JP2007282098A - Image processing apparatus and image processing program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To change a viewpoint of a display image in accordance with the traveling situation of a vehicle. <P>SOLUTION: While the vehicle travels forward, a front photographed image is acquired and while the vehicle travels backward, a rear photographed image is acquired (S101-S104). Coordinate transformation is performed on these acquired photographed images using a viewpoint transformation map determined in accordance with the speed and acceleration of the vehicle (S105-S111). Thus, transformed images representing the front or rear situation of the vehicle watched from a viewpoint (different from a viewpoint during photographing) corresponding to the present speed and acceleration are generated. Specifically, a transformed image is generated of which a viewpoint is made lower as the speed becomes high and the acceleration is enlarged. A virtual line based on a signal from a steering sensor is superimposed on thus generated transformed image, and then outputted to a monitor as an image for display (S112, S113). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an image processing apparatus used by being mounted on a vehicle.

  Conventionally, an in-vehicle system that supports driving while traveling backward has been realized by installing a camera that captures the situation behind the vehicle at the rear of the vehicle and displaying the captured image on a monitor installed near the driver's seat. . In such an in-vehicle system, if the captured image of the camera is displayed on the monitor as it is, it is possible to grasp the situation behind the vehicle to some extent, but it is difficult to grasp the sense of distance. For this reason, it is conceivable that the captured image is subjected to coordinate transformation to generate an image viewed from a viewpoint higher than the actual camera viewpoint (for example, an image viewed from right above the road surface) and displayed on the monitor. Yes. However, as the viewpoint is raised by coordinate conversion, the range that can be grasped from the display image becomes narrower.

Therefore, when the vehicle starts to move backward, the captured image is displayed as it is, and the coordinate-converted image is displayed when the vehicle has moved backward by a predetermined distance or when a predetermined time has elapsed since the vehicle started to move backward. A configuration for switching to display of an image viewed from a high viewpoint has been proposed (see Patent Document 1).
JP 2003-134507 A

  However, in the configuration described in Patent Document 1, it is conceivable that the images are switched at a timing that is unrelated to the actual traveling state of the vehicle. That is, since the distance and time required for reverse running are not always constant, for example, even when entering the same place, the images are switched at different stages each time. As a result, the driver is given a feeling that the images are switched at irregular timings.

  The present invention has been made in view of these problems, and an object of the present invention is to change the viewpoint of a display image according to the traveling state of a vehicle.

The image processing apparatus according to claim 1 of the present invention made to achieve the above object is used by being mounted on a vehicle, and includes an image conversion means and an image output means.
The image conversion means generates a converted image viewed from a viewpoint different from the viewpoint at the time of shooting by performing coordinate conversion of a captured image obtained by shooting the surrounding situation of the vehicle (for example, the front situation or the rear situation of the vehicle). In addition, the imaging means (vehicle-mounted imaging means) itself that captures the surrounding situation of the vehicle from a predetermined imaging position in the vehicle is known, and an image can be input from such an imaging means.

  The image output means outputs the converted image generated by the image conversion means as a display image. Note that display means (an in-vehicle display means) for displaying an image at a position that can be visually recognized by a driver in a vehicle is known, and a display image can be displayed on such a display means.

  Furthermore, the image processing apparatus of the present invention includes a travel information determination unit, and the travel information determination unit determines the speed (vehicle speed) and acceleration of the vehicle. Note that detection means (sensors) for detecting the speed and acceleration of the vehicle are known per se, and it is possible to determine the speed and acceleration of the vehicle based on the detection results from such detection means.

In the image processing apparatus of the present invention, the image conversion unit described above determines the viewpoint of the converted image based on the speed and acceleration determined by the travel information determination unit.
According to the image processing apparatus having such a configuration, since the viewpoint of the display image changes based on the speed and acceleration of the vehicle, the viewpoint of the display image can be changed according to the traveling state of the vehicle. As a result, it is possible to give the driver a feeling that the image changes regularly according to the driving situation. In particular, since the image processing apparatus according to the present invention is configured to determine the viewpoint of the converted image in consideration of both the speed and acceleration of the vehicle, it is possible to determine an appropriate viewpoint according to the driving situation. In other words, if the viewpoint is determined based only on the speed of the vehicle, the vehicle will decelerate even if it is accelerating at the same speed, even though it wants to grasp the farther situation during acceleration than when decelerating. Even within, it becomes the same viewpoint. A similar problem occurs when the viewpoint is determined based only on the acceleration of the vehicle. On the other hand, in the image processing apparatus of the present invention, since the viewpoint is determined in consideration of both speed and acceleration, such a problem can be made difficult to occur.

  Specifically, for example, as described in claim 2, the image conversion unit has a lower viewpoint as the speed determined by the travel information determination unit is faster, and the acceleration determined by the travel information determination unit is larger. The viewpoint of the converted image may be determined so that the viewpoint becomes lower. Needless to say, the acceleration here is a value obtained by differentiating the speed with respect to time (speed change rate of speed). If the acceleration is positive, the speed increases with time, and if the acceleration is negative, the speed is increased. Along with this, the speed becomes slower.

  In other words, the viewpoint is lowered when the speed is high and the acceleration is large, so that it is possible to grasp a distant situation. According to this configuration, in a driving situation where it is necessary to grasp a distant situation such as during normal driving or acceleration, an image with a low viewpoint is displayed, and a sense of distance is felt like during low-speed driving such as in a garage. It is possible to display an image from a high viewpoint in the driving situation that you want to grab.

By the way, as a specific configuration in which the viewpoint is determined in consideration of the speed and the acceleration, for example, the configuration of claim 3 can be considered.
In other words, the image processing apparatus according to claim 3 stores a plurality of types of acceleration-viewpoint correspondence information representing a correspondence relationship between acceleration and viewpoint, and velocity-acceleration correspondence information representing a correspondence relationship between speed and acceleration-viewpoint correspondence information. Storage means for storing. Then, the image conversion means selects the acceleration-viewpoint correspondence information corresponding to the speed determined by the travel information determination means based on the speed-acceleration correspondence information, and the travel information determination based on the selected acceleration-viewpoint correspondence information. A viewpoint corresponding to the acceleration determined by the means is determined.

If comprised in this way, the optimal viewpoint which considered both speed and acceleration can be determined easily.
However, it is considered that the optimum correspondence between the acceleration and the viewpoint varies depending on individual differences among drivers.

  Therefore, as described in claim 4, the image conversion means may change the correspondence relationship represented by the speed-acceleration correspondence information when the speed determined by the travel information determination means exceeds the set speed. Good. In this way, it is possible to automatically adjust the correspondence relationship between the acceleration and the viewpoint according to individual differences among drivers.

  According to a fifth aspect of the present invention, the image conversion unit includes an input unit that inputs a command by an external operation, and the image conversion unit changes the correspondence relationship represented by the velocity-acceleration correspondence information based on the command input by the input unit. It may be. In this way, it is possible to adjust the correspondence between the acceleration and the viewpoint according to the driver's preference. Note that the configuration of keys, switches, and the like that accept external operations may include dedicated ones, but those used for other devices can also be diverted.

  Furthermore, the image processing apparatus according to claim 6 includes a visibility status determination unit that determines whether or not the visibility is narrow (for example, a situation where a wall is present on the side of the vehicle). Then, the image conversion means determines the viewpoint of the converted image as the lowest viewpoint regardless of the speed and acceleration determined by the traveling information determination means when it is determined by the visibility condition determination means that the field of view is narrow. To do. According to this configuration, in a situation where the driver's field of view is narrow, an image representing a situation as wide as possible is displayed, and driving can be effectively supported.

  Specifically, as described in claim 7, for example, an object is detected on the side of the vehicle based on a reflected wave of a detection wave (for example, an ultrasonic wave, a millimeter wave, a laser beam, or a near infrared ray) transmitted from the vehicle. When the speed determined by the travel information determination unit decreases to a predetermined speed or less in the current situation, it can be determined that the field of view is narrow. That is, when a situation with a narrow field of view is reached, the vehicle is usually stopped (or the speed is reduced to a state close to the stop). In addition, the detection means (reflected wave detection means) itself which transmits a detection wave and receives the reflected wave is well-known, and such a detection means can be utilized.

  On the other hand, an image processing program according to an eighth aspect causes a computer to function as an image conversion unit and an image output unit included in the image processing apparatus according to any one of the first to seventh aspects. According to such an image processing program, it is possible to cause a computer to function as the above-described image processing apparatus, thereby obtaining the above-described effects.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[First Embodiment]
FIG. 1 is a block diagram illustrating a schematic configuration of a peripheral image display system according to the first embodiment.

  As shown in the figure, this peripheral image display system is used by being mounted on a vehicle 1, and includes a plurality of cameras 11 and 12 as photographing means, a plurality of sensors 21 to 24 as detecting means, A monitor 30 as display means and an image processing apparatus 40 as image processing means are provided.

  The peripheral image display system includes a front camera 11 and a rear camera 12 as photographing means for photographing the surrounding situation of the vehicle 1. The front camera 11 is installed at the front end portion (front bumper in the present embodiment) of the vehicle 1 and photographs the situation in front of the vehicle 1. The rear camera 12 is installed at the rear end of the vehicle 1 (rear bumper in the present embodiment) and photographs the situation behind the vehicle 1. In the present embodiment, as each of the cameras 11 and 12, a CCD camera having a lens capable of photographing all directions (360 degrees around) is used.

  Further, the peripheral image display system includes a vehicle speed sensor 21 that detects the speed (traveling speed) of the vehicle 1 as a detecting unit (running state detecting unit) that detects the traveling state of the vehicle 1. Further, as detection means (driving operation detection means) for detecting the state of the driving operation, a steering sensor 22 for detecting the steering angle of the vehicle 1, a shift lever position sensor 23 for detecting the position of the shift lever, and a detection wave A clearance sonar 24 is provided as reflected wave detecting means for detecting the presence of an object by transmitting an ultrasonic wave and receiving the reflected wave. The clearance sonar 24 is configured to be able to detect an object present at least on the right side and the left side of the vehicle 1.

  On the other hand, the peripheral image display system includes a monitor 30 as display means for displaying an image to the passenger of the vehicle 1. The monitor 30 is installed at a position that can be visually recognized by the driver of the vehicle 1.

  The image processing apparatus 40 constituting the main part of the peripheral image display system includes a control unit 41, a camera interface (I / F) 45, a vehicle interface (I / F) 46, and a display interface (I / F). ) 47, an operation unit 48, a storage unit 49, and a bus 52 connecting them.

  The control unit 41 is mainly configured by a microcomputer including a CPU 42, a ROM 43, a RAM 44, and the like. Here, the ROM 43 stores a program for causing the CPU 42 to execute a peripheral image display process (FIG. 4) described later.

The camera interface 45 is an interface for inputting captured images from the front camera 11 and the rear camera 12.
The vehicle interface 46 is an interface for inputting signals from the various sensors 21 to 24. Signals from the sensors 21 to 24 may be directly input, or may be input via various ECUs (electronic control units) mounted on the vehicle 1.

The display interface 47 is an interface for outputting a display image, which is an image to be displayed on the monitor 30, to the monitor 30.
The operation unit 48 is used for inputting a command by an external operation from a passenger of the vehicle 1 and includes a plurality of keys for external operation.

  The storage unit 49 stores various types of information in a nonvolatile storage medium (a hard disk in the present embodiment). In the peripheral image display system, the storage unit 49 stores a viewpoint conversion map database 50 and a user setting database 51.

  The viewpoint conversion map database 50 stores a plurality of types of viewpoint conversion maps. Here, the viewpoint conversion map is a map for generating a converted image viewed from a viewpoint different from the viewpoint at the time of shooting by performing coordinate conversion of the captured image of the front camera 11 or the rear camera 12. In this embodiment, nine types of viewpoint conversion maps (for coordinate conversion) for generating converted images (see FIG. 3; only six types are illustrated in FIG. 3) viewed from nine different types of viewpoints (angles). Map) is stored.

The user setting database 51 stores two types of first conversion maps and a plurality of types of second conversion maps.
Here, the second conversion map is a map representing the correspondence between the acceleration of the vehicle 1 and the viewpoint conversion map (viewpoint), as shown in FIGS. In the present embodiment, six types of second conversion maps that differ according to the speed of the vehicle 1 are stored separately for forward / reverse. That is, the second conversion map for forward movement and the second conversion map for backward movement are stored in six types for a total of 12 types.

  On the other hand, the 1st conversion map is a map showing the correspondence of the speed of vehicles 1 and the 2nd conversion map, as shown in Drawing 2 (A). In this embodiment, two types of advance / reverse are stored. Specifically, the first conversion map is a correspondence between each speed range obtained by dividing the range from the minimum vehicle speed 0 [km / h] to the maximum vehicle speed Vm [km / h] into six and the second conversion map to be used. Represents a relationship. The initial value of the maximum vehicle speed Vm of the first forward conversion map is 60, and the initial value of the maximum vehicle speed Vm of the first reverse conversion map is 18.

  That is, the first conversion map represents a second conversion map corresponding to the speed of the vehicle 1, and the second conversion map represents a viewpoint conversion map corresponding to the acceleration of the vehicle 1. Therefore, the viewpoint conversion map corresponding to the speed and acceleration of the vehicle 1 is uniquely determined by the first conversion map and the second conversion map. Specifically, the viewpoint is set to be lower as the speed is higher, and the viewpoint is lower as the acceleration is higher.

  The peripheral image display system of the present embodiment having the above-described configuration displays the situation in front of the vehicle 1 on the monitor 30 during forward traveling, and monitors the situation behind the vehicle 1 during backward traveling. It has a function to display. Specifically, as shown in FIG. 3, an image viewed from a higher viewpoint than the actual captured image, which is generated by coordinate conversion of the captured image of the front camera 11 or the rear camera 12 (FIG. 3A). Is the image with the highest viewpoint (in this example, viewed from directly above). In particular, the peripheral image display system of the present embodiment is characterized in that the height of the viewpoint of the displayed image is automatically changed according to the speed and acceleration of the vehicle 1. That is, the peripheral image display system is configured to be able to convert the captured image of the front camera 11 or the rear camera 12 into a plurality of types (in this embodiment, nine types) of images having different viewpoint heights, and to which viewpoint Whether to convert is determined according to the speed and acceleration of the vehicle 1.

  A peripheral image display process that the CPU 42 of the image processing apparatus 40 executes periodically (for example, every 100 ms) in order to realize such a function will be described with reference to the flowchart of FIG.

When the peripheral image display process is started, first, in S101, it is determined based on a signal from the shift lever position sensor 23 whether or not the position of the shift lever is the drive “D”.
If it is determined in S101 that the position of the shift lever is a drive, the process proceeds to S102, and the captured image (image obtained by capturing the current situation of the vehicle 1 at the present time) is acquired from the front camera 11. Thereafter, the process proceeds to S105.

On the other hand, if it is determined in S101 that the position of the shift lever is not a drive, the process proceeds to S103 to determine whether or not the position of the shift lever is reverse “R”.
If it is determined in S103 that the position of the shift lever is reverse, the process proceeds to S104, and the captured image (image obtained by capturing the current rear state of the vehicle 1) is acquired from the rear camera 12. Thereafter, the process proceeds to S105.

On the other hand, if it is determined in S103 that the position of the shift lever is not reverse, the peripheral image display process is terminated as it is.
In S105, the speed of the vehicle 1 is determined based on the signal from the vehicle speed sensor 21.

  Subsequently, in S106, the speed determined in S105 is the maximum vehicle speed of the first conversion map (the first conversion map for forward when the position of the shift lever is drive, the first conversion map for reverse when the position of the shift lever is reverse). It is determined whether or not Vm is exceeded.

  If it is determined in S106 that the speed exceeds the maximum vehicle speed Vm, the process proceeds to S107, where the first conversion map (the first conversion map for forward movement when the shift lever is in the drive position, the reverse In this case, the maximum vehicle speed Vm of the first reverse conversion map) is updated to the current speed. Specifically, each speed range obtained by dividing the range from the lowest vehicle speed 0 to the maximum vehicle speed Vm into six equal parts on the basis of the updated maximum vehicle speed Vm is associated with each second conversion map. That is, the relationship shown in FIG. 2A is changed so as to be extended in the X-axis direction as much as the maximum vehicle speed Vm is increased. Thereafter, the process proceeds to S108.

On the other hand, if it is determined in S106 that the speed does not exceed the maximum vehicle speed Vm, the process proceeds to S108 as it is.
In S108, the first conversion map (first conversion map for forward movement when the shift lever position is drive, first conversion map for reverse movement when the shift lever position is reverse) is referred to, and the first conversion map corresponding to the speed determined in S105 is referred to. 2 conversion map (second conversion map for forward movement when the position of the shift lever is drive, second conversion map for reverse movement when the position of the shift lever is reverse) is selected.

Subsequently, in S109, the acceleration of the vehicle 1 is determined based on a signal from the vehicle speed sensor 21.
Subsequently, in S110, the second conversion map selected in S108 is referred to, and a viewpoint conversion map corresponding to the acceleration determined in S109 is determined.

  Subsequently, in S111, coordinate conversion is performed on the captured image acquired in S102 or S104 using the viewpoint conversion map determined in S110. Thereby, the conversion image showing the situation of the front or back of the vehicle 1 seen from the viewpoint (viewpoint different from the viewpoint at the time of imaging | photography) according to the present speed and acceleration is produced | generated. Specifically, the higher the speed and the higher the acceleration, the lower the viewpoint (which can be grasped from a distant situation) is generated.

Subsequently, in S112, a virtual line based on a signal from the steering sensor 22 (a predicted travel locus of the vehicle 1) is superimposed on the converted image generated in S111.
Subsequently, in S113, a process of outputting the generated converted image to the monitor 30 as a display image is performed. As a result, the display image is displayed on the monitor 30. Thereafter, the peripheral image display process is terminated.

  As described above, the peripheral image display system according to the first embodiment performs coordinate conversion on a captured image obtained by capturing the front situation and the rear situation of the vehicle 1 based on the speed and acceleration of the vehicle 1, thereby speeding up the vehicle 1. The faster the image is, and the greater the acceleration is, the lower the viewpoint is (that can be grasped from a distant situation) is displayed (S101 to S105, S108 to S113). For this reason, according to the peripheral image display system of the present embodiment, an image with a low viewpoint is displayed in a driving situation where it is necessary to grasp a distant situation such as during normal driving or acceleration, such as in a garage. Thus, the viewpoint of the display image can be changed so that an image with a high viewpoint is displayed in a driving situation where a sense of distance is desired. In particular, since the viewpoint of the converted image is determined in consideration of both the speed and acceleration of the vehicle 1, compared to the case where the viewpoint of the converted image is determined in consideration of only the speed or only the acceleration, the driving situation is improved. Appropriate viewpoints can be taken.

  In the peripheral image display system of this embodiment, when the speed of the vehicle 1 exceeds the set speed, the maximum vehicle speed Vm in the first conversion map is updated to the current speed (S106: YES, S107), it becomes possible to automatically adjust the first conversion map according to individual differences of the driver.

  In the peripheral image display system of the first embodiment, the storage unit 49 corresponds to the storage unit of the present invention. Further, the CPU 42 that executes the processes of S105 and S109 in the peripheral image display process (FIG. 4) corresponds to the travel information determination means of the present invention, and the CPU 42 that executes the processes of S106 to S108, S110, and S111 is the present invention. The CPU 42 that executes the processing of S113 corresponds to the image output means of the present invention.

[Second Embodiment]
Next, a peripheral image display system according to the second embodiment will be described.
The basic configuration of the peripheral image display system of the second embodiment is the same as that of the peripheral image display system (FIG. 1) of the first embodiment, but is replaced with the peripheral image display processing (FIG. 4) of the first embodiment. The difference is that the peripheral image display process shown in the flowchart of FIG. In addition, about the same structure, a common code | symbol is attached | subjected and description is abbreviate | omitted.

  Here, the peripheral image display processing that the CPU 42 of the image processing apparatus 40 according to the second embodiment executes regularly (for example, every 100 ms) will be described with reference to the flowchart of FIG. Note that this peripheral image display processing is compared with the peripheral image display processing (FIG. 4) of the first embodiment, the processing contents of S201 to S205 and S208 to S213 are the same as the processing contents of S101 to S105 and S108 to S113. They are the same (only S206 and S207 are different).

When the peripheral image display process is started, first, in S201, it is determined based on a signal from the shift lever position sensor 23 whether or not the position of the shift lever is the drive “D”.
If it is determined in S201 that the position of the shift lever is a drive, the process proceeds to S202, and the captured image (image obtained by capturing the current situation of the vehicle 1 at the present time) is acquired from the front camera 11. Thereafter, the process proceeds to S205.

On the other hand, if it is determined in S201 that the position of the shift lever is not a drive, the process proceeds to S203, and it is determined whether or not the position of the shift lever is reverse “R”.
If it is determined in S203 that the position of the shift lever is reverse, the process proceeds to S204, and the captured image (image obtained by capturing the rear state of the vehicle 1 at the present time) is acquired from the rear camera 12. Thereafter, the process proceeds to S205.

On the other hand, if it is determined in S203 that the position of the shift lever is not reverse, the peripheral image display process is terminated as it is.
In S205, the speed of the vehicle 1 is determined based on the signal from the vehicle speed sensor 21.

  Subsequently, in S206, it is determined whether or not a predetermined viewpoint adjustment operation for adjusting the viewpoint has been performed on the operation unit 48. In the present embodiment, as the viewpoint adjustment operation, an operation for increasing / decreasing the maximum vehicle speed Vm can be performed.

  If it is determined in S206 that the viewpoint adjustment operation has been performed, the process proceeds to S207, where the first conversion map (the first conversion map for forward when the shift lever is in the drive position, and the reverse when it is reverse). The maximum vehicle speed Vm of the first reverse conversion map) is updated according to the content of the viewpoint adjustment operation. Specifically, each speed range obtained by dividing the range from the lowest vehicle speed 0 to the maximum vehicle speed Vm into six equal parts on the basis of the updated maximum vehicle speed Vm is associated with each second conversion map. That is, the relationship shown in FIG. 2A is changed so as to be extended in the X-axis direction as much as the maximum vehicle speed Vm is increased. Thereafter, the process proceeds to S208.

On the other hand, if it is determined in S206 that the viewpoint adjustment operation is not performed, the process proceeds to S208 as it is.
In S208, the first conversion map (first conversion map for forward movement when the shift lever position is drive, first conversion map for reverse movement when the shift lever position is reverse) is referred to, and the first conversion map corresponding to the speed determined in S205 is referred to. 2 conversion map (second conversion map for forward movement when the position of the shift lever is drive, second conversion map for reverse movement when the position of the shift lever is reverse) is selected.

Subsequently, in S209, the acceleration of the vehicle 1 is determined based on the signal from the vehicle speed sensor 21.
Subsequently, in S210, the second conversion map selected in S208 is referred to, and a viewpoint conversion map corresponding to the acceleration determined in S209 is determined.

  Subsequently, in S211, the captured image acquired in S202 or S204 is subjected to coordinate conversion using the viewpoint conversion map determined in S210. Thereby, the conversion image showing the situation of the front or back of the vehicle 1 seen from the viewpoint (viewpoint different from the viewpoint at the time of imaging | photography) according to the present speed and acceleration is produced | generated. Specifically, the higher the speed and the higher the acceleration, the lower the viewpoint (which can be grasped from a distant situation) is generated.

Subsequently, in S212, a virtual line (predicted travel locus of the vehicle 1) based on the signal from the steering sensor 22 is superimposed on the converted image generated in S211.
Subsequently, in S213, a process of outputting the generated converted image to the monitor 30 as a display image is performed. As a result, the display image is displayed on the monitor 30. Thereafter, the peripheral image display process is terminated.

According to the peripheral image display system of the second embodiment described above, the same effect as that of the peripheral image display system of the first embodiment can be obtained.
In particular, in the peripheral image display system of this embodiment, when the viewpoint adjustment operation is performed, the maximum vehicle speed Vm of the first conversion map is updated (S206: YES, S207). Accordingly, the first conversion map can be adjusted.

  In the peripheral image display system of the second embodiment, the operation unit 48 corresponds to the input unit of the present invention, and the storage unit 49 corresponds to the storage unit of the present invention. The CPU 42 that executes the processes of S205 and S209 in the peripheral image display process (FIG. 5) corresponds to the travel information determination means of the present invention, and the CPU 42 that executes the processes of S206 to S208, S210, and S211 is the image of the present invention. The CPU 42 that corresponds to the conversion unit and executes the processing of S213 corresponds to the image output unit of the present invention.

[Third Embodiment]
Next, a peripheral image display system according to the third embodiment will be described.
The basic configuration of the peripheral image display system according to the third embodiment is the same as that of the peripheral image display system according to the first embodiment (FIG. 1), but is replaced with the peripheral image display processing (FIG. 4) according to the first embodiment. The difference is that the peripheral image display process shown in the flowchart of FIG. 6 is executed. In addition, about the same structure, a common code | symbol is attached | subjected and description is abbreviate | omitted.

  Here, a peripheral image display process that the CPU 42 of the image processing apparatus 40 according to the third embodiment executes regularly (for example, every 100 ms) will be described with reference to the flowchart of FIG. 6. It should be noted that the processing contents of S301 to S305 and S308 to S315 are the same as the processing contents of S101 to S113, as compared with the peripheral image display processing of the first embodiment (FIG. 4). Only S306 and S307 are different).

When the peripheral image display process is started, first, in S301, it is determined based on a signal from the shift lever position sensor 23 whether or not the position of the shift lever is the drive “D”.
If it is determined in S301 that the position of the shift lever is a drive, the process proceeds to S302, and the captured image (image obtained by capturing the current situation of the vehicle 1 at the present time) is acquired from the front camera 11. Thereafter, the process proceeds to S305.

On the other hand, if it is determined in S301 that the position of the shift lever is not a drive, the process proceeds to S303, where it is determined whether or not the position of the shift lever is reverse “R”.
If it is determined in S303 that the position of the shift lever is reverse, the process proceeds to S304, and the captured image (image obtained by capturing the current rear state of the vehicle 1) is acquired from the rear camera 12. Thereafter, the process proceeds to S305.

On the other hand, if it is determined in S303 that the position of the shift lever is not reverse, the peripheral image display process is terminated as it is.
In S305, the speed of the vehicle 1 is determined based on the signal from the vehicle speed sensor 21.

  Subsequently, in S306, the vehicle 1 is in a blind corner (the situation where the driver's field of view is narrow and difficult to see right and left, such as when there are walls on both sides of the vehicle 1. For example, when entering an intersection with poor visibility, It is determined whether the vehicle is located at the time of delivery from the garage. In the present embodiment, when an object such as a wall is detected on the side of the vehicle 1 based on a signal from the clearance sonar 24, the speed of the vehicle 1 decreases to a predetermined speed (for example, 5 km / h) or less. It is determined that it is located at the blind corner. That is, as shown in FIG. 7, when the vehicle approaches the blind corner, the vehicle 1 is usually temporarily stopped (or the speed is reduced to a state close to the stop). The corner is judged. The determination that the vehicle is in the blind corner is canceled when the vehicle speed becomes a predetermined speed (for example, 10 km / h) or more or when the steering angle becomes a certain angle or more.

  If it is determined in S306 that the vehicle 1 is located at the blind corner, the process proceeds to S307, where the viewpoint with the lowest viewpoint (capable of grasping far away) is used as the viewpoint conversion map used for coordinate conversion. Select a transformation map. Thereafter, the process proceeds to S313.

  On the other hand, if it is determined in S306 that the vehicle 1 is not positioned at the blind corner, the process proceeds to S308, and the speed determined in S305 is determined based on the first conversion map (forward when the position of the shift lever is a drive). It is determined whether or not the vehicle speed exceeds the maximum vehicle speed Vm of the first conversion map for the reverse and the first conversion map for reverse in the case of reverse.

  If it is determined in S308 that the speed exceeds the maximum vehicle speed Vm, the process proceeds to S309, where the first conversion map (the first conversion map for forward movement when the shift lever is in the drive position, the reverse In this case, the maximum vehicle speed Vm of the first reverse conversion map) is updated to the current speed. Specifically, each speed range obtained by dividing the range from the lowest vehicle speed 0 to the maximum vehicle speed Vm into six equal parts on the basis of the updated maximum vehicle speed Vm is associated with each second conversion map. That is, the relationship shown in FIG. 2A is changed so as to be extended in the X-axis direction as much as the maximum vehicle speed Vm is increased. Thereafter, the process proceeds to S310.

On the other hand, if it is determined in S308 that the speed does not exceed the maximum vehicle speed Vm, the process proceeds to S310 as it is.
In S310, the first conversion map (first conversion map for forward when the position of the shift lever is a drive, first conversion map for reverse when the position of the shift lever is reverse) is referred to, and the first corresponding to the speed determined in S305. 2 conversion map (second conversion map for forward movement when the position of the shift lever is drive, second conversion map for reverse movement when the position of the shift lever is reverse) is selected.

Subsequently, in S311, the acceleration of the vehicle 1 is determined based on a signal from the vehicle speed sensor 21.
Subsequently, in S312, the second conversion map selected in S310 is referred to, and a viewpoint conversion map corresponding to the acceleration determined in S311 is determined. Thereafter, the process proceeds to S313.

  In S313, the captured image acquired in S302 or S304 is coordinate-transformed using the viewpoint conversion map selected in S307 or the viewpoint conversion map determined in S312. Thereby, the conversion image showing the situation of the front or back of the vehicle 1 seen from the viewpoint (viewpoint different from the viewpoint at the time of imaging | photography) according to the present speed and acceleration is produced | generated. Specifically, the higher the speed and the higher the acceleration, the lower the viewpoint (which can be grasped from a distant situation) is generated.

Subsequently, in S314, a virtual line based on a signal from the steering sensor 22 (a predicted travel locus of the vehicle 1) is superimposed on the converted image generated in S313.
Subsequently, in S315, a process of outputting the generated converted image to the monitor 30 as a display image is performed. As a result, the display image is displayed on the monitor 30. Thereafter, the peripheral image display process is terminated.

  In the peripheral image display system of the third embodiment, the storage unit 49 corresponds to the storage unit of the present invention. The CPU 42 that executes the processes of S305 and S311 in the peripheral image display process (FIG. 6) corresponds to the travel information determination means of the present invention, and the CPU that executes the process of S306 corresponds to the visibility situation determination means of the present invention. The CPU 42 that executes the processes of S307 to S310, S312, and S313 corresponds to the image conversion means of the present invention, and the CPU 42 that executes the process of S315 corresponds to the image output means of the present invention.

According to the peripheral image display system of the third embodiment described above, the same effect as that of the peripheral image display system of the first embodiment can be obtained.
In particular, in the peripheral image display system of the present embodiment, when the vehicle 1 is located at a blind corner, the lowest viewpoint (viewpoint that can display the widest possible situation) regardless of the vehicle speed and acceleration. (S306: YES, S307), the driving at the blind corner can be effectively supported.

  In the peripheral image display system according to the third embodiment, the vehicle 1 is determined to be positioned at the blind corner when the speed of the vehicle 1 rapidly decreases to a predetermined speed or less. However, based on other information. You may make it determine. For example, it is also possible to determine whether or not the vehicle is located at the blind corner by analyzing the image captured by the front camera 11 or the rear camera 12 and determining the presence of a “stop” character on a wall, a sign, or a road. Is possible. It is also possible to determine that the vehicle is in the blind corner when the time from when the vehicle engine is started to when the vehicle enters the back gear is within a predetermined time. This is because if the time from when the engine is started to when the gear is put into the back gear is short, the vehicle is likely to start from a parking state and is likely to be located in a blind corner. It is also possible to determine whether or not the vehicle is located at a blind corner based on information from the navigation system (information such as an intersection).

[Other forms]
As mentioned above, although one Embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form.

  For example, in the peripheral image display system of each of the above embodiments, the first conversion map is updated according to the speed of the vehicle 1 or the operation by the driver (S107, S207, S309). The second conversion map may be updated according to the acceleration of the vehicle or the operation by the driver.

  In the peripheral image display system of each of the above embodiments, the second conversion map representing the correspondence between the acceleration and the viewpoint conversion map is selected based on the first conversion map representing the correspondence between the speed and the second conversion map. Although the viewpoint conversion map is determined based on the selected second conversion map, the present invention is not limited to this. For example, a map representing the correspondence between the vehicle speed and the viewpoint conversion map may be used as the second conversion map, and a map representing the correspondence between the acceleration and the second conversion map may be used as the first conversion map. Even in this case, the viewpoint can be lowered when the speed is high and the acceleration is large.

  Further, in the peripheral image display system of each of the above embodiments, the process for determining the viewpoint based on the vehicle speed and acceleration and the process for converting the coordinates of the captured image are performed by the same device (image processing device 40). However, the present invention is not limited to this. For example, if the front camera 11 and the rear camera 12 are provided with a built-in means for converting and outputting a captured image according to an instruction from the outside, it is not necessary to perform coordinate conversion of the captured image by the image processing device 40.

  On the other hand, in the peripheral image display system of each embodiment described above, the example in which both the front situation and the rear situation of the vehicle 1 are displayed has been described. However, the present invention is not limited to this, and for example, only the front situation of the vehicle 1 or It is good also as a structure which displays only a back condition.

It is a block diagram showing schematic structure of the periphery image display system of 1st Embodiment. It is explanatory drawing of a 1st conversion map and a 2nd conversion map. It is explanatory drawing of a conversion image. It is a flowchart of the periphery image display process of 1st Embodiment. It is a flowchart of the periphery image display process of 2nd Embodiment. It is a flowchart of the periphery image display process of 3rd Embodiment. It is a graph showing the tendency of the time change of the vehicle speed in a blind corner.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 11 ... Front camera, 12 ... Rear camera, 21 ... Vehicle speed sensor, 22 ... Steering sensor, 23 ... Shift lever position sensor, 24 ... Clearance sonar, 30 ... Monitor, 40 ... Image processing apparatus, 41 ... Control part 42 ... CPU, 43 ... ROM, 44 ... RAM, 48 ... operation unit, 49 ... storage unit, 50 ... viewpoint conversion map database, 51 ... user setting database

Claims (8)

An image processing apparatus mounted on a vehicle and used.
Image conversion means for generating a converted image viewed from a viewpoint different from the viewpoint at the time of shooting by performing coordinate conversion of a captured image obtained by shooting the surrounding situation of the vehicle;
Image output means for outputting the converted image generated by the image conversion means as a display image;
Traveling information determination means for determining the speed and acceleration of the vehicle;
With
The image processing device, wherein the image conversion means determines a viewpoint of the converted image based on the speed and acceleration determined by the travel information determination means. The image conversion means is configured such that the viewpoint decreases as the speed determined by the travel information determination means increases, and the viewpoint decreases as the acceleration determined by the travel information determination means increases. The image processing apparatus according to claim 1, wherein a viewpoint is determined. A plurality of types of acceleration-viewpoint correspondence information representing correspondence between acceleration and viewpoint are stored, and storage means for storing speed-acceleration correspondence information representing correspondence between speed and acceleration-viewpoint correspondence information is provided.
The image conversion means selects acceleration-viewpoint correspondence information corresponding to the speed determined by the travel information determination means based on the speed-acceleration correspondence information, and based on the selected acceleration-viewpoint correspondence information, the travel The image processing apparatus according to claim 1, wherein a viewpoint corresponding to the acceleration determined by the information determination unit is determined. 4. The image according to claim 3, wherein the image conversion unit changes a correspondence relationship represented by the speed-acceleration correspondence information when the speed determined by the travel information determination unit exceeds a set speed. 5. Processing equipment. Provide input means to input commands by external operation,
The image processing apparatus according to claim 3, wherein the image conversion unit changes a correspondence relationship represented by the velocity-acceleration correspondence information based on a command input by the input unit. Visibility situation judging means for judging whether or not the situation is narrow,
When the image conversion means determines that the visibility situation is narrow, the image conversion means determines the viewpoint of the converted image as the lowest viewpoint regardless of the speed and acceleration determined by the travel information determination means. The image processing device according to claim 1, wherein the image processing device is determined as follows. The visibility condition determining means reduces the speed determined by the travel information determining means to a predetermined speed or less in a situation where an object is detected on the side of the vehicle based on a reflected wave of a detection wave transmitted from the vehicle. In this case, it is determined that the field of view is narrow.   An image processing program for causing a computer to function as the image conversion unit and the image output unit included in the image processing apparatus according to claim 1.