detector 31 ... Mark 32 ... Potentiometer 4 ... Image synthesizing means 41 ... First image combining unit 411 ... Combining function of peripheral images of first connected vehicle 412 ... Combining function of peripheral images of second connected vehicle 42 ... Second image combining unit 5 ... Display means, display 200 ... Vehicle 201A ... First connected vehicle 201B ... Second connected vehicle 401 ... White line a ... Imaging area

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G09G 5/00 G09G 5/00 510M 5/36 510 5/36 510C 5/377 520L F term (reference) 5B057 AA16 CA12 CA16 CB12 CB16 CD03 CE08 DC08 5C054 AA01 EA01 EA03 EA05 FE12 HA30 5C082 AA12 AA27 BA20 BA29 BA41 CA55 CB03 DA51 MM10

Claims (10)

[Claims] 1. A first unit flexibly connected by a connecting unit.
A plurality of image pickup means which are provided in a vehicle including at least the connected vehicle and the second connected vehicle, and which respectively image the periphery of the first connected vehicle and the periphery of the second connected vehicle; The captured image data around the first connected vehicle and the captured image data around the second connected vehicle are stored in the vicinity of the vehicle according to the postures of the connected first connected vehicle and the second connected vehicle. An image display device for a vehicle, comprising: an image synthesizing unit that synthesizes an entire image and outputs the synthesized image to a display unit. 2. An image pickup condition information acquisition unit for obtaining image pickup condition information when the image pickup unit picks up an image, and a detection unit for detecting the postures of the connected first and second connected vehicles. Further, the image synthesizing unit captures the image data of the first connected vehicle periphery and the image data of the second connected vehicle periphery captured by the image capturing unit by the image capturing condition information acquiring unit. A first image synthesizing unit that synthesizes an image around the first connected vehicle and an image around the second connected vehicle, respectively, based on condition information; and the first image synthesized by the first image synthesizing unit. The entire image around the vehicle is recombined from the image around the connected vehicle and the image around the second connected vehicle, and the attitudes of the first connected vehicle and the second connected vehicle detected by the detection unit. Second The vehicle image display apparatus according to claim 1 having the image synthesis unit. 3. An image pickup condition information acquisition unit for obtaining image pickup condition information when the image pickup unit picks up an image, a posture of the first connecting vehicle with respect to the vehicle, and the second posture.
A detection means for detecting the attitude of the connected vehicle with respect to the vehicle, wherein the image combining means obtains the imaging condition information acquisition from the imaging data around the first connected vehicle captured by the imaging means. Based on the image capturing condition information acquired by the means and the attitude of the first connected vehicle with respect to the vehicle detected by the detecting means, the image is combined with an image around the first connected vehicle and imaged by the image capturing means. Based on the imaged condition information acquired by the imaged condition information acquisition means and the attitude of the second connected vehicle with respect to the vehicle detected by the detection means. , The image is combined with the image around the second connected vehicle.
The vehicle image display device described. 4. The image pickup means is provided on either one of the first linked vehicle or the second linked vehicle, and the image pickup is performed on the other of the first linked vehicle or the second linked vehicle. A mark is provided at a position imaged by the means, and the detection means detects a connection angle between the first connected vehicle and the second connected vehicle from the imaged data of the mark imaged by the imaging means. The vehicle image display device according to claim 2. 5. The vehicle image display device according to claim 2, wherein the detection means is an angle detector that detects a connection angle of the connected vehicles. 6. A step of causing a computer mounted on a vehicle to image the periphery of the first connection vehicle and the periphery of the second connection vehicle, which are flexibly connected by a connecting means, respectively; The image data of the surroundings of the first connected vehicle and the image data of the surroundings of the second connected vehicle are stored in the first connected vehicle according to the postures of the connected first connected vehicle and the second connected vehicle. And a program for executing a step of synthesizing with an entire image of a vehicle periphery including the second connected vehicle. 7. The step of synthesizing the entire image of the periphery of the vehicle includes the step of reading out image-capturing condition information relating to image-capturing stored in advance, the image-capturing data of the periphery of the first connected vehicle and the second image data. Synthesizing image data of the periphery of the connected vehicle with an image of the periphery of the first connected vehicle and an image of the periphery of the second connected vehicle based on the read image capturing condition information; Detecting the postures of the first connected vehicle and the second connected vehicle that are connected, and detecting the combined image of the vicinity of the first connected vehicle and the image of the vicinity of the second connected vehicle. 7. The program according to claim 6, further comprising: recombining with a whole image of the periphery of the first connected vehicle and the second connected vehicle according to the postures of the vehicle. 8. The step of synthesizing an entire image of the periphery of the vehicle includes the step of reading out imaging condition information regarding imaging stored in advance, the attitude of the first articulated vehicle with respect to the vehicle, and the second articulated vehicle. Detecting the posture of the first connected vehicle with respect to the vehicle, the imaged image data of the periphery of the first connected vehicle that has been captured, and the acquired image capturing condition information and the detected first connected vehicle with respect to the vehicle. Based on posture and
A step of synthesizing the image of the periphery of the first connected vehicle, a step of combining the captured image data of the periphery of the second connected vehicle with the acquired image capturing condition information and the detected image of the second connected vehicle. Based on the attitude with respect to the vehicle,
7. The program according to claim 6, further comprising a step of combining the image around the second connected vehicle. 9. The step of detecting the postures of the first connected vehicle and the second connected vehicle, wherein a mark provided on either the first connected vehicle or the second connected vehicle is detected. , The first connected vehicle or the second connected vehicle is imaged by the image pickup means provided on the other side to acquire the imaged data regarding the mark, and from the imaged data regarding the acquired mark, the first The program according to claim 7, which detects a connection angle between a connected vehicle and the second connected vehicle. 10. The first connected vehicle and the second connected vehicle
8. The step of detecting the attitude of the connected vehicle of is a step of causing an angle detector mounted on the vehicle to detect a connecting angle between the connected first connected vehicle and the second connected vehicle. The listed program.