JP2008271266A - Display controller, display control method, and display control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a display controller by which it is easy for a driver to recognize status of objects present in the surroundings. <P>SOLUTION: The display controller is constituted by providing: an imaging part which picks up images around a vehicle; an object detection sensor which detects presence/no presence, or distance and directions of surrounding obstacles by irradiating sound wave, radio wave or laser and receiving reflected wave, or processing picked-up image from the imaging part; a detection area decision part which sets the control value of the object detection sensor to vary a detection area according to predetermined conditions; and a display control part which displays the detection area of the object detection sensor determined on the basis of the control value of the detection area decision part by superimposing the detection area on the picked-up image obtained by picking up the images around the vehicle to provide the driver with information about the detection area. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a display control apparatus, method, and program for detecting the presence or absence of an obstacle around a vehicle and notifying a user. In particular, the present invention relates to a display control apparatus, method, and program for informing a user using an image obtained by capturing an image of a vehicle periphery and a detection result of an object detection sensor.

  In recent years, based on the detection results of object detection sensors (including those that process captured images) mounted on vehicles, the possibility of contact with or collision with obstacles can be indicated to the user using images around the vehicle and alarm devices. The driving assistance device that informs is put into practical use.

  In general, an active sensor is often used as a sensor for detecting an object around a vehicle used in such a driving support device. The active sensor transmits energy such as light, radio wave, and sound, and detects an obstacle by receiving energy that hits the obstacle and is reflected back. In particular, as shown in FIG. 13, the antenna switching pattern (beam) is switched by the beam switching means to form a long-distance beam and a short-distance beam, and the detection area is changed depending on the situation. (For example, refer to Patent Document 1). In addition, there is a technique in which the detection area is changed by changing the transmission output in accordance with the speed of the vehicle in order to maintain the detection performance during high-speed traveling (for example, see Patent Document 2).

  In addition, the detection area may be changed. For example, in order to detect an object existing at a short distance from the object detection sensor with high accuracy, the sampling interval is usually made fine. Therefore, in order to detect at the same sampling period, it is necessary to reduce the detection area.

  Further, when a radar is used as the object detection sensor, radio waves directly travel from the transmission antenna to the reception antenna, and the detection performance of the very short distance deteriorates. Therefore, the detection area is narrowed because the transmission output is controlled to be low. Similarly, even when an obstacle with a high reflection intensity is present nearby, the detection area is narrowed because the transmission output is controlled low in order to maintain the detection performance on the reception side.

Alternatively, when an imaging device is used as the object detection sensor, the detection area may be changed depending on the situation, for example, at night, the detection area becomes small.
Japanese Patent No. 3511329 Japanese Unexamined Patent Publication No. 7-63845

  However, the object detection sensor medium (for example, radio waves for radar, sound waves for ultrasonic sensors, and lasers for laser radar) is difficult to check with the naked eye. Although it cannot be accurately recognized, the conventional configuration has a problem that the detection area of the object detection sensor that changes from moment to moment according to the situation cannot be presented to the user.

  The present invention has been made to solve the conventional problems, and it is an object of the present invention to provide a display control device, method, and program that allow a user to easily recognize the state of an object (such as an obstacle) that exists around a vehicle. And

  In order to solve the conventional problems, a first aspect of the present invention is directed to a display control device that displays an image photographed by an imaging device that photographs the periphery of a vehicle. The present invention is an object that detects the presence or absence of surrounding obstacles, or the distance and direction by irradiating sound waves, radio waves, or lasers and receiving reflected waves, or processing images from an imaging device. A detection area determination unit for setting a control value for controlling the detection area of the detection sensor, and a detection area figure corresponding to the control value and indicating the detection area of the object detection sensor are superimposed and displayed on the image captured by the imaging device. A display control unit.

  In addition, the detection area determination unit is characterized by changing a control value set according to a distance from an obstacle detected by the object detection sensor.

  In addition, the detection area determination unit is characterized in that the control value of the detection area of the object detection sensor is set to be smaller as the distance from the obstacle detected by the object detection sensor is shorter.

  In addition, the detection area determination unit is characterized in that the control value set by the received power of the object detection sensor is changed.

  Further, the detection area determination unit is characterized in that when the received power of the object detection sensor is larger than a predetermined value, the detection area determination unit changes the control value to be a detection value that decreases the detection area of the object detection sensor.

  In addition, the detection area determination unit is characterized by changing a control value set according to the speed of the vehicle.

  Furthermore, the display control unit may superimpose and display an area obtained by projecting the detection area of the object detection sensor on the road surface as the detection area graphic.

  Further, the display control unit may superimpose and display an area obtained by projecting the detection area of the object detection sensor onto a plane parallel to the road surface as the detection area graphic.

  The display control unit may superimpose and display the three-dimensional shape of the detection region of the object detection sensor as the detection region graphic.

  The second aspect of the present invention is directed to a display control method for displaying an image photographed by an imaging device that photographs the periphery of a vehicle. The present invention detects the presence, distance, and direction of surrounding obstacles by irradiating sound waves, radio waves, or lasers and receiving reflected waves, or by processing an image from the imaging device. A detection area step for setting a control value for controlling the detection area of the object detection sensor and a detection area figure corresponding to the control value and indicating the detection area of the object detection sensor are superimposed on the image captured by the imaging device. A display step.

  The third aspect of the present invention is directed to a display control program that is executed by a computer of a display control device that displays an image captured by an imaging device that captures a vehicle periphery. The present invention detects the presence, distance, and direction of surrounding obstacles by irradiating sound waves, radio waves, or lasers and receiving reflected waves, or by processing an image from the imaging device. A detection area step for setting a control value for controlling the detection area of the object detection sensor and a detection area figure corresponding to the control value and indicating the detection area of the object detection sensor are superimposed on the image captured by the imaging device. A display step.

  According to this configuration, the driver can recognize the detection area of the object detection sensor that changes every moment. Therefore, when an obstacle is outside the detection area, it is possible to gaze at the object with that awareness. Furthermore, it can be determined whether or not the detection sensor is in a non-operating state, and in some cases, it can be determined that the object detection sensor is not operating properly.

  From the above description, the display control device of the present invention can provide a display control device that allows the user to easily recognize the status of obstacles around the vehicle.

  Hereinafter, a display control apparatus 100 according to an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, description will be given using an example in which display control device 100 is mounted on a vehicle and a user is informed of the situation behind the vehicle.

  FIG. 1 is a block diagram showing an overall configuration of a display control apparatus 100 according to an embodiment of the present invention. In FIG. 1, the display control apparatus 100 includes a detection area determination unit 103, a detection area coordinate holding unit 104, and a display control unit 105. Furthermore, an imaging unit 101 that captures the surroundings of the vehicle, an object detection sensor 102 that detects an object such as an obstacle around the vehicle, and an LCD (Liquid Crystal Display) that presents a situation around the vehicle to the user, such as a captured image of the surroundings of the vehicle. A display unit 106 including a display device such as is connected. As an example, the display control device 100 according to the present invention is configured by an ECU (Electronic Control Unit) provided in a vehicle, and the display control unit according to the present invention is configured by a DSP (Digital Signal Processor). In addition, the display control apparatus 100 may include the imaging unit 101, the object detection sensor 102, and the display unit 106.

  The imaging unit 101 is, for example, a CCD camera or a CMOS camera that images the surroundings of the vehicle. The object detection sensor 102 is an ultrasonic sensor, a radar, a laser radar, or the like that detects the presence or absence of a surrounding obstacle, a distance or a direction by irradiating a sound wave, a radio wave, or a laser and receiving a reflected wave. Alternatively, an image processing sensor that processes an image (including a video such as a moving image) captured by the imaging unit 101 may be used.

  The display unit 106 is a navigation device including a display device such as an LCD (Liquid Crystal Display) or ELD (Electroluminescence Display) that can display an image of the rear of the vehicle, a television broadcast receiver, a DVD (Digital Versatile Disc) player, or the like. A typical video signal reproduction device is an audio device capable of displaying an image.

  The detection area determination unit 103 determines a control value for controlling the detection area from the detection result of the object detection sensor 102 or the like. Details of how to determine the control value will be described later.

  The detection area coordinate holding unit 104 holds a detection area figure representing the detection area corresponding to each control value of the detection area determined by the detection area determination unit 103. Note that the display control apparatus 100 may not include the detection area coordinate holding unit 104. In that case, the detection area coordinate holding unit 104 may be included in the object detection sensor 102 and the display unit 106 connected to the display control apparatus 100, or may be connected to the display control apparatus 100 alone. In this embodiment, the detection area graphic held in the detection area coordinate holding unit 104 is displayed. However, instead of the detection area graphic, a coordinate value corresponding to the control value is held and CG ( It is also possible to adopt a configuration in which detection area graphics are created in accordance with changes in control values by computer graphics.

  The display control unit 105 causes the display unit 106 to superimpose an image around the vehicle imaged by the imaging unit 101 and a graphic indicating the detection area held in the detection area coordinate holding unit 104. In some cases, the obstacle detected by the object detection sensor 102 is surrounded by a red frame or outline, or drawn with overlapping marks.

  FIG. 2 is a flowchart of the display process of the display control apparatus according to the embodiment of the present invention.

  The display processing operation starts with an instruction signal “Start” (step S20). First, the display control unit 105 causes the display unit 106 to display an image around the vehicle captured by the imaging unit 101 (step S21). Next, the detection area determination unit 103 calculates a control value for determining the detection area of the object detection sensor 102. For example, the initial value is output immediately after the start of the display processing operation, but thereafter, the control value determined based on the detection result of the object detection sensor or the like is output (step S22). Next, it is determined whether an initial value has been set for the control value or the control value has been changed (step S23). When the control value is the initial value or has been changed (Yes in step S23), A display graphic indicating the detection region of the object detection sensor 102 is acquired from the detection region coordinate holding unit 104 from the control value (step S24). If the control value is neither the initial value nor changed (No in step S23), the process proceeds directly to step S25. Next, the display control unit 105 causes the detection area to be superimposed on the image displayed on the display unit 106 (step S25). Next, when the object detection sensor 102 senses the surroundings of the vehicle (step S26) and detects an obstacle (Yes in step S27), the display control unit 105 displays the result on the display unit 106 or the user by voice. (Step S28). If no object is detected in step S27 (No), the process proceeds directly to step S29. The above operation is repeated until the instruction signal “End” is input (step S29).

  Note that the instruction signal is input by, for example, acquiring transmission information indicating the state of transmission of the vehicle via a communication module (not shown). For example, in the case of a system aimed at the rear of the vehicle, the instruction signal “Start” is set when the shift lever is set to “R”, and the instruction signal “End” is set when the shift lever is set to other than “R”. Conceivable.

  FIG. 3 is a diagram illustrating an example of display on the display control apparatus according to the embodiment of the present invention, in which an initial value is set as a control value of the object detection sensor 102.

  A graphic 301 suggesting a detection area of the object detection sensor 102 is superimposed on an image behind the vehicle imaged by the imaging unit 101. Specifically, the display unit 106 displays the image 301 converted from the coordinates on the road surface of the graphic 301 suggesting the detection area of the object detection sensor 102 to the coordinates on the image. Note that the user can easily grasp the positional relationship with the vehicle when the display unit 106 displays part 300 of the host vehicle. Thus, the user can check the surrounding situation while roughly grasping the detection area of the object detection sensor 102.

  Further, FIG. 4 is a diagram showing a display example when an obstacle 402 exists near the own vehicle and the detection area of the object detection sensor 102 becomes small. Based on the control of the detection area determination unit 103, the detection area of the object detection sensor 102 becomes smaller, and a graphic 401 that suggests the detection area is superimposed on the screen. In this case, the obstacle 302 is displayed on the screen but is not detected by the object detection sensor 102. However, since the reduced detection area is superimposed on the screen, the user can see that the obstacle 302 is out of the detection area of the object detection sensor 102. Therefore, it is possible to prevent the user from making an erroneous determination that the device has failed because the object detection sensor 102 does not detect the obstacle 302.

  The table shown in FIG. 5 shows the relationship between the control value of the detection area determination unit 103 that controls the object detection sensor 102 and the figure that suggests the detection area. The upper part of the table shows the control value of the detection area determination unit 103. The diagram corresponding to the middle control value a and the diagram corresponding to the control value b show actual detection areas of the object detection sensor 102 when a and b are respectively set as the control values. The figure corresponding to the control value a in the lower stage and the figure corresponding to the control value b show figures indicating the detection area of the set object detection sensor 102. The middle diagram shows a diagram when the detection region of the object detection sensor 102 is viewed from the zenith direction.

  As shown in the table, when the control value of the detection area determination unit 103 is the initial value a, the area shown in the figure corresponding to the control value a in the middle stage is the detection area of the object detection sensor 102. Therefore, an image suggesting the detection area of the object detection sensor 102 on the captured image is as shown in the figure corresponding to the lower control value a, and this figure is held in the detection area coordinate holding unit 104. The figure shown in the figure corresponding to the lower control value a is a figure obtained by further projecting a planar figure obtained by projecting the detection area of the object detection sensor 102 onto the road surface. On the other hand, when b is set as the control value of the detection area determination unit 103 and the detection area of the object detection sensor 102 becomes small as shown in the diagram corresponding to the control value b in the middle stage, the detection value of the object detection sensor 102 on the captured image. An image suggesting an actual detection area is shown in the figure corresponding to the lower control value b, and this figure is held in the detection area coordinate holding unit 104.

  Therefore, when the detection area determination unit 103 sets the initial value a as the control value, the display control unit 105 suggests the detection area shown in the figure corresponding to the lower control value a held in the detection area coordinate holding unit 104. The figure to be called is called and superimposed on the display unit 106. On the other hand, when the detection area determination unit 103 sets b as the control value, the display control unit 105 indicates the detection area shown in the figure corresponding to the lower control value b held in the detection area coordinate holding unit 104. Is displayed on the display device 106 in a superimposed manner.

  Next, the control value determination process in step S22 of the display process flow of FIG. 2 will be described. First, an example in which the detection area is reduced will be described with reference to FIG.

  FIG. 6A shows an example of a reflected waveform of the object detection sensor 102 when an obstacle is located far away, and FIG. 6B shows an example of a reflected waveform of the object detection sensor 102 when an obstacle exists nearby. Is shown. The horizontal axis indicates the distance from the object detection sensor 102, and the vertical axis indicates the amplitude of the reflected signal. In FIG. 6B, the sampling interval is narrower and the detection area is smaller than in FIG. In order to detect an object present at a short distance from the object detection sensor 102 with high accuracy, the sampling interval is usually made fine. However, in many cases, it is required that the processing cycle is constant and the processing speed does not change. Therefore, in order to detect in the same sampling cycle, the detection area must be made small.

  Here, the control value determination process in the case of FIG. 6 will be described with reference to FIG.

  First, the object detection sensor 102 measures the distance L to the object (step S71). When the detection area determination unit 103 determines that there is an obstacle 402 near the host vehicle, more specifically, the obstacle detection distance L is smaller than a predetermined threshold Lth (in FIG. 7, L = Lb < Lth) (step S72), the detection area determination unit 103 changes the control value to reduce the detection area (step S73). When the obstacle detection distance L is larger than the predetermined threshold Lth (in FIG. 7, L = La> Lth), the control value is not changed (step S74). When the control value is changed to reduce the detection area, the object detection sensor 102 operates so as to detect the short distance area with high accuracy by reducing the sampling interval. Subsequently, when the display process of FIG. 2 is performed, a graphic 401 suggesting a detection area of the object detection sensor 102 having a small detection area as shown in FIG. 4 is superimposed and displayed.

  Next, another example in which the detection area becomes smaller will be described with reference to FIG.

  FIG. 8 shows the reflected waveform of the object detection sensor 102. Here, Ath_min and Ath_max represent predetermined threshold values of the reflection intensity A. In the state shown in FIG. 8A, that is, when the reflection intensity of the obstacle 402 existing near the object detection sensor 102 is strong (Aa> Ath_max in FIG. 8A), the reception side of the object detection sensor 102 is saturated. Therefore, in addition to the fact that accurate detection cannot be performed, there is a problem that a load is applied to the receiving side. In order to prevent this, the transmission output of the object detection sensor 102 is normally controlled to be low. FIG. 8B shows a case where the transmission output of the object detection sensor 102 is controlled to be low and the reflection intensity of the obstacle 402 is equal to or lower than a predetermined intensity (Ab <Ath_min in FIG. 8B). is there.

  Here, it will be described in detail that the detection area of the object detection sensor 102 becomes smaller when the transmission output is lowered.

  By reducing the transmission output according to the control value of the detection area determination unit 103, the area where the obstacle will be detected by assuming the target standard obstacle is necessarily reduced. However, since the reflection intensity of radio waves varies greatly depending on the type of obstacle, the detectable area may vary greatly even if the output of the object detection sensor 102 is the same.

Therefore, the detection area of the object detection sensor 102 is an area determined by assuming the most standard object among the target obstacles in the control value. For example, when the display control apparatus according to the present embodiment is installed in an automobile, a person is one of the most important obstacles of the object detection sensor 102. In that case, the detection area is set based on the reflection intensity of the person. More specifically, a detection area calculated by designing a line with a reflection cross-sectional area of a person with a value of −10 to 0 dBm ² is set. The graphic indicating the detection area set as described above is held in the detection area coordinate holding unit 104 in association with the control value.

  Next, the control value determination process in the case of FIG. 8 will be described with reference to FIG.

  First, the object detection sensor 102 detects surrounding obstacles (step S90). Next, it is determined whether or not an object has been detected in step S91. If no object is detected (No in step S91), the process proceeds to step S92, and if the control value is not the highest value (No in step S92), the detection area determination unit 103 sets a control value to increase the transmission output. To increase the detection area (step S94). On the other hand, when the control value is the highest value (Yes in step S92), the control value is not changed (step S93). Therefore, when there is no obstacle around the normal area, the control value is set to the maximum and the detection area is also maximized.

  Next, when an object is detected in step S91 (Yes in step S91), the detection area determination unit 103 acquires the intensity of the signal of the detected object, more specifically, the amplitude of the waveform (step S95). If a plurality of objects are detected at this time, the reflected signal intensity of the nearest object is acquired, or the reflected signal intensity of the object having the strongest reflected signal intensity is acquired.

  Next, when the detection area determination unit 103 determines that the receiving side is saturated, more specifically, the reflection intensity A of the detected object becomes larger than a predetermined threshold Ath_max (Aa in FIG. 8A). In the case of (Ath_max) (Yes in step S96), if the control value is not the lowest value (No in step S97), the detection area determination unit 103 changes the control value so as to reduce the transmission output, and reduces the detection area. (Step 98). If the control value is already set to the lowest value (Yes in step S97), the control value is not changed (step 93).

  On the other hand, when the detection area determination unit 103 determines in step S96 that the signal intensity is not saturated, more specifically, the reflection intensity A of the detected object is equal to or less than a predetermined threshold Ath (FIG. 8 ( If Ab <Ath_max) in b) (No in step 96), the process proceeds to step S99, and if it is determined that the signal intensity is too weak, more specifically, the detected reflection intensity A of the object is greater than a predetermined threshold Ath_min. If it is smaller (Yes in Step 99), if the control value is not the highest value (No in Step S92), the detection area determination unit 103 changes the control value to increase the transmission output and enlarges the detection area. (Step S94). When the control value is the highest value (Yes in step S92), the control value is not changed (step S93). Conversely, when the detection area determination unit 103 determines that the signal has an appropriate intensity in step S99, more specifically, if the detected reflection intensity A of the object is greater than a predetermined threshold Ath_min (No in step 99). ), The detection area determination unit 103 does not change the control value (step S93). Subsequently, when the display process of FIG. 2 is performed, a graphic 401 suggesting a detection area of the object detection sensor 102 having a small detection area as shown in FIG. 4 is superimposed and displayed.

  In the example of FIGS. 3 to 9, the case where the number of control values of the detection area determination unit 103 that controls the object detection sensor 102 is two is shown. However, the present invention is not limited to this, and a plurality of types of detection areas are used. Can be set. Further, the threshold value is set so that Ath_max is larger than Ath_min (Ath_max> Ath_min). The difference between Ath_max and Ath_min (Ath_max−Ath_min) is preferably set to be larger than the difference in reflected signal amplitude level that changes by changing the control value by one step.

  Further, the method by which the detection area determination unit 103 determines the control value does not depend only on the result of the detected obstacle. For example, as shown in Patent Document 1, a predetermined control value may be output at a predetermined time interval. Alternatively, as shown in Patent Document 2, the detection area determination unit 103 may include a speed detection unit (not shown), and the control value may be set according to the speed of the moving object in which the display control device 100 is installed. .

  Or the change of the detection area | region in the daytime at night when the object detection sensor 102 used the image processing sensor which comprised the imaging device is mentioned. In this case, the actual processing area of the image processing sensor does not necessarily change and may be constant. Specifically, the detection area determination unit 103 outputs a control value from the ambient illuminance, and when the illuminance is high, the detection area is set to be wide, and the display control unit 105 displays a figure that greatly suggests the detection area in a superimposed manner. If is small, the detection area may be set narrow.

  Further, as shown in FIG. 10, in the laser radar 1000 in which the object detection sensor 102 has a mechanical drive unit, the drive unit is operated according to the control value of the detection area determination unit 103, and the laser irradiation area is controlled and detected. The region may be determined. The upper diagram in FIG. 10 shows the case where the detection area is set large, and the lower diagram in FIG. 10 shows the case where the detection area is set small.

  Alternatively, as shown in FIG. 11, the object detection sensor 102 is an image processing sensor provided with an imaging device, and the detection region is selected by selecting a pixel to be processed from the captured image according to the control value of the detection region determination unit 103. Sometimes it is decided. The upper diagram in FIG. 11 shows the case where the detection area is set large, and the lower diagram in FIG. 11 shows the case where the detection area is set small.

  As described above, various examples in which the detection area is changed have been described. However, the graphic indicating the detection area displayed on the display unit 106 is not limited to the examples illustrated in FIGS. 3 and 4. For example, a plane with a predetermined height from the road surface may be superimposed and displayed. As a result, the user can accurately determine the possibility of a collision with a high obstacle.

  Further, the detection area may be displayed as shown in FIG. 12 differs from FIG. 3 in that the detection area 301 of the object detection sensor 102 is a two-dimensional area on the road surface in the case of FIG. 3, and a three-dimensional area including a height component is superimposed and displayed. It is a point. Thereby, the user can grasp the detection area of the object detection sensor 102 more accurately.

  In the present embodiment, an example in the case of the rear of the vehicle is shown, but it may be on the side of the vehicle, in front of the vehicle, or all around the vehicle.

  In the present invention, a software program for realizing the above-described embodiment (in the embodiment, a program corresponding to the flowchart shown in the figure) is supplied to the apparatus, and the computer of the apparatus reads the supplied program, Including the case where it is also achieved by executing. Therefore, in order to implement the functional processing of the present invention on a computer, the program itself installed in the computer also implements the present invention. That is, the present invention also includes a program for realizing the functional processing of the present invention.

  The configuration described in the above embodiment is merely a specific example, and does not limit the technical scope of the present invention. Any configuration can be employed within the scope of the effects of the present application.

  As described above, the display control device according to the present invention enables the driver to recognize the detection area that the object detection sensor has to detect on the system. It can be used for a display control device for informing the driver of the situation.

The block diagram which shows the structure of the display control apparatus which concerns on embodiment of this invention. The figure which shows the flow of the display process of the display control apparatus which concerns on embodiment of this invention. The figure which shows an example of the screen display of the display control apparatus which concerns on embodiment of this invention The figure which shows an example of the screen display when the detection area of the display control apparatus which concerns on embodiment of this invention changes. The figure which showed the relationship between the control value of the detection area judgment part which controls the object detection sensor concerning embodiment of this invention, and the figure which suggests a detection area (A) The figure which shows a mode that the sampling interval was roughened when an obstacle exists in the distance (b) The figure which shows a mode that the sampling interval was made fine when an obstacle exists near The figure which shows the flow of the control value determination process of the object detection sensor corresponding to FIG. (A) A diagram showing a case where the reflection intensity of an obstacle existing near the object detection sensor is strong. (B) A case where the transmission output of the object detection sensor is controlled to be low and the reflection intensity of the obstacle becomes a predetermined intensity or less. Figure showing The figure which shows the flow of the control value determination process of the object detection sensor corresponding to FIG. The figure which shows an example of the detection area in the case of a laser radar as an example of the object detection sensor which concerns on embodiment of this invention The figure which shows an example of the detection area in the case of an image processing sensor as an example of the object detection sensor which concerns on embodiment of this invention The figure which shows another example of the screen display of the display control apparatus which concerns on embodiment of this invention The figure which shows the case where the detection method is changed by switching the beam in the object detection sensor of the conventional display control device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 101 Image pick-up part 102 Object detection sensor 103 Detection area judgment part 104 Detection area coordinate holding part 105 Display control part 106 Display part 300 The own vehicle 301, 401, 1201 reflected on the display part The detection area of the object detection sensor shown on a display part 302 402 Obstacles on display 1000 Laser radar

Claims (11)

A display control device for displaying an image photographed by an imaging device for photographing a vehicle periphery,
An object detection sensor that detects the presence or absence of surrounding obstacles, distance, or direction by irradiating sound waves, radio waves, or lasers and receiving reflected waves, or processing images from the imaging device A detection area determination unit for setting a control value for controlling the detection area;
A display control device comprising: a display control unit that superimposes and displays a detection region graphic corresponding to the control value and indicating a detection region of the object detection sensor on an image captured by the imaging device. The display control apparatus according to claim 1, wherein the detection area determination unit changes a control value set according to a distance from an obstacle detected by the object detection sensor. The display control according to claim 2, wherein the detection area determination unit sets a control value for a detection area of the object detection sensor that is smaller as the distance from the obstacle detected by the object detection sensor is shorter. apparatus. The display control apparatus according to claim 1, wherein the detection area determination unit changes a control value set according to received power of the object detection sensor. 5. The display according to claim 4, wherein the detection area determination unit changes the control value to a control value that decreases a detection area of the object detection sensor when reception power of the object detection sensor is greater than a predetermined value. Control device. The display control apparatus according to claim 1, wherein the detection area determination unit changes a control value set according to a speed of the vehicle. The display control device according to claim 1, wherein the display control unit superimposes and displays an area obtained by projecting the detection area of the object detection sensor on a road surface as the detection area graphic. . The said display control part superimposes and displays the area | region which projected the detection area of the said object detection sensor on the plane parallel to a road surface as the said detection area figure, It is characterized by the above-mentioned. Display controller. The display control apparatus according to claim 1, wherein the display control unit superimposes and displays a three-dimensional shape of a detection region of the object detection sensor as the detection region graphic. A display control method for displaying an image photographed by an imaging device for photographing a vehicle periphery,
An object detection sensor that detects the presence or absence of surrounding obstacles, distance, or direction by irradiating sound waves, radio waves, or lasers and receiving reflected waves, or processing images from the imaging device A detection area determination step for setting a control value for controlling the detection area;
A display control method comprising: a display step of superimposing and displaying a detection area graphic corresponding to the control value and indicating a detection area of the object detection sensor on an image captured by the imaging device. A display control program executed by a computer of a display control device that displays an image captured by an imaging device that captures the surroundings of a vehicle,
An object detection sensor that detects the presence or absence of surrounding obstacles, distance, or direction by irradiating sound waves, radio waves, or lasers and receiving reflected waves, or processing images from the imaging device A detection area determination step for setting a control value for controlling the detection area;
A display control program for executing a display step of superimposing and displaying a detection area figure corresponding to the control value and indicating a detection area of the object detection sensor on an image captured by the imaging device.

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