JP2003348574A - Image display device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To display vehicle images that help a driver driving the vehicle under a wide variety of situations. <P>SOLUTION: An image display device for a vehicle is provided with cameras 1a, 1b,... provided in the vehicle, an image preparing means 2 for preparing at least one between an upper side image obtained by looking down at the self-vehicle from a first viewpoint over the vehicle almost perpendicularly on the basis of an image picked up by the cameras 1 and a bird's eye image obtained by looking down at the vehicle from a second viewpoint with a prescribed looking-down angle, and a display 4 for displaying the image prepared by the image preparing means 2. The image preparing means 2 has at least a travel information acquiring part 26 for acquiring travel information about a vehicle traveling condition, and a switching part 24 for switching the display of the upper side image and the display of the bird's eye image in accordance with the travel information acquired from the travel information acquiring part 26. <P>COPYRIGHT: (C)2004,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 and a vehicle image display program for displaying images of a vehicle and its surroundings viewed from above.

[0002]

2. Description of the Related Art An image of a periphery of a vehicle taken by a camera mounted on the vehicle is displayed in a vehicle cabin to assist operations such as parking or parking.
No. 151975). In displaying this video,
Although it is possible to display the image captured by the camera on the display as it is, attempts have been made to shift the viewpoint to a position above the vehicle and display an upper surface image of the vehicle which is almost vertically looking down from the sky on the display.

[0003] Since this top view image shows a vehicle which is looked down substantially vertically from above, there is an advantage that when parking in a predetermined parking space or the like, the positional relationship between the parking space and the vehicle can be easily understood.

[0004] However, since the top view image is an image obtained by moving the viewpoint of the image from the viewpoint of the camera mounted on the vehicle to the sky above the vehicle, it includes distortion due to a shift in the viewpoint. Moreover, a three-dimensional vehicle with a height must be placed on the mounting surface of the vehicle (ground, etc.).
When the projection is performed, the distortion in the height direction of the vehicle becomes remarkable, and there is a disadvantage that it is difficult to grasp a three-dimensional sense of distance.
In particular, when a driver drives while avoiding an obstacle such as another vehicle, a motorcycle, or a bicycle, there is a disadvantage that it is difficult to confirm the position of the obstacle from the top image.

[0005] That is, when parking in a predetermined parking space while confirming the position of the vehicle, the display of the top view image is appropriate, but the obstacle is measured while measuring the three-dimensional distance between the obstacle and the vehicle. In the case of moving forward while avoiding, the display of the top image is inappropriate.

As described above, there is a problem that the operation of the driver cannot be sufficiently assisted by displaying only the top image.

[0007]

DISCLOSURE OF THE INVENTION The present invention provides a vehicular video display device and a vehicular video display program for switching between display of a top video and display of a bird's eye video to display a video suitable for assisting driver operation. With the goal.

According to the present invention, at least one of a top view image of the vehicle overlooking the vehicle substantially vertically from a first viewpoint and a bird's-eye image of a vehicle looking down at a predetermined angle from a second viewpoint is provided. The top view image and the bird's-eye view image are switched and displayed according to the created and acquired traveling information on the traveling state of the vehicle.

In the present invention, "running information" refers to the direction of travel, such as whether the vehicle is moving forward, moving backward, or stopping, and whether the vehicle has stopped after moving forward or stopped after moving backward. History of the direction of travel, such as
Or, information indicating a traveling speed of how fast the vehicle is traveling and other traveling conditions of the vehicle.

According to the present invention, an image suitable for assisting the driver's operation is selected from such traveling information and displayed. That is, when the vehicle is moving backward, there is a high possibility that the driver has performed a parking operation, so that a top surface image that objectively displays the positional relationship between the predetermined parking space and the vehicle is displayed. On the other hand, when the vehicle is moving forward, it is highly likely that the driver is driving while avoiding obstacles such as other vehicles, so that a bird's-eye view image in which a sense of three-dimensional distance can be easily grasped is displayed.

As described above, the display of the top view image and the display of the bird's-eye view image are switched according to the running condition of the vehicle.
It is possible to display an image that appropriately assists the driver's operation.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. The vehicle image display device 100 of the present embodiment is a device that displays an image of a vehicle and a periphery of the vehicle viewed from a viewpoint above the vehicle on a display 4 in the vehicle compartment.

FIG. 1 is a block diagram showing an embodiment of a vehicular image display apparatus according to the present invention. FIGS. 2 and 3 are diagrams for explaining a process of converting an entire upper surface image (whole image) into a bird's-eye image. 2 corresponds to a conversion process in the Y-axis direction, and FIG. 3 corresponds to a conversion process in the X-axis direction).

As shown in FIG. 1, in the present embodiment, a plurality of cameras 1 (1a, 1a,
1b), display image creating means 2 for creating a display image from image data captured by the camera 1, and a display 4 for displaying the created display image.

The camera 1 is provided outside the vehicle, captures images around the vehicle, and obtains captured data. The arrangement of the cameras 1 and the number of cameras to be arranged are not particularly limited. The camera 1 (1a, 1b,...) May be an optical camera having a lens system, but in the present embodiment, a digital camera having a CCD element is employed. The imaging data is sent to the video creating means 2.

The image creating means 2 creates a bird's-eye view image of the vehicle projected from a predetermined viewpoint above the vehicle based on the image data acquired from the camera 1. The “upper surface image” in the present embodiment is an image in which the vehicle is viewed almost vertically from a predetermined viewpoint (first viewpoint) above the vehicle. On the other hand, the “bird's-eye image” is a perspective image in which the vehicle is viewed obliquely from above the vehicle, and specifically, an image in which the vehicle is viewed from a predetermined viewpoint (second viewpoint) above the vehicle at a predetermined angle of view. It is. The second viewpoint is a point where the first viewpoint is moved forward or backward in the traveling direction of the vehicle.

The image creating means 2 includes a CPU, a ROM,
And a RAM provided with a RAM. The ROM includes a ROM in which a program or firmware is stored, a CPU that functions as the image creating unit 2 by executing the program stored in the ROM, and a RAM that is a storage unit 30. Of course, CPU, ROM, R
The AM may be configured by a logic circuit.

More specifically, the image creation means 2 includes a storage unit 30
Further, the storage unit 30 has an area for storing camera information 31, an area for storing a coordinate conversion formula 32, and an area for storing graphic data 33. The “camera information 31” is information necessary when the synthesizing unit 21 synthesizes the entire video from the imaging data, and includes, for example, information on the mounting position of the camera 1, the imaging direction, the imaging angle,
Information about the lens and the CCD element. The “coordinate conversion formula 32” is a conversion formula required when the conversion unit 22 converts the top image into a bird's-eye image. This conversion formula is used for information relating to the top view image, the position of the viewpoint of the bird's-eye view image, the angle of looking down from the viewpoint, the position of the projection surface (including the angle between the projection surface and the mounting surface of the vehicle), and other information necessary for conversion or Information necessary to derive the coordinate transformation formula 32 is included. "Graphic data 3
3 "is arrow-shaped image information that visually indicates the traveling direction of the vehicle, image information that represents the vehicle viewed from a predetermined viewpoint at a predetermined projection angle on a predetermined projection surface in a three-dimensional and visual manner, And image information expressing a reference line network of a video two-dimensionally or three-dimensionally. The storage unit 30 stores arrow graphic data k, k ′ in the shape of an arrow indicating the traveling direction of the vehicle, vehicle graphic data p, p ′ three-dimensionally representing the vehicle according to the viewpoint and the projection plane, and a grid line g for the upper surface image. Alternatively, the bird's-eye view grid line g 'is stored in advance.

The image creating means 2 includes cameras 1a, 1
(b) combining a plurality of “imaging data” obtained from “b” and combining a “top view image” of the vehicle in a substantially vertical view from a first viewpoint above the vehicle; A conversion unit 22 for converting a second viewpoint moved forward or backward in the direction into a “bird's-eye image” looking down on the vehicle at a predetermined angle of view, and graphic data 33 converted to a bird's-eye image converted by the conversion unit 22 And a superimposing unit 23 for superimposing.

Further, the image creating means 2 determines whether or not to convert the top image into a bird's-eye image, and controls the conversion process of the conversion unit 22 to switch between displaying the bird's-eye image and displaying the top image. A switching unit 24 that receives a driver command from an external manual switch 5 and
4 and a traveling information acquisition unit 26 that transmits traveling information acquired from the external traveling situation detecting means 6 to the switching unit 24.

By the way, the manual switch 5 receives a command for displaying the image of the driver. This instruction includes:
A display image switching instruction such as “display a top image”, “display a bird's eye image”, and “display a video with a viewpoint position A and a bottom-down angle B” or “display a bird's eye image when moving forward , Display a top image when reversing "" Display a bird's eye image when reversing and display a top image when moving forward "
And the mode of the command is not limited.

The traveling state detecting means 6 acquires traveling information on the traveling state of the vehicle. The traveling information of the present embodiment includes:
This is information on the operation and operation history of the shift position of the vehicle, and uses a shift position signal detected by the shift position detection unit 61. According to the shift position signal, it is possible to acquire the traveling direction and the history of the traveling direction in which the vehicle moves forward, backward, or stops, or stops after forward, or stops after backward.

Here, the image creating means 2 will be described in detail. The image creating unit 2 that creates and switches a display image includes a combining unit 21, a converting unit 22, a switching unit 24, and a superimposing unit 23. Hereinafter, each of these components will be described.

<Synthesizing Unit> The synthesizing unit 21 includes the cameras 1a,
1b acquires data of each image taken. The synthesizing unit 21 captures imaging data corresponding to the imaging range of each of the cameras 1a and 1b,
The images are combined into one integrated top image representing the periphery of the vehicle.
The upper surface image is an image in which the vehicle is looked down substantially vertically from a predetermined first viewpoint. In this case, the synthesizing unit 21 reads out the camera information 31 from the storage unit 30 and
A top image is synthesized based on 1 and the acquired image data. Note that the viewpoint of the preset top surface image is not particularly limited as long as it is above the vehicle.

<Converting Unit> The converting unit 22 converts the top image synthesized by the synthesizing unit 21 into a bird's-eye image according to the judgment of the switching unit 24. The bird's-eye view image is an image in which the vehicle is looked down at a predetermined look-down angle from a second viewpoint above the vehicle. The position of the second viewpoint of the bird's-eye view image is not particularly limited, but is a position moved forward or backward in the traveling direction of the vehicle with respect to the first viewpoint of the top view image. Further, the projection surface onto which the overlooked vehicle is projected has a predetermined angle α (0 <α ≦ 90 °) with respect to the mounting surface of the vehicle, and the mounting surface (road surface, ground surface, parking surface) of the vehicle. Is preferable. This is to reduce distortion in the height direction of the vehicle in the bird's-eye view image. The angle α is not particularly limited and is determined according to the position of the viewpoint. In the present embodiment, the plane perpendicular to the looking down direction from a predetermined viewpoint is defined as the projection plane. Specifically, when the looking down direction from a predetermined viewpoint is at an angle θ with respect to the mounting surface of the vehicle, the projection surface forms an angle of α = 90 ° −θ with respect to the mounting surface of the vehicle.

Here, an example of the conversion process from the top image to the bird's-eye image by the conversion unit 22 will be described with reference to FIGS. In this conversion example, an upper surface image (an image in which the vehicle is viewed almost vertically from above the vehicle) as a viewpoint (first viewpoint) using a predetermined position above the vehicle as a viewpoint (first viewpoint) is used as a viewpoint at another predetermined point above the vehicle. It is converted to a bird's-eye view (a second viewpoint) (a video viewed from the second viewpoint at a predetermined angle).

In order to convert an arbitrary point B on the coordinates (upper surface coordinates) of the upper surface image shown in FIG. 2 to a point C on the coordinates (bird's eye coordinates) of the bird's eye image, a point on the upper surface coordinates and a point on the bird's eye coordinates are displayed. Guide the relationship with points.

First, the conversion in the Y-axis direction will be described with reference to FIG. The axis indicated by Y is the Y coordinate axis in the upper surface coordinates. Point A shown in FIG. 2 indicates the position of the viewpoint of the bird's-eye view image. h is the height of the viewpoint in the upper surface coordinates. θ indicates the angle of looking down from the viewpoint.

The axis indicated by y is the y-coordinate axis in bird's-eye view coordinates, and defines the y-axis of the projection surface (surface on which the bird's-eye image is projected) on which the top image is converted and projected. This projection surface is at a predetermined angle α (0 <α ≦ 90) with respect to the mounting surface of the vehicle.
°) is set to have. The projection plane is set at a position away from the viewpoint A by a predetermined distance DS. This distance DS is determined according to the size of the display image displayed via the display 4.

The y-coordinate value C (y) of a point C obtained by projecting an arbitrary point B on the upper surface coordinates to the bird's-eye coordinate is C (y) =-DS
Tan θ−DS · tan ω (1) = − DS (tan θ + tan ω) (2) DS: distance from viewpoint A to the projection surface θ: looking down angle from viewpoint A ω: viewing line looking down from viewpoint A at angle θ The angle formed by the line segment AB.

On the other hand, the Y coordinate value B (Y) of an arbitrary point C on the upper surface coordinates is as follows: B (Y) = {h / sin (θ + ω)} · (cosω / cosθ) + c (3) h: camera height c: image margin (preset value) By rearranging equation (3), B (Y) = {h / (tan θ + tan ω)} · (1 / cos ² θ) + c (4) Satisfies.

From the equations (1) and (4), B (Y) = (− h · DS / cos ² θ) · (1 / C
(Y)) + c (5) is obtained.

Here, b = h · DS / cos ² θ ...
(6), equation (5) can be rearranged as follows: B (Y) = (− b / C (y)) + c (7), and the point B (Y) on the top image and the bird's-eye image A mutual conversion equation with the point C (y) can be obtained.

Next, the conversion in the X-axis direction will be described with reference to FIG. The axis indicated by X is the X coordinate axis in the upper surface coordinates of the upper surface image. The axis indicated by x is the x coordinate axis in the bird's-eye view coordinates of the bird's-eye image.

An x-coordinate value C (x) of a projection point C obtained by projecting an arbitrary point B on the upper surface coordinates to bird's-eye coordinates is obtained. The ratio between the distance d from the viewpoint A to the X axis of the upper surface coordinate including the arbitrary point B and the X coordinate value (upper surface coordinate) of the arbitrary point B is represented by DS and the x coordinate value C (x) of the projection point C. Equal to the ratio of

Therefore, B (X) / d = C (x) / DS ...
(8). d corresponds to the distance between the viewpoint A and the point D in FIG. This AD
Is the same as the distance between any point B and point E, and d
= (B (Y) -c) cosθ. Substituting d
When the equations are arranged, B (X) = (cos θ / DS) · C (x) · (B (Y) −c) (9) Equation (7): B (Y) = (− b / C (y) )) + C, B (X) = (cos θ / DS) · C (x) · (−b / C (y)) B (X) = − b · (cos θ / DS) · (C (x ) / C (y)) (10) Here, if a = b · (cos θ / DS), B (X) = − a · (C (x) / C (y)) (11) Thus, an arbitrary point B (X) on the upper surface coordinates can be converted into a point C (x) on the bird's eye coordinates.

The constants a, b and c in the equations (7) and (11)
And C (x, y) on the bird's-eye view coordinates from B (X, Y).

According to the judgment of the switching unit 24 to display the bird's-eye image, the conversion unit 22 converts the top image to the bird's-eye image and sends it to the superimposition unit 23. On the other hand, if the switching unit 24 determines that the top image is to be displayed, the conversion unit 22 sends the top image to the superimposing unit 23 as it is. Of course, conversion unit 2
Alternatively, the top image may be transmitted from the synthesizing unit 21 to the superimposing unit 23 without passing through the second unit 2.

<Switching Unit> Next, the switching unit 24 will be described. The switching unit 24 determines the mode of the display image to be displayed according to the traveling state of the vehicle, and controls the conversion process of the conversion unit 22 to switch the display of the image. That is, when displaying the top image, the conversion unit 22 transmits the top image combined by the combining unit 21 to the bird's-eye image without being converted to the bird's-eye image, and causes the display 4 to display the top image. On the other hand, when displaying a bird's-eye image, the conversion unit 2
2 to convert the top image to the bird's-eye image.
After that, the bird's-eye image is displayed on the display.

When performing the switching process, the switching unit 24
The travel information is acquired via the travel information acquisition unit 6. The traveling information includes traveling information on the traveling direction of the vehicle acquired by the shift position sensor 61 and traveling information on the traveling speed of the vehicle acquired by the vehicle speed sensor 62. When switching the image to be displayed according to the traveling direction, the image is switched according to whether the vehicle is moving forward or backward, or according to the history of running or stopping, or the vehicle is stopped after moving forward or stopped after moving backward.

When switching the image to be displayed according to the traveling speed, the image is switched according to whether the traveling speed of the vehicle is higher or lower than a predetermined value S. Predetermined value S
Are stored in the switching unit 24. This predetermined value S is not particularly limited as long as it is a value that can determine the traveling state of the vehicle. For example, when traveling at a speed of about 5 km / h to 15 km / h, it is predicted that the driver is driving while confirming the positional relationship between the vehicle and the surroundings of the vehicle. In such a case, the top image may be displayed. The predetermined value S can be set from the viewpoint of being preferable. In this case, the switching unit 2
4 is, in principle, when 5Km to 15Km> (or ≧) S, the top image is displayed, and 5Km to 15Km ≦ (or <)
In the case of S, switching is performed so that a bird's-eye view image is displayed. In this judgment, “more than (≧)“ greater than (>) ”
“Less than (<)” and “less than (≦)” are not particularly limited and are within the range of design items. Of course, a bird's-eye view image can be displayed when 5Km to 15Km> (or ≧) S, and a top view image can be displayed when 5Km to 15Km ≤ (or <) S according to a command from the driver. The predetermined value S in the present embodiment is 10 Km. In principle, when 10 Km> S, the top image is displayed, and when 10 Km ≦ S, the bird's-eye image is displayed. In this example, the switching unit 24 determines the relationship between the predetermined value S and the actual traveling speed. However, the traveling information acquisition unit 26 storing the predetermined value in advance compares the detected traveling speed with the low value S, The signal of the result may be transmitted to the switching unit 24 as traveling information.

As described above, since the switching unit 24 switches the image display in accordance with the driving condition detected by the driving condition detecting means of the vehicle, the switching unit 24 directly responds to the driving condition of the vehicle and the operation of the driver. Video display can be switched.

The switching section 24 has an image switching function 241 for switching between the display of the top image and the display of the bird's-eye image, and a viewpoint switching function 242 for switching the viewpoint of the image and the angle of view from the viewpoint. In the present embodiment, the video switching function 241 is activated. The viewpoint switching function 242 will be described in a second embodiment.

According to the image switching function 241, the display of the top view image which looks down the vehicle substantially vertically from the preset viewpoint, and the display of the bird's eye image which looks at the vehicle at the preset viewpoint and the angle of view are performed. Switch. Since the viewpoint and the look-down angle of the upper surface image and the bird's-eye image to be created are set in advance, the conversion unit 22 only needs to read and convert the coordinate conversion formula 32 corresponding to the viewpoint and the look-down angle. The display switching can be made faster without taking any action.

<Driving Information Acquisition Unit> The judgment of the switching unit 24 is as follows.
This is performed based on the travel information acquired by the travel information acquisition unit 26. This traveling information is detected by the traveling condition detecting means 6 mounted on the vehicle, which is positioned as an external device. The traveling state detecting means 6 is provided with a shift position sensor 61 for detecting an operation and an operation history of a shift position of the vehicle.
And a vehicle speed sensor 62 for detecting the speed of the vehicle. The shift position sensor 61 detects whether the vehicle is in the forward direction, the backward direction, or the stop direction from the operation of the shift position, and further detects the history of the traveling direction (stop after forward, stop after reverse) from the operation history of the shift position. I do. In other words, the shift position signal of the present invention includes information on the operation and the operation history of the shift position, and the traveling direction of the vehicle and the history of the traveling direction can be acquired from the shift position signal. Further, the vehicle speed sensor 62 detects the running speed of the vehicle from a vehicle speed meter mounted on the vehicle. The traveling information acquisition unit 26 can transmit the acquired traveling speed to the switching unit 24 as it is. However, as described in the section of the switching unit 24, the traveling information acquiring unit 26 determines the magnitude relationship with the predetermined value S, and determines the determination result. It may be sent to the switching unit 24.

The traveling information acquisition section 26 acquires traveling information from the shift position sensor 61 or the vehicle speed sensor 62,
It is sent to the switching unit 24. In this example, the traveling information acquisition unit 6 is provided in addition to the switching unit 24, but the switching unit 24 may also have the function of the traveling information acquisition unit 6.

<Instruction Receiving Unit> The switching unit 24 can also switch between the display of the top image and the display of the bird's-eye image based on the driver's instruction input in addition to the traveling information.
It is the command receiving unit 25 that receives the driver's command. This command is input via the manual switch 5. The mode of the instruction of the driver is not particularly limited, and may be an instruction specifying an image to be displayed such as “display a top image”, “display a bird's-eye image”, or “in the case of a forward state, The command may specify an operation mode such as “displaying a bird's-eye view image” or “displaying a top view image in the case of the retreat state”. Although not particularly limited, it is preferable that the switching process based on the command received by the command receiving unit 25 be prioritized over the switching process based on the travel information. In the present embodiment, both the driving information acquisition unit 26 and the command receiving unit 25 are provided, and the switching process is normally performed based on the driving information. When a command from the driver is received, the switching process based on the command is performed. Do.

<Superimposition Unit> The superimposition unit 23 superimposes graphic data 33 (three-dimensional graphic data of a vehicle, graphic data of an arrow indicating a traveling direction, grid lines, the same applies hereinafter) on the received bird's-eye image. The storage unit 30 stores vehicle graphic data p and p 'that project the appearance of the vehicle from a predetermined viewpoint, arrow graphic data k and k' that indicate the traveling direction of the vehicle, and grid lines g and g that indicate a reference line network of the display image. Is stored in the storage unit 30 as graphic data 33.

At the time of the superimposition processing, the superimposition section 23 reads out the predetermined graphic data 33 from the storage section 30 and superimposes the graphic data 33 on the display image (top image or bird's-eye image). By superimposing the graphic data 33, the vehicle and the surroundings of the vehicle are three-dimensionally displayed, and the driver can easily grasp the situation around the vehicle.

In particular, the vehicle graphic data p, p '
Is video data three-dimensionally representing a vehicle according to a predetermined viewpoint or a predetermined viewpoint and a predetermined projection plane. The vehicle graphic data p and p ′ stored for each combination of the viewpoint and the projection plane are superimposed on the basis of the viewpoint and / or the projection plane. The blind spot of the camera 1 causes a lack of image data, and a top image or a bird's-eye image created based on the image data also lacks an image. The superimposed vehicle graphic data p and p 'make up for the lack of this image. In other words, the vehicle graphic data p and p 'viewed from a predetermined viewpoint are shaded. If the missing portion of the image due to the blind spot portion of the camera 1 is hidden behind the vehicle graphic data p and p ', the missing image does not cause a problem in the displayed image. As described above, the superimposed vehicle graphic data p and p 'can compensate for the lack of the image appearing in the image, and a display image of the vehicle periphery without the lack is created.

The bird's-eye image and the vehicle graphic data p 'constituting the display image are images projected on the same projection surface from the same viewpoint, so that even if they are superimposed, there is no distortion in the image. Further, since the entire vehicle is three-dimensionally represented by the vehicle graphic data p and p ', the user can easily grasp the three-dimensional sense of distance and easily confirm the situation around the vehicle.
In particular, it is possible to more accurately display a low portion of the vehicle that is likely to be a blind spot of the camera 1.

As described above, in the present embodiment, the synthesizing unit 21, the converting unit 22, and the superimposing unit 23 provided in the image generating means 2 are used to create a top image, convert to a bird's-eye image, and superimpose graphic data. Processing is performed, but the order of the processing is not particularly limited. For example, video creation means 2
Can collectively process the synthesis processing of the synthesis unit 21 and the conversion processing of the conversion unit 22. Further, the combination processing of the combination unit 21 and the superposition processing of the superposition unit 23 and / or the conversion processing of the conversion unit 22 and the superposition processing of the superposition unit 23 may be collectively processed. Of course, the synthesis processing, the conversion processing, and the superimposition processing can be performed collectively.

Next, the operation will be described with reference to FIGS. FIG. 4 is a flowchart for explaining the operation of the present embodiment, FIG. 5 is a flowchart for explaining the operation of switching the image to be displayed, and FIG.
7 is a diagram showing a display example of the top image selected in step S631A of FIG. 7, FIG. 7 is a diagram showing a display example of the bird's-eye image selected in step S632B of FIG. 5, and FIG. 8 shows the traveling direction in the top image of FIG. FIG. 9 is a diagram illustrating a display example in which arrow graphic data k is superimposed, FIG. 9 is a diagram illustrating a display example in which arrow graphic data k ′ indicating a traveling direction is superimposed on the bird's-eye view video in FIG. 7, and FIG. 10 is step S671B in FIG. FIG. 11 is a diagram showing a display example of the bird's-eye image selected in step S <b> 6.
It is a figure which shows the example of a display of the upper surface image selected by 72A.

As shown in FIG. 4, the vehicle image display device 1
When 00 starts (Step 1), each of the plurality of cameras 1 captures an image of the vehicle and the surroundings of the vehicle (Step 2). The camera 1 sends the captured image data to the image creating means 2 (step 3).

The synthesizing section 21 of the image generating means 2 synthesizes an upper surface image around the vehicle based on the image data and the camera information 31 read from the storage section 30 (step 4).

Before or after the synthesizing process of the synthesizing unit 21, the running information obtaining unit 26 obtains running information from the running state detecting means 6 (step 5). The acquired traveling information is sent to the switching unit 24. The switching unit 24 switches the image displayed on the display 4 to the top image or the bird's-eye image according to the traveling information (step 6). In this video switching, either the video switching function 241 or the viewpoint switching function 242 of the switching unit 24 is activated. In the present embodiment, an image switching function 241 for selecting one of the top image and the bird's-eye image and switching the display is activated (step 7). The image switching function 241 selects either the top image or the bird's-eye image in order to switch the image according to the travel information (step 8). This selection and switching operation will be described later in detail with reference to FIG.

When the image switching function 241 of the switching unit 24 selects the top image (step 9), there is no need to perform the conversion process from the top image to the bird's-eye image, and the image switching function 2
Reference numeral 41 does not instruct the conversion unit 22 to perform a conversion process. In this case, the top image synthesized by the synthesizing unit 21 is sent to the superimposing unit 23 as it is, and the graphic data is superimposed (step 12). The top image on which the graphic data is superimposed is displayed on the display 4.

On the other hand, when the image switching function 241 of the switching unit 24 selects the bird's-eye image without selecting the top image, a conversion command of the top image is sent to the conversion unit 22 (step 9). According to the instruction of the video switching function 241, the conversion unit 22 reads out the coordinate conversion formula 33 of the bird's-eye video from the storage unit 30 (Step 10). The conversion unit 22 converts the top image into a bird's-eye image with reference to the read coordinate conversion formula 33 (step 11). The converted bird's-eye image is sent to the superimposing unit 23, and the graphic data is superimposed thereon (step 1).
2). The bird's-eye image on which the graphic data is superimposed is displayed on the display 4.

Next, the operation of switching the image to be displayed will be described with reference to FIG. This operation can be regarded as the subroutine for switching the image to be displayed in step 6 described in FIG. The switching unit 24 of the present example switches the image to be displayed based on the traveling information acquired by the traveling information acquiring unit 26, and switches the image to be displayed based on the switching command from the driver accepted by the command accepting unit 25.

Switching unit 2 for switching the image to be displayed
4 starts (S600), first, the command receiving unit 25 determines whether or not a switching command has been input from the driver via the manual switch 5 (step 610). If the switching command from the driver has not been input, the process proceeds to step 630.

In step 630, the switching unit 24
A shift position signal is acquired from the shift position sensor 61 of the traveling situation detecting means 6 via the traveling information acquiring section 26.

In the present embodiment, the image switching function 24 of the switching unit 24 determines whether to display the top image or the bird's-eye image, and switches the display.

First, when traveling information indicating that the vehicle is moving backward is acquired from the acquired shift position signal (S631), the switching unit 24 selects the top image (S631A). If necessary, the superimposition unit 23 superimposes the vehicle graphic data p (S640), and displays the upper surface image after the superimposition processing on the display 4 (S65).
0). This top view image is shown in FIG. f indicates the traveling direction (reverse) of the vehicle 10. Further, the superimposing unit 23 may further superimpose an arrow graphic data k indicating the traveling direction before the stop or a grid line g serving as a reference line network of the video, in order to further specify the traveling direction before the stop. FIG. 8 shows an example of a top image in which the arrow graphic data k indicating the traveling direction and the grid line g are superimposed.

As described above, the driver can easily grasp the positional relationship between a predetermined parking area, a garage, and the like and the vehicle from the upper surface image by displaying the upper surface image when the vehicle retreats when parking or garage parking is performed. Can be. Further, by superimposing the vehicle graphic data p, the arrow graphic data k, and the grid line g, it is possible to display a top surface image in which the positional relationship of the vehicle can be easily grasped to the driver. In particular, by superimposing the grid line g indicating the reference line network of the video, it is possible to easily recognize the difference between the display forms of the top view video and the bird's-eye view video.

Secondly, when traveling information indicating that the vehicle is moving forward is acquired from the acquired shift position signal (S632), the switching unit 24 selects a bird's-eye view image (S6).
32B). If necessary, the superimposition unit 23 superimposes the vehicle graphic data p '(S640), and displays the bird's-eye view image after the superimposition processing on the display 4 (S650).
This bird's eye image is shown in FIG. Similarly, f indicates the traveling direction (forward) of the vehicle 10. Furthermore, arrow graphic data k 'indicating the traveling direction before the stop may be superimposed to clearly indicate the traveling direction before the stop. FIG. 9 shows an example of a bird's-eye view image in which arrow graphic data k 'indicating the traveling direction and a grid line g' (for a bird's-eye view image) serving as a reference line network of the image are superimposed.

As described above, by displaying a bird's-eye image during forward traveling, which often involves driving while avoiding obstacles, the driver can easily grasp the sense of three-dimensional distance between the obstacle and the host vehicle from the bird's-eye image. be able to. Further, vehicle graphic data p 'and arrow graphic data k
By superimposing the grid line g ′, it is possible to display to the driver a bird's-eye view image that makes it easy to grasp the sense of three-dimensional distance between the vehicle and obstacles around the vehicle.

Third, when the traveling information indicating that the vehicle is stopped is acquired from the acquired shift position signal (S633), the switching unit 24 further acquires traveling information relating to the history of traveling or stopping of the vehicle. (S634). The traveling information relating to the traveling or stopping history is obtained from the shift position signal relating to the operation history of the shift position. When the traveling information indicating that the vehicle has stopped after retreating has been acquired (S635), the switching unit 24 selects the top image (S635A). If necessary, the superimposition unit 23 superimposes the vehicle graphic data p and the arrow graphic data k indicating the traveling direction. The display 4 displays the superimposed top image. The displayed top image is the same as in FIGS. 6 and 8.

On the other hand, when the traveling information indicating that the vehicle is stopped after moving forward is acquired (S636), the switching unit 24 selects a bird's-eye view image (S636B). If necessary, the vehicle graphic data p 'and the arrow graphic data k' indicating the traveling direction are superimposed by the superimposing unit 23. The display 4 displays the bird's-eye image on which the superimposition processing has been performed. The displayed bird's-eye view image is the same as in FIGS. 7 and 9.

As described above, the bird's-eye image is displayed in the case of stopping after moving forward, and the top view image is displayed in the case of stopping after moving backward. In addition, it is possible to prevent the top image and the bird's-eye image from frequently switching each time the vehicle moves forward or backward.

Here, returning to S610, an operation when a switching command is input will be described. When a switching command is input from the driver via the manual switch 5, the switching unit 24 of the present embodiment performs video switching with priority given to the driver switching command. The mode of the switching command is not particularly limited, but the switching command of the present embodiment has three modes.

First, the first switching command is: "A top view image is displayed when the vehicle is moving backward, a bird's-eye view image is displayed when the vehicle is moving forward, and when the vehicle is stopped, the image of the vehicle before stopping is displayed. In accordance with the traveling direction, that is, when stopping after retreating, the top image is displayed, and when stopping after moving forward, a bird's-eye image is displayed. " This is because when the vehicle retreats, there are many situations of parking and garage entry, and in such a case, it is considered that the upper surface image is easier to understand the determined parking area or the positional relationship between the garage and the vehicle. The operation according to the first switching instruction has the same contents as the basic operation of the present embodiment. Therefore, when the driver inputs the first switching command (S620), the same operation as that of S630 to S650 described above is performed.

The second switching command is such that a bird's-eye view image is displayed when the vehicle is moving backward, a top view image is displayed when the vehicle is moving backward, and the vehicle before stopping is displayed when the vehicle is stopped. In accordance with the traveling direction, that is, when stopping after retreating, a bird's-eye view image is displayed, and when stopping after moving forward, a top view image is displayed. " The second switching command defines a reverse video switching to the first switching command. This is because when parking or garage parking is performed while moving forward, it is considered that the top view image makes it easier to grasp the positional relationship between the vehicle and the parking area, as in the case of the first switching instruction, and the vehicle travels a considerable distance in reverse. This is because, in such a case (when the parking lot is at the back of the alley), it is considered that the bird's-eye view image makes it easier to grasp the sense of three-dimensional distance between the vehicle and an obstacle around the vehicle.

Further, command receiving section 25 receives a hold command as a third command. This hold command displays either the top image or the bird's-eye image regardless of the running condition.

The operation of the switching unit 24 when following these instructions will be described with reference to FIG. If the first switching command has been input, the process proceeds to S630, and operates as described above. If the second switching command has been input, the process proceeds to S670.

The switching unit 24 that has acquired the second switching command acquires a shift position signal from the shift position sensor 61 of the traveling situation detecting means 6 via the traveling information acquiring unit 26. When traveling information indicating that the vehicle is moving backward is acquired from the acquired shift position signal (S671),
The switching unit 24 selects the bird's-eye view video (S671B). If necessary, the superimposition unit 23 superimposes the graphic data (S680), and displays the bird's-eye image after the superimposition processing on the display 4 (S690). This bird's-eye view image is shown in FIG. f indicates the traveling direction (reverse) of the vehicle 10. In this way, by displaying the bird's-eye view image during retreat, even when the driver travels a long distance in the back, the driver can easily sense the three-dimensional distance between the obstacle and the host vehicle from the bird's-eye view image. You can figure out.

If the traveling information indicating that the vehicle is moving forward is acquired from the acquired shift position signal (S672), the switching unit 24 selects the top image (S6).
72A). If necessary, the superimposition unit 23 superimposes the vehicle graphic data p (S680), and displays the upper surface image after the superimposition processing on the display 4 (S690). This bird's-eye view image is shown in FIG. Similarly, f indicates the traveling direction (forward) of the vehicle 10. In this way, by displaying the bird's-eye view image when moving forward, when parking or garage parking is performed in a predetermined area while moving forward, the positional relationship between the vehicle and the predetermined parking area, garage, or the like can be easily grasped. .

Further, when traveling information indicating that the vehicle is stopped is acquired from the acquired shift position signal (S673), the switching unit 24 further acquires traveling information relating to the history of traveling or stopping of the vehicle (S673). S674). The traveling information relating to the traveling or stopping history is obtained from the shift position signal relating to the operation history of the shift position. When the traveling information indicating that the vehicle has stopped after retreating has been acquired (S675), the switching unit 24 selects a bird's-eye view image (S675B). If necessary, the superimposition unit 23 superimposes the graphic data. The display 4 displays the bird's-eye image on which the superimposition processing has been performed. The displayed bird's-eye view image is the same as in FIG.

On the other hand, when the traveling information indicating that the vehicle is stopped after moving forward is acquired (S676), the switching unit 24 selects the top image (S676A). If necessary, the superimposition unit 23 superimposes the graphic data. The display 4 displays the superimposed top image. The displayed top image is the same as in FIG.

As described above, the bird's-eye image is displayed in the case of stopping after retreating, and the upper surface image is displayed in the case of stopping after moving forward. In addition, it is possible to prevent the top image and the bird's-eye image from frequently switching each time the vehicle moves forward or backward.

By switching the display in accordance with the second switching command, it is possible to display an image according to the driving situation even in a situation different from a normally predicted situation.

Next, when a hold command is input as a third switching command, either a top image or a bird's-eye image is displayed regardless of the running condition. The hold command is a command having a content such as “display the top image, display the bird's-eye image, or continue displaying either the currently displayed top image or the bird's-eye image”. According to the hold command, the switching unit 24 switches the display of the top image or the bird's-eye image.

By this hold command, it is possible to display an image desired by the driver even in a situation other than the situation assumed in the first switching command or the second switching command.

As described above, the traveling information on the traveling direction of the vehicle
According to the traveling information on the history of traveling or stopping of the vehicle,
The operation of switching between the display of the top image and the display of the bird's-eye image has been described. In the present embodiment, the display of the top view image and the display of the bird's-eye view image can be switched according to the traveling information on the traveling speed of the vehicle. The traveling information on the traveling speed is detected by the vehicle speed sensor 62 of the traveling situation detecting means 6. The switching unit 24 acquires the traveling information on the traveling speed via the traveling information acquiring unit 26.

FIG. 12 is a flowchart showing an operation relating to switching of the display of the image according to the traveling information relating to the traveling speed. This operation can be regarded as the subroutine for switching the image to be displayed in step 6 described in FIG. The basic operation is the same as the operation described with reference to FIG. The switching unit 24 of the present example switches the image to be displayed based on the traveling information acquired by the traveling information acquiring unit 26, and switches the image to be displayed based on the switching command from the driver accepted by the command accepting unit 25.

Switching unit 2 for switching the image to be displayed
4 starts (S700), first, the command receiving unit 25 determines whether or not a switching command has been input from the driver via the manual switch 5 (step 710). If the switching command from the driver has not been input, the process proceeds to step 730.

At step 730, the switching unit 24
A traveling speed signal is acquired from the vehicle speed sensor 62 of the traveling situation detecting means 6 via the traveling information acquisition unit 26. In the present embodiment, the image switching function 24 of the switching unit 24 determines whether to display the top image or the bird's-eye image, and switches the display.

First, when traveling information indicating that the traveling speed of the vehicle is less than 10 Km / h is acquired from the acquired traveling speed signal (S731), the switching unit 24 selects the top image (S731A). ). If necessary, the vehicle graphic data p is superimposed by the superimposing unit 23 (S74).
0), the top image after the superimposition processing is displayed on the display 4 (S750). This top image is similar to the images shown in FIGS. In this way, by displaying the top image in a situation where the traveling speed is low, such as when entering a predetermined parking area, the driver can easily grasp the positional relationship between the vehicle and the parking area from the top image.

Secondly, when traveling information indicating that the traveling speed of the vehicle is 10 km / h or more is acquired from the acquired traveling speed signal (S732), the switching unit 24 selects a bird's-eye view image (S732B). . If necessary, the superimposition unit 23 superimposes the vehicle graphic data p '(S74).
0), the bird's-eye view image after the superimposition processing is displayed on the display 4 (S750). This bird's-eye view image is similar to the images shown in FIGS. In this way, by displaying the bird's-eye view image in a situation where the vehicle is traveling at a running speed that is not low, the driver can check the bird's-eye view image not only around the vehicle but also to a distant place ahead or behind.

Here, returning to S610, the operation when a switching command is input will be described. There are three aspects of the switching command of the present embodiment. First, the first switching command has a content of "display a top image when the traveling speed of the vehicle is less than 10 km / h, and display a bird's eye image when the traveling speed of the vehicle is 10 km / h or more". Instruction. When the vehicle is traveling at a low speed, parking and garage parking are often performed.In such a case, it is considered that the upper surface image is easier to understand the defined parking area or the positional relationship between the garage and the vehicle. This is because a bird's-eye view image over which a wide area around the vehicle can be seen when traveling at a speed other than that makes it easier to confirm the traveling direction. The operation according to the first switching instruction has the same contents as the basic operation. Therefore, when the driver inputs the first switching instruction (S720), the above-described S
Operations similar to those in 730 to S750 are performed.

The second switching command is: "When the traveling speed of the vehicle is less than 10 km / h, a bird's-eye image is displayed,
When the traveling speed of the vehicle is equal to or higher than 10 km / h, the top image is displayed. ". The second switching command defines a reverse video switching to the first switching command. This is a case where a user wants to display a bird's-eye view image that makes it easy to grasp the sense of three-dimensional distance between the vehicle and an obstacle, even when traveling at a low speed. This is because there are cases where it is desired to display a top image that makes it easy to grasp the relative positional relationship between vehicles.

Further, command receiving section 25 receives a hold command as a third command. This hold command displays either the top image or the bird's-eye image regardless of the running condition. If the first switching command has been input, S730
The operation proceeds as described above. If the second switching command has been input, the process proceeds to S770.

The switching unit 24 having acquired the second switching command acquires a traveling speed signal from the vehicle speed sensor 62 of the traveling situation detecting means 6 via the traveling information acquiring unit 26. When traveling information indicating that the traveling speed of the vehicle is less than 10 km / h is acquired from the acquired traveling speed signal (S771), the switching unit 2
4 selects a bird's-eye view image (S771B). If necessary, graphic data is superimposed by the superimposing unit 23 (S
780), the bird's-eye image after the superimposition processing is displayed on the display 4 (S790).

When the traveling information indicating that the traveling speed of the vehicle is 10 km / h or more is acquired from the acquired traveling speed signal (S772), the switching unit 24 selects the top image (S772A). If necessary, the superimposition unit 23 superimposes the graphic data (S780), and displays the superimposed top surface image on the display 4 (S79).
0).

By switching the display in accordance with the second switching command, it is possible to display an image according to the driving situation even in a situation different from a normally predicted situation.

Next, when a hold command as a third switching command is input, either a top view video or a bird's eye view video is displayed regardless of the running condition. The hold command is a command having a content such as “display the top image, display the bird's-eye image, or continue displaying either the currently displayed top image or the bird's-eye image”. According to the hold command, the switching unit 24 switches the display of the top image or the bird's-eye image.

By this hold command, it is possible to display an image desired by the driver even in a situation other than the situation assumed in the first switching command or the second switching command.

The first embodiment has the following advantages. By switching the image to be displayed to the top image or the bird's-eye image according to the driving information on the driving situation, it is possible to display an appropriate image according to the driving operation of the driver, and to assist the driving operation of the driver. .

That is, when the display is switched in accordance with the traveling state in the traveling direction of the vehicle, when the vehicle is moving backward, for example, when the driver enters the predetermined parking area or garage while moving backward, In addition, a top view image of the vehicle viewed substantially vertically from above the vehicle is displayed, and the driver can easily grasp the relationship between the vehicle and the parking area from the top view image. On the other hand, when the vehicle is moving forward, for example, when the driver is moving forward while avoiding obstacles around the vehicle, a bird's-eye view image of the vehicle is displayed from above the vehicle with a predetermined look-down angle. It is possible to easily grasp the sense of three-dimensional distance of obstacles around the vehicle.

When the display is switched in accordance with the traveling information on the traveling speed of the vehicle, when the vehicle is traveling at a low speed (for example, less than 10 km / h), for example, the driver may enter a predetermined parking area. When a vehicle is placed in a garage or a garage, a top view image of the vehicle viewed from above the vehicle in a substantially vertical direction is displayed, and the driver can park or enter the garage while checking the relationship between the vehicle and the parking area based on the top view image. . On the other hand, if the vehicle is at a low speed or higher (for example, 10 km
/ H or more), a bird's-eye view image of the vehicle looking down from above the vehicle at a predetermined look-down angle is displayed, and the driver can use the bird's-eye view image to confirm a wider range including the vehicle and the surroundings of the vehicle. You can drive.

Further, by accepting the switching command input from the driver and switching the display image in accordance with the switching command, even in a situation where the vehicle is parked while moving forward or travels back a long distance, Appropriate images can be displayed for driving assistance of the driver.

In addition, by superimposing the vehicle graphic data p and p 'on the top surface image or the bird's-eye image, a portion of the imaging data which cannot be obtained as a blind spot of the camera 1 provided in the vehicle can be converted into a three-dimensional vehicle. It can be supplemented by graphic data p and p '. Further, three-dimensional vehicle graphic data p, p expressing the vehicle three-dimensionally.
Is superimposed, it is possible to show the actual vehicle shape including perspective in the display video. That is, it is possible to express a three-dimensional effect in the height direction of the vehicle as if the vehicle were actually looked down from above the vehicle. In addition, images around the vehicle, such as around the tires, around the rear bumper, around the front bumper, around the sill outer, and the like, which are likely to be blind spots of the camera 1, can be supplemented by the vehicle graphic data p and p '.

Further, by superimposing the arrow graphic data k, k 'indicating the traveling direction of the vehicle on the top image or the bird's-eye image, the traveling direction of the vehicle included in the displayed image can be easily recognized. . By superimposing the grid lines g and g 'indicating the reference line network of the image, it is possible to easily recognize the difference in the display mode between the top image and the bird's-eye image.

Second Embodiment The second embodiment is different from the first embodiment only in the switching method of the switching unit 24, and the basic operation is the same. To avoid duplication, only the differences will be described here.

In the first embodiment, the video switching function 241 of the switching unit 24 is activated, and the video switching function 241 determines the mode of the display video to be displayed according to the running condition of the vehicle,
2 is to control the conversion process to switch the image display.

On the other hand, in the second embodiment, the viewpoint switching function 242 of the switching unit 24 shown in FIG. 1 is activated. The viewpoint switching function 242 associates the position of the viewpoint according to the travel information and the look-down angle according to the travel information in advance. This correspondence may be associated with a table in which the travel information and the viewpoint position and / or the look-down angle are arranged, or may be associated with an arithmetic expression for deriving the viewpoint position and / or the look-down angle from the travel information. .

The viewpoint switching function 242 sets the viewpoint and the look-down angle of the display image converted by the conversion unit 22 by referring to the associated travel information and the viewpoint position and the look-down angle based on the acquired travel information. I do. A viewpoint position and a look-down angle corresponding to the travel information are calculated, and when these are set, a conversion command is sent to the conversion unit 22 together with a signal indicating the viewpoint position and the look-down angle. The conversion unit 22
The top image synthesized by the synthesizing unit 21 in accordance with the conversion command is converted from a predetermined viewpoint to an image looking down on the vehicle at a predetermined look-down angle.

FIG. 13 shows a viewpoint switching function 24 of the switching unit 24.
FIG. 6 is a flowchart for explaining the operation 2;

This operation can be regarded as a subroutine for switching the image to be displayed in step 6 of the basic operation shown in FIG. First, the viewpoint switching function 242
Is activated (S17), and the viewpoint switching function 242 switches and sets the position of the viewpoint and the angle of looking down in accordance with the traveling information. Further, the viewpoint switching function 242 sends a conversion command including information on the switched (set) viewpoint position and the angle of view to the conversion unit 22 (S18).

If the image to be displayed is the same as the top image before the conversion, that is, the position of the viewpoint and the angle of view of the image to be displayed, and the position of the viewpoint and the angle of view of the top image synthesized by the synthesizing unit 21 Are the same (S1
9), the top image is sent to the superimposing unit 23 as it is, and the graphic data is superimposed (S23), and the top image is displayed on the display 4 (S24).

On the other hand, when the video to be displayed is different from the scene video before conversion, that is, when the position of the viewpoint and the angle of looking down of the video to be displayed are different (S19), the conversion unit 22
Reads from the storage unit 30 the coordinate conversion formula 33 corresponding to the position of the viewpoint and the angle of looking down included in the conversion command (S1).
9). The conversion unit 22 converts the top view image synthesized by the synthesis unit 21 into a bird's-eye view image looking down on the vehicle from the viewpoint position set based on the read coordinate conversion formula 31 with the set view angle (S22).

The converted bird's-eye image is subjected to graphic data superimposition processing in the superimposition section 23 and
Is displayed (S25).

As described above, the second embodiment has the following effects in addition to the effects of the first embodiment. According to the driving information indicating the driving condition of the vehicle, it is possible to arbitrarily switch the viewpoint position and the angle of view of the displayed image, so that an optimal image is displayed for assisting the driver in various driving conditions. be able to.

In this embodiment, the vehicle image display apparatus has been described. However, when the vehicle image display method of the present invention is used or a computer operated by a vehicle image display program operates in the same manner, the same effect is obtained. Play.

The embodiments described above 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 embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

[Brief description of the drawings]

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

FIG. 2 is a first diagram illustrating a conversion process from a top image to a bird's-eye image.

FIG. 3 is a second diagram for describing a conversion process from a top image to a bird's-eye image.

FIG. 4 is a flowchart for explaining the operation of the present embodiment.

FIG. 5 is a flowchart for explaining an operation of switching a video to be displayed.

FIG. 6 is a diagram showing a display example of a top surface image selected in step S631A of FIG.

FIG. 7 is a diagram illustrating a display example of a bird's-eye image selected in step S632B of FIG. 5;

8 is a display example in which arrow graphic data indicating a traveling direction is superimposed on the upper surface image of FIG.

FIG. 9 is a display example in which arrow graphic data indicating a traveling direction is superimposed on the bird's-eye image of FIG. 7;

FIG. 10 is a diagram illustrating a display example of a bird's-eye image selected in step S671B of FIG. 5;

FIG. 11 is a diagram showing a display example of a top surface image selected in step S672A of FIG. 5;

FIG. 12 is a flowchart for explaining another operation of switching the video to be displayed.

FIG. 13 is a flowchart for explaining the operation of the second embodiment.

[Explanation of symbols]

100 ... Vehicle image display device 1, 1a, 1b, ... camera 2 ... Video creation means, CPU 21 ... Synthesis unit 22 ... Conversion unit 23 ... superimposed part 24 switching unit 241: Video switching function 242 ... viewpoint switching function 25 ... Command reception unit 26: Travel information acquisition unit 30 ... Storage unit, RAM, ROM 31: Camera information storage area 32: Coordinate conversion type storage area 33: Graphic data storage area 4. Display (display means) 5. Manual switch 6. Running condition detecting means 61 ... Shift position sensor 62 ... Vehicle speed sensor 10 ... own vehicle

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B60R 21/00 B60R 21/00 621N 622 622F 624 624C 626 626G G06T 1/00 330 G06T 1/00 330B G08G 1 / 16 G08G 1/16 C (72) Inventor Yasuhide Yamamoto 2 Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa Prefecture F-term in Nissan Motor Co., Ltd. 5B057 AA16 BA13 CA12 CA16 CB12 CB16 CD01 CE08 5C054 FD02 FE01 FE23 FE26 HA30 5H180 AA01 CC04 LL01 LL02 LL04 LL08 LL17

Claims (21)

[Claims] 1. A plurality of cameras provided on a vehicle for imaging the periphery of the vehicle, based on image data captured by each of the cameras.
A top view image of the vehicle overlooking the vehicle substantially vertically from a first viewpoint above the vehicle, and a predetermined image from a second viewpoint moving the first viewpoint forward or backward in the traveling direction of the vehicle. Image creating means for creating at least one of a bird's-eye image looking down on the vehicle with a look-down angle and displaying the top image or the bird's-eye image on a display means, wherein the image creating means A traveling information acquisition unit that acquires traveling information on the traveling state of the vehicle, and a switching unit that switches an image displayed by the display unit to the top surface image or the bird's-eye image according to the traveling information acquired by the traveling information acquisition unit. Image display device for a vehicle. 2. The traveling information acquiring section acquires traveling information on the detected traveling direction of the vehicle, and the switching section acquires traveling information indicating that the vehicle is moving forward by the traveling information acquiring section. If so, the display means displays the bird's-eye view image, and if the travel information acquisition unit acquires travel information indicating that the vehicle is moving backward, the display means switches to display the top view image. The image display device for a vehicle according to claim 1. 3. The traveling information acquisition section acquires traveling information on a history of the detected traveling or stopping of the vehicle, and the switching section informs that the traveling information acquisition section has stopped the vehicle after moving forward. When the travel information is acquired, the bird's-eye image is displayed on the display means, and when the travel information acquisition unit acquires the travel information indicating that the vehicle is stopped after retreating, the display means displays the upper surface. The vehicle image display device according to claim 1, wherein the switching is performed so as to display an image. 4. The traveling information acquisition unit acquires traveling information on the detected traveling speed of the vehicle, and the switching unit includes:
When the travel information acquisition unit acquires travel information indicating that the vehicle is traveling at a speed equal to or higher than a predetermined value, the display unit displays the bird's-eye view image, and the travel information acquisition unit determines that the vehicle is less than a predetermined value. The image display device for a vehicle according to claim 1, wherein when the travel information indicating that the vehicle is traveling at a speed is acquired, the display is switched to display the upper surface image. 5. A shift position sensor for detecting an operation signal of a shift position of a vehicle, wherein the travel information acquiring unit includes:
The image display device for a vehicle according to any one of claims 1 to 4, wherein traveling information on a traveling state of the vehicle is acquired from a vehicle speed sensor that detects a traveling speed of the vehicle. 6. The image creating means further comprises a command receiving unit for receiving an external switching command, wherein the switching unit displays an image to be displayed by the display means on the top image based on an external switching command. The image display device for a vehicle according to claim 1, wherein the image display is switched to a bird's-eye image. 7. When the switching command is inputted from outside, the switching unit responds to the switching command received by the command receiving unit and the traveling information acquired by the traveling information acquiring unit. 7. The vehicle image display device according to claim 6, wherein the image displayed by the display means is switched to the top image or the bird's-eye image. 8. The command receiving section displays the bird's-eye view image on the display means when the vehicle is moving forward, and displays the top view image on the display means when the vehicle is moving backward. A first command to be displayed, and displaying the top view image on the display means when the vehicle is moving forward, and displaying the bird's-eye view image on the display means when the vehicle is moving backward. 8. The vehicle image according to claim 7, wherein any one of the second instruction and the third instruction for displaying one of the top surface image and the bird's-eye image regardless of the traveling state of the vehicle is received. 9. Display device. 9. The image creating means includes, on the created top view image or bird's-eye view image, vehicle graphic data projecting the vehicle from each viewpoint, arrow graphic data indicating a traveling direction of the vehicle, and a reference line network of the image. The video display device for a vehicle according to any one of claims 1 to 8, further comprising a graphic superimposing unit that superimposes at least one of the grid lines shown. 10. A camera provided on a vehicle acquires image data around the vehicle, acquires traveling information on a traveling state of the vehicle, and acquires a predetermined viewpoint of the vehicle sky in accordance with the acquired traveling information. An image display method for a vehicle, comprising: switching a position and a look-down angle from the viewpoint, and creating a display image of the vehicle with the predetermined look-down angle from the predetermined viewpoint based on the acquired imaging data. 11. A plurality of cameras provided on a vehicle for imaging the periphery of the vehicle, and based on image data captured by each of the cameras.
Image creating means for creating a display image showing the vehicle with a predetermined angle of view from a predetermined viewpoint above the vehicle, and display means for displaying a display image created by the image creating means; A travel information acquisition unit that acquires travel information related to the detected traveling state of the vehicle, and according to the travel information acquired by the travel information acquisition unit, the position of the predetermined viewpoint and a look-down angle from the viewpoint. A vehicle image display device having a switching unit for switching to create the display image. 12. A vehicle-mounted computer for acquiring image data around the vehicle by a camera provided in the vehicle, acquiring driving information on a traveling state of the vehicle, and responding to the acquired traveling information. Switching a position of a predetermined viewpoint above the vehicle and a look-down angle from the viewpoint; anda display image that shows the vehicle with the predetermined look-down angle from the predetermined viewpoint based on the acquired imaging data. A program for displaying an image of a vehicle for executing the step of creating and the step of outputting to the display means. 13. A vehicle-mounted computer for acquiring imaging data around the vehicle by a camera provided in the vehicle; acquiring driving information relating to a traveling state of the vehicle; And a second viewpoint in which the first viewpoint is moved forward or backward in the traveling direction of the vehicle, based on the upper surface image of the vehicle viewed substantially vertically from the first viewpoint above the vehicle. Creating at least one of a bird's-eye view image looking down on the vehicle with a predetermined look-down angle, and switching an image displayed by display means to the top-view image or bird's-eye view image according to the acquired traveling information. A program for displaying an image of a vehicle for executing the steps. 14. The step of acquiring driving information,
The step of allowing the detected traveling information on the traveling direction of the vehicle to be acquired, and the step of switching to the top view image or the bird's-eye image is performed when the traveling information that the vehicle is moving forward is acquired. 14. The image display program for a vehicle according to claim 13, further comprising: displaying the upper surface image on the display means when driving information indicating that the vehicle is moving backward is acquired. 15. The step of acquiring the driving information,
Acquiring traveling information on the history of traveling or stopping of the detected vehicle, the step of switching to the upper surface image or the bird's-eye image includes displaying the traveling information indicating that the vehicle is stopped after moving forward. 14. The image display of a vehicle according to claim 13, wherein the bird's-eye image is displayed on a means, and when the traveling information indicating that the vehicle is stopped after retreating is acquired, the display is switched to display the upper surface image. Program. 16. The step of acquiring driving information,
Acquiring the traveling information on the detected traveling speed of the vehicle, the step of switching to the upper surface image or the bird's-eye image is performed when the traveling information indicating that the vehicle is traveling at a speed equal to or higher than a predetermined value is acquired. 14. The display means displays the bird's-eye view image, and switches to display the top view image on the display means when traveling information indicating that the vehicle is traveling at a speed less than a predetermined value is acquired. A program for displaying images of vehicles. 17. The step of acquiring driving information,
The image of the vehicle according to any one of claims 13 to 16, wherein traveling information on a traveling state of the vehicle is acquired from a shift position sensor that detects an operation signal of a shift position of the vehicle or a vehicle speed sensor that detects a traveling speed of the vehicle. Display program. 18. The method according to claim 18, wherein the step of switching to the top image or the bird's-eye image includes a step of receiving a switching command input from the outside, and when the switching command is received, the display means based on the received switching command. 2. An image to be displayed is switched to the top image or the bird's-eye image according to claim 1.
The program for displaying an image of a vehicle according to any one of 3 to 17. 19. The method according to claim 19, wherein the step of switching to the top image or the bird's-eye image includes, when a switching command is received, displaying an image to be displayed by the display means in accordance with the received switching command and the acquired travel information. 19. The program for displaying an image of a vehicle according to claim 18, wherein the image is switched to the top image or the bird's-eye image. 20. The step of receiving the switching command, comprising: displaying the bird's-eye image on the display when the vehicle is moving forward; and displaying the display on the display when the vehicle is moving backward. A first command to display an image; displaying the top view image on the display means when the vehicle is moving forward; and displaying the bird's-eye view image on the display means when the vehicle is moving backward. 20. The vehicle according to claim 19, further comprising: receiving a second command to display one of the top surface image and the bird's-eye image regardless of a traveling state of the vehicle. Video display program. 21. The image creating means includes, on the created top image or bird's-eye image, vehicle graphic data that projects the vehicle from each viewpoint, arrow graphic data indicating the traveling direction of the vehicle, and a reference line network of the image. 21. The image display program for a vehicle according to claim 13, wherein at least one of the grid lines shown is superimposed.