JP2012091625A - Driving support system, driving support method, and driving support program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system, a driving support method, and a driving support program which basically indicate a road map, and also indicate an imaging picture corresponding to an operation of a driver in a way as simple and easy to understand as possible.SOLUTION: The driving support system includes: a position detection unit 100 for detecting a position of its own car; a display 30; a display means capable of displaying the road map surrounding the position of its own car as well as a mark M of its own car; an imaging camera 40 for imaging the periphery of its own car; an image processing device 50 for executing image processing of imaging signals from an imaging camera 40, and generating a thumbnail image or an overhead image; an input position detecting means for detecting the position on the display input by the user; and a display control means for displaying the thumbnail image around the position mark M of its own car when the position mark M of its own car is selected by input of the user.

Description

  The present invention relates to a driving support system, a driving support method, and a driving support program for an electronic device equipped with a vehicle-mounted camera, and more particularly to switching of an image by a vehicle-mounted camera when a navigation screen is displayed.

  An imaging camera is mounted on a moving body such as an automobile, and applications using the captured image are rapidly expanding. Many of such applications relate to a driving support system that displays an image captured by an imaging camera and assists the driver's blind spot. For example, a camera system (such as a corner monitor system) that captures obstacles far away from the vehicle, a system that captures blind spots in the vicinity of the vehicle (side view camera system), a system that images rear obstacles and guides garage entry ( Rear view system). Also, equipped with multiple imaging cameras at the front, rear, and sides of the vehicle, combining the images from these imaging cameras to display a bird's-eye view image (top view system, etc.) that looks down from directly above the vehicle In addition, a driving support system that can switch the viewpoint to an image of each imaging camera has been put into practical use.

  In combination with a rear view system and a navigation system that has a single imaging camera behind the vehicle and performs safety checks such as parking assistance when reversing, the rear captured image is generally displayed on the display in conjunction with the back gear. . In addition, proposals have been made that try to link the display of the captured image by the imaging camera and the navigation operation. For example, Patent Document 1 is to display a plurality of images in different directions captured by an imaging unit in a superimposed manner on a navigation image. Patent document 2 changes the priority of the image to be displayed based on the environmental condition around the own vehicle or the running state of the own vehicle, and sequentially switches the image according to the priority order when receiving a signal from the changeover switch. It is. Further, Patent Document 3 displays a peripheral image captured by the imaging camera when the vehicle reaches a predetermined distance before the intersection or branch point, and the vehicle position has entered a visible position in the intersection. The peripheral image is stopped when it is determined.

JP 2001-84500 A JP 2010-69943 A Japanese Patent No. 4432801

  However, the conventional driving support system that displays captured images with a plurality of in-vehicle cameras has the following problems. As the number of imaging cameras mounted on a vehicle increases, in particular, the viewpoint switching operation of the imaging cameras becomes complicated. In addition, it is important for safety that switching from a navigation system displaying a road map to an image of a desired imaging camera can be performed by a simple and easy operation method. In view of this, a driving support system has been devised that displays a camera image of an optimal viewpoint according to the traveling state and driving state of the vehicle.

  FIG. 14 is a diagram illustrating an example of a conventional driving support system. As shown in FIG. 14 (a), when a road map by the navigation system is displayed on the display, an input key K1 for switching to a camera image is displayed on the screen. When the user selects the input key K1, as shown in FIG. 14B, a camera image captured by the front imaging camera is displayed on the whole or a part of the road map screen. At this time, a viewpoint switching key K2 for performing viewpoint conversion on the panorama, corner, and top (overhead image) camera images for switching the front camera image is displayed on the display. When any viewpoint switching key K2 is selected by the user, the camera image is switched to the selected camera image. It is also possible to register a point where a camera image is to be displayed in advance and automatically display the camera image at that point.

  However, in such a conventional driving support system, it is actually difficult to optimally grasp the driving state, the driving state, and the surrounding environment, and the camera image desired by the driver is not always displayed. In some cases, an unintended camera image may be displayed even though the driver wants to see a road map screen for navigation. Further, the operability by the user is complicated.

  Accordingly, the present invention provides a driving support system, a driving support method, and a driving support program that display a captured image according to a driver's operation in a method that is as simple and easy to understand as possible while being based on display of a road map. With the goal.

  The driving support system according to the present invention includes a detection means for detecting a vehicle position, a display, a road map around the vehicle position based on the vehicle position detected by the detection means, and a vehicle position representing the vehicle position. Display means capable of displaying a mark on a display, imaging means for imaging the periphery of the vehicle, image processing means for image-processing an imaging signal from the imaging means to generate a captured image, on a display input by a user Input position detection means for detecting a position; and display control means for displaying the captured image around the vehicle position mark when the vehicle position mark is selected based on a detection result of the input position detection means. .

  Preferably, the display position of the captured image corresponds to the mounting position of the imaging means when the host vehicle is viewed from above. Preferably, the captured image is a thumbnail image having a predetermined size. Preferably, the display control unit is selected when the captured image is selected based on a detection result of the input position detection unit in a state where the captured image is displayed around the vehicle position mark. An enlarged image of the captured image is displayed. Preferably, the display control unit is configured to detect the vehicle when the vehicle position mark is selected based on a detection result of the input position detection unit in a state where the captured image is displayed around the vehicle position mark. A bird's-eye view image looking down from above is displayed. Preferably, the display control unit is set in advance when the vehicle position mark is selected based on a detection result of the input position detection unit in a state where the captured image is displayed around the vehicle position mark. The captured image corresponding to the imaging means at an arbitrary position is displayed. Preferably, when the captured image is displayed in the vicinity of the vehicle position mark, the display control unit selects a vehicle other than the vehicle position mark and the captured image based on a detection result of the input position detection unit. The original screen including the road map and the vehicle position mark is displayed. Preferably, the display control means displays a captured image around the vehicle position mark when the enlarged image is selected based on a detection result of the input position detection means in a state where the enlarged image is displayed. Display the original screen. Preferably, the display control means displays a captured image around the vehicle position mark when the overhead image is selected based on the detection result of the input position detection means in a state where the overhead image is displayed. Display the original screen.

  A driving support method according to the present invention is an electronic device having a function of displaying a road map around a host vehicle position and a function of displaying an image from an imaging unit that images the periphery of the host vehicle. When the position is detected, the road map around the vehicle position based on the detected vehicle position and the vehicle position mark indicating the vehicle position are displayed on the display, and when the road map and the vehicle position mark are displayed, When the vehicle position mark is selected by user input, the captured image captured by the imaging unit is displayed around the vehicle position mark.

  The driving support program according to the present invention is executed by an electronic device having a function of displaying a road map around the vehicle position and a function of displaying an image from an imaging unit that images the vehicle periphery. The vehicle position is detected, the road map around the vehicle position based on the detected vehicle position and the vehicle position mark indicating the vehicle position are displayed on the display, and the road map and the vehicle position mark are displayed. When the vehicle position mark is selected by user input, the captured image captured by the imaging unit is displayed around the vehicle position mark.

  According to the present invention, when the vehicle position mark is selected by the user input when the road map is displayed by the normal navigation operation, the captured image is displayed around the vehicle position mark. The (driver) can easily check the captured image around the vehicle position when he / she wants to see it. Further, since the display position of such a captured image corresponds to the mounting position of the imaging means with reference to the vehicle position mark, it is easy for the user to recognize the captured image in any direction. Furthermore, by selecting the captured image and displaying the enlarged image, the user can easily operate the captured image to be confirmed.

1 is a block diagram illustrating an overall configuration of a driving support system according to an embodiment of the present invention. It is a block diagram which shows the structure of the navigation apparatus shown in FIG. It is a figure explaining attachment of an imaging camera. It is a block diagram which shows the structure of an image processing apparatus. It is a functional block diagram of a driving assistance program. It is a functional block diagram of the driving assistance program of a present Example. It is a table explaining the relationship between a display state and display content. It is a table explaining the input determination content of the input determination part in each display state. It is a table explaining the relationship between the determination result of a display state, the determination result of an input determination part, and a switching image. It is a flowchart explaining operation | movement of the driving assistance system which concerns on the Example of this invention. It is a figure explaining the screen switching sequence which concerns on the Example of this invention. It is a figure which shows the example of the display state 3 by the modification of a present Example. It is a display example of a thumbnail image when eight imaging cameras are mounted. It is a figure explaining the example of a display of the captured image in the conventional driving assistance system.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. In a preferred embodiment of the present invention, the driving support system is equipped with imaging cameras on the front, rear, and left and right sides of the host vehicle, and navigation of viewpoint switching of the captured images obtained from these four imaging cameras is performed. Has a function to be executed during operation.

  FIG. 1 is a block diagram showing the overall configuration of a driving support system according to an embodiment of the present invention. The driving support system 10 displays a road map around the position of the vehicle and provides a navigation device 20 having functions such as route guidance to a destination, and an image (which is connected to the navigation device 20 and captured by a road map or an imaging camera). (Hereinafter, sometimes referred to as a camera image), in addition to a display device 30 having a touch panel position input function, and an imaging camera 40A installed on the front, rear, right side, and left side of the vehicle, 40B, 40C, 40D (hereinafter collectively referred to as the imaging camera 40) and an image processing device 50 that performs image processing on imaging data from the imaging camera 40 and generates a camera image, an overhead image, and the like. The

  FIG. 2 is a block diagram showing a configuration of a typical navigation device 20. The navigation device 20 includes a host vehicle position detection unit 100 that detects a host vehicle position, an input unit 110 that receives input from a user, a storage unit 120 that stores local map data necessary for navigation operation, and a navigation operation. Program memory 130 for storing a program for data, a data memory 140 for holding calculated data and data from the image processing device 50, and an interface connected to the display device 30 and the image processing device 50 via a bus or the like And a control unit 160 that controls each unit.

  The position detection unit 100 can have a GPS positioning device that can measure the absolute position of the vehicle using GPS satellites, and a self-contained navigation sensor that can measure the relative position of the vehicle using vehicle speed sensors and azimuth sensors. The position information detected by the position detection unit 100 is output to the control unit 160 and used for reading road map data around the vehicle position, displaying the vehicle position mark, and the like.

  The input unit 110 preferably includes input from a touch panel mounted on the display device 30. As is well known, when the user's finger or the like touches or approaches the display, the touch panel detects the coordinate position. The input unit 110 may be an input interface such as a mouse, a remote controller, or a keyboard in addition to an input using a touch panel, and input can be performed using a cursor displayed on a display using them.

  The storage unit 120 includes link data, intersection data, facility data, and the like necessary for displaying a road map. Further, polygon data indicating the vehicle position mark displayed on the road map is included. Note that the storage unit 120 is not necessarily required, and depending on the navigation device, the road map data may be obtained by communication with an external server, or the road map data is obtained from an external storage device such as a semiconductor memory. There may be.

  The program memory 130 holds a program necessary for the driving support system. In the present embodiment, the driving support system includes a program for executing a navigation operation and a program for displaying an image by an imaging camera. As a program for executing a navigation operation, a program for reading road map data around the vehicle position from the storage unit 120 and displaying it on the display device 30, a program for searching for a route to the destination, and a route Includes programs to guide you. Furthermore, as a program for displaying the image of the imaging camera, the image of the imaging camera is synthesized on the road map screen according to the user input, the viewpoint of the imaging camera is switched according to the user input, and the image of the imaging camera is displayed. A program for making various settings is provided.

  The data memory 140 holds road map data read from the storage unit 120 and image data generated by the image processing device 50. The interface unit 150 controls transmission / reception of control signals and data to / from the image processing apparatus 50, and controls transmission / reception of control signals and data to / from the display apparatus 30.

  The display device 30 receives image data via the interface unit 150 and displays it. Further, the display device 30 includes a touch panel as detection means for detecting the position on the display input by the user. As is well known, the touch panel detects a coordinate position where a user's finger or the like is in contact with or approaches by measuring a change in capacitance or the like. The detected coordinate position is transmitted to the control unit 160 via the interface unit 150.

  The imaging camera 40 is configured using a CCD or a CMOS image sensor. As shown in FIG. 3, the imaging camera 40A is attached to a bumper or the like in front of the vehicle, and images the front of the vehicle at a viewing angle θ1. The imaging cameras 40C and 40D image the side portion of the vehicle from the vehicle door mirror with viewing angles θ2 and θ3. The imaging camera 40B is attached to a rear bumper or the like of the vehicle, and images the rear of the vehicle with a viewing angle θ4. The viewing angles [theta] 1, [theta] 2, [theta] 3, and [theta] 4 of the imaging cameras overlap with the viewing angles of the adjacent imaging cameras so that the entire periphery of the vehicle can be imaged by the imaging cameras 40A to 40D.

  FIG. 4 is a block diagram showing the internal configuration of the image processing apparatus 50. The image processing device 50 receives imaging signals from the imaging cameras 40 </ b> A to 40 </ b> D, converts the input signals into digital signals, receives image data from the input unit 200, and is imaged in the viewpoint direction of each imaging camera 40. The thumbnail image generation unit 210 that generates a thumbnail image from the captured image, the enlarged image generation unit 220 that receives the image data from the input unit 200 and generates an enlarged image obtained by enlarging the thumbnail image, and the image data from the input unit 200 And an overhead image generation unit 230 that receives and generates an overhead image (top view image) that looks down from directly above the host vehicle. Control signals C1, C2, and C3 from the navigation device 20 are input to the generation units 210, 220, and 230, and the generation units 210, 220, and 230 generate images based on the control signals C1, C2, and C3. . The image data generated by each of the generation units 210, 220, and 230 is transferred to the data memory 140 via the interface unit 150. The processing of each of the generating units 210, 220, and 230 may be executed by software or executed by a hardware circuit.

  The thumbnail image generation unit 210 generates a thumbnail image having a predetermined size. The size of the thumbnail is determined based on the size of the display device (display) 30, the size of the road map screen, the size of the vehicle position mark displayed on the screen, and the like. Preferably, the size is such that four thumbnail images can be displayed simultaneously on the front, rear, left and right of the vehicle position mark.

  The enlarged image generation unit 220 generates an enlarged image that enlarges the thumbnail image. The size of the magnified image can preferably be equal to the screen of the display, but may be smaller than that.

  For example, as shown in FIG. 5, the bird's-eye view image generation unit 230 includes an image 300 </ b> A captured by the camera 40 </ b> A in front of the vehicle, an image 300 </ b> B captured by the camera 40 </ b> B behind the vehicle, and image signals captured by the left and right cameras. The viewpoints of 300C and 300D are converted based on the reference point O, and an image synthesized so as to look down radially from directly above the vehicle is generated.

  FIG. 6 is a functional block diagram of a program for displaying captured images stored in the program memory 130 shown in FIG. The captured image display program 310 includes a display state determination unit 320 that determines the display state of the display device 30, an input determination unit 330 that determines a target selected from a position input by the user, a display state determination unit 320, and an input determination. An image switching unit 340 that switches images based on the determination results of the unit 330.

  FIG. 7 is a diagram for explaining the determination operation of the display state determination unit 320. In this embodiment, the display state determination diagram 320 determines one of display states 1 to 4 as shown in FIG. That is, the display state 1 is a state in which a road map around the vehicle position is displayed by the navigation device 20, the display state 2 is a state in which thumbnail images are combined and displayed on the road map screen, and the display state 3 is In the state where the enlarged image of the thumbnail image is displayed, the display state 4 is a state where the overhead image is displayed. The display state determination unit 300 determines the display state when the image is switched, and holds the content.

  The input determination unit 330 determines which part of the image displayed on the display device 30 is selected based on the coordinate position detected by the user input according to the display states 1 to 4. FIG. 8 is a table for explaining the determination contents of the input determination unit. In the display state 1, the input determination unit 330 determines whether or not the vehicle position mark is selected based on the coordinate position of the user input. In the display state 2, it is determined which of the vehicle position mark, the thumbnail image, and any other than these images has been selected. In the display state 3, it is determined whether an enlarged image has been selected. In the display state 4, it is determined whether an overhead image has been selected.

  The image switching unit 330 determines an image to be displayed on the display device 30 based on the determination result of the display state determination unit 320 and the determination result of the input determination unit 330, and switches the image if necessary. FIG. 9 is a table for explaining the relationship between the display state determination result, the input determination result, and the switching image. In the display state 1, that is, when the vehicle position mark is selected on the navigation screen on which the road map is displayed, a thumbnail image is displayed around the vehicle position mark on the road map screen. In the display state 2, when the own vehicle position mark is selected, an overhead image that looks down on the own vehicle from directly above is displayed. In the display state 2, when a thumbnail image is selected, an enlarged image of the selected thumbnail image is displayed. When an area other than the vehicle position mark and the thumbnail image is selected, the original road is displayed. A navigation screen showing the map is displayed. When the enlarged image is selected in the display state 3, the display returns to the thumbnail image, that is, the display state 2, and when the overhead image is selected in the display state 4, the display returns to the thumbnail image, that is, the display state 2.

  Next, the driving support operation of the embodiment of the present invention will be described using the flowchart of FIG. 10 and the screen switching sequence of FIG. First, when the host vehicle starts to travel, the position detection unit 100 detects the host vehicle position, and the control unit 160 reads road map data around the host vehicle position from the storage unit 120, and displays the host vehicle on the display device 30. A road map around the position is displayed (step S101). As shown in FIG. 11A, the road map screen is displayed by combining the vehicle position mark M indicating the vehicle position on the road map. The own vehicle position mark M is displayed by being synthesized on the road map so that the own vehicle position can be seen at a glance, and is displayed on the running road. The shape, size, color, presence / absence of flashing, etc. of the own vehicle position mark are not particularly limited as long as it is a mark that can represent the own vehicle position. Typically, the vehicle position mark is fixedly displayed at the center of the road map screen, and the road map is scrolled as the vehicle position changes. The road map screen may be north up or heading up. If a route to the destination is searched, the route is synthesized and displayed on the road, and the route guidance is performed.

  As the vehicle starts to travel, the front, rear, and left and right imaging cameras 40 are also activated, and an imaging signal from the imaging camera 40 is provided to the image processing device 50. Each generation unit (see FIG. 4) of the image processing device 50 may start generating a thumbnail image, an enlarged image, and a bird's-eye image based on the input image pickup signal, or a control signal C1 from the control unit 160, Thumbnail images, enlarged images, and overhead images may be generated in response to instructions from C2 and C3.

  When the road map is displayed, the display state determination unit 320 determines that the display device 30 is in the display state 1, and holds the determination result. Next, the input determination unit 330 monitors the input from the user (step S102), and if there is an input of the coordinate position from the user, it determines whether or not the own vehicle position mark M has been selected (step S103). When a coordinate area corresponding to the vehicle position mark M is preset and an input is made to the coordinate area, it is determined that the vehicle position mark M is selected.

  If it is determined that the host vehicle position mark M is selected, the image switching unit 340 synthesizes and displays thumbnail images on the road map screen as shown in the table of FIG. 9 (step S104). The thumbnail image is an image obtained by capturing the viewpoint direction of each of the imaging cameras 40A to 40D and is reduced to a predetermined size. A window of the thumbnail image is displayed on the road map screen. The thumbnail image may be generated by the thumbnail image generation unit 210 and generated based on the control signal C1 from the image switching unit 340.

  FIG. 11B shows a display example of thumbnail images. As shown in the figure, the thumbnail image TH-A is a forward image captured by the imaging camera 40A, and is displayed in front of the vehicle position mark M, that is, in the traveling direction. The display position of the thumbnail image TH-A is This corresponds to the position of the imaging camera 40A when the host vehicle is viewed from directly above. The thumbnail image TH-B is a rear image captured by the imaging camera 40B and is displayed behind the vehicle position mark M. The display position corresponds to the position of the imaging camera 40B. Similarly, the thumbnail images TH-C and TH-D are left and right side images captured by the imaging cameras 40C and 40D, and are displayed on the left side and the right side of the vehicle position mark. This corresponds to the position of each of the cameras 40C and 40D.

  Since the thumbnail image window corresponding to the position of the imaging camera 40 is synthesized and displayed around the vehicle position mark M in this way, the user can easily understand the relationship between the thumbnail image and the vehicle position at a glance. The direction of the captured image of the host vehicle is recognized.

  When the screen is switched to the thumbnail image, the display state determination unit 320 updates the display state to the display state 2 (step S105). Subsequently, the input determination unit 330 monitors the user input, and when there is a user input (step S106), the input determination unit 330 determines whether the vehicle position mark, the thumbnail image, or any other image is selected by the user input. (See FIG. 8).

  When the input determination unit 330 determines that the host vehicle position mark M has been selected (step S107), the image switching unit 340 has selected the host vehicle position mark M in the display state 2, and thus the display device 30 has an overhead view. An image is displayed (step S108). FIG. 11C is a display example of an overhead image. The bird's-eye view image may be enlarged and displayed on the entire screen of the display device 30, or may be synthesized and displayed on a road map with a certain size in advance. The overhead image can be generated by the overhead image generation unit 220 and generated according to the control signal C3 from the image switching unit 340. When the overhead image is displayed, the display state determination unit 320 updates the display state to the display state 4. In this way, the user can check whether there are obstacles or the like around the vehicle position.

  On the other hand, when the input determining unit 330 determines that a thumbnail image has been selected (step S109), the image switching unit 340 displays an enlarged image of the selected thumbnail image (step S110). For example, when the thumbnail image TH-A that captures the front of the vehicle is selected, the enlarged image is displayed, and when the left thumbnail image TH-C is selected, the enlarged image is displayed. The The enlarged image of the thumbnail image is generated by the enlarged image generation unit 220, and the size of the enlarged image may be the entire size of the display device 30, or may be synthesized on the road map screen with a certain size. . FIG. 11D is a display example of an enlarged image when the thumbnail image TH-B is selected. When the enlarged image is displayed, the display state determination unit 320 updates the display state to the display state 3.

  Furthermore, when the input determination unit 330 determines that an area that is neither the thumbnail image nor the vehicle position mark M is selected (step S111), the image switching unit 340 displays the road map screen in the display state 1 (step S111). S112). If the input determination unit 330 determines that the enlarged image or the overhead image is selected in the display state 3 or the display state 4, the image switching unit 340 switches the screen to the image in the display state 2.

  As described above, according to the driving support system of the present embodiment, it is possible to display a necessary image of the viewpoint of the imaging camera by a simple and intuitive operation. Even if the number of imaging cameras increases, it is possible to cope with the same operation method.

  Next, a modification of the present embodiment will be described. In the above embodiment, when the vehicle position mark M is selected in the display state 2, an example of switching to the overhead view image in the display state 4 has been shown. However, in the display state 4, what kind of image is displayed is set by the user. You may be able to do it. The user setting is executed as an initial setting before operating the driving support system. For example, in the display state 4, a combination of an overhead image and an enlarged image of an arbitrarily selected imaging camera may be displayed. FIG. 12 is a combination of the overhead image and the enlarged image on the left side. Of course, any other combination may be used, or a combination of an overhead image and a thumbnail image may be used.

  Moreover, in the said Example, although the example which mounted four imaging cameras on the front and rear, right and left of the own vehicle was shown, the number of imaging cameras other than this may be sufficient. For example, three imaging cameras are mounted in front of the vehicle (images of the left and right corners and the center of the vehicle), two imaging cameras are mounted on the left and right of the vehicle, and three imaging cameras are mounted behind the vehicle. Mounted (images of the left and right corners and the center of the vehicle) and a total of eight imaging cameras may be provided. In this case, the thumbnail image window display is as shown in FIG. Of course, the number of imaging cameras may be less than four. For example, there may be a total of two imaging cameras in front and rear of the host vehicle, or only in front of the host vehicle or the host vehicle. It may be one imaging camera only behind the camera. In the case of a single imaging camera, if it is determined from the display state 2 that the vehicle position mark has been selected, an overhead image is displayed in the same manner, but the overhead image is limited to a part around the vehicle. Will be.

  In the above embodiment, the road map screen is heading up, but it may be north up. In this case, when the own vehicle position mark is selected on the road map screen, the road map screen is temporarily switched to heading up and a thumbnail image is displayed around the own vehicle position mark, that is, FIG. You may make it display the image shown to.

  The preferred embodiment of the present invention has been described in detail above, but the present invention is not limited to the specific embodiment, and various modifications can be made within the scope of the present invention described in the claims. Deformation / change is possible. In the above embodiment, the window of the thumbnail image is displayed around the vehicle position mark when the vehicle position mark is selected by the user input. However, in addition to the thumbnail image, the image is picked up by the viewpoint direction of the imaging camera. The displayed image may be displayed as it is. Furthermore, the driving support system may include an electronic device having an audio function, a video function, a communication function, etc. in addition to the navigation function.

10: Driving support system 20: Navigation device 30: Display device 40: Imaging camera 50: Image processing device 100: Position detection unit 110: Input unit 120: Storage unit 130: Program memory 140: Data memory 150: Interface unit 200: Input Unit 210: Thumbnail image generation unit 220: Enlarged image generation unit 230: Overhead image generation unit 300A: Front image 300B: Rear image 300C, 300D: Side image M: Own vehicle position mark C1, C2, C3: Control signal

Claims (19)

Detection means for detecting the vehicle position;
Display,
Display means capable of displaying a road map around the vehicle position based on the vehicle position detected by the detection means and a vehicle position mark representing the vehicle position on a display;
Imaging means for imaging the periphery of the vehicle;
Image processing means for image-processing an imaging signal from the imaging means to generate a captured image;
Input position detecting means for detecting a position on the display input by the user;
Display control means for displaying the captured image around the vehicle position mark when the vehicle position mark is selected based on the detection result of the input position detection means;
A driving support system. The driving support system according to claim 1, wherein the display position of the captured image corresponds to a mounting position of the imaging unit when the host vehicle is viewed from above. The driving support system according to claim 1, wherein the captured image is a thumbnail image having a predetermined size. The display control unit selects the selected captured image when the captured image is selected based on a detection result of the input position detection unit in a state where the captured image is displayed around the vehicle position mark. The driving support system according to any one of claims 1 to 3, wherein an enlarged image is displayed. The display control means moves the vehicle upward when the vehicle position mark is selected based on the detection result of the input position detection means in a state where the captured image is displayed around the vehicle position mark. The driving support system according to any one of claims 1 to 4, wherein a bird's-eye view image as viewed from above is displayed. The display control unit is set in advance when the vehicle position mark is selected based on a detection result of the input position detection unit in a state where the captured image is displayed around the vehicle position mark. The driving support system according to any one of claims 1 to 5, wherein a captured image corresponding to an imaging unit at an arbitrary position is displayed. When the captured image is displayed in the vicinity of the vehicle position mark, the display control unit is selected when a position other than the vehicle position mark and the captured image is selected based on the detection result of the input position detection unit. The driving support system according to any one of claims 1 to 6, wherein an original screen including a road map and a vehicle position mark is displayed. The display control means displays a captured image around the vehicle position mark when the enlarged image is selected based on the detection result of the input position detection means in a state where the enlarged image is displayed. The driving support system according to any one of claims 4 to 7, wherein an original screen is displayed. The display control unit is configured to display a captured image around the vehicle position mark when the overhead image is selected based on a detection result of the input position detection unit while the overhead image is displayed. The driving support system according to any one of claims 5 to 7, wherein the screen is displayed. A driving support method in an electronic device having a function of displaying a road map around the vehicle position and a function of displaying an image from an imaging means for imaging the periphery of the vehicle,
Detects the vehicle position, displays a road map around the vehicle position based on the detected vehicle position and a vehicle position mark indicating the vehicle position on the display,
When the road map and the vehicle position mark are displayed, if the vehicle position mark is selected by the user input, the captured image captured by the imaging unit is displayed around the vehicle position mark. Support method. The driving support method according to claim 10, further comprising displaying an enlarged image of the selected captured image when the captured image is selected by a user input. The driving support method may further display an overhead image when the vehicle is looked down from above when a vehicle position mark is selected by a user input while the captured image is displayed. The driving assistance method described. The driving support method further returns to the original road map screen when a user input selects a vehicle position mark or other than the captured image while the captured image is displayed. The driving assistance method as described in any one. In the driving support method, when the enlarged image or the bird's-eye view image is selected by user input while the enlarged image or the bird's-eye view image is displayed, the driving support method returns to the original screen on which the captured image is displayed around the vehicle position mark. The driving support method according to any one of claims 10 to 13, wherein the driving support method is returned. A driving support program executed by an electronic device having a function of displaying a road map around the vehicle position and a function of displaying an image from an imaging means for imaging the periphery of the vehicle,
Detects the vehicle position, displays a road map around the vehicle position based on the detected vehicle position and a vehicle position mark indicating the vehicle position on the display,
When the road map and the vehicle position mark are displayed, if the vehicle position mark is selected by the user input, the captured image captured by the imaging unit is displayed around the vehicle position mark. Support program. The driving support program according to claim 15, further displaying an enlarged image of the selected captured image when the captured image is selected by a user input. The driving support program further displays an overhead image in which the own vehicle is looked down from above when the own vehicle position mark is selected by a user input while the captured image is displayed. The described driving assistance program. The driving support program further returns to the original road map screen when a user input selects anything other than the vehicle position mark and the captured image while the captured image is displayed. The driving support program according to any one of the above. When the enlarged image or the overhead view image is selected by the user input while the enlarged image or the overhead view image is displayed, the driving support program is further displayed on the original screen on which the captured image is displayed around the vehicle position mark. The driving support program according to any one of claims 15 to 18, which is returned.

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