JP2016192772A - Display device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a passenger except for a driver to confirm the periphery of a vehicle even when a display condition is not satisfied.SOLUTION: A portable display device comprises: setting means which sets parameters to regulate a virtual viewpoint of an overhead image indicating the periphery of a vehicle; transmission means which transmits to the vehicle the parameters set by the setting means; and display means which displays various types of display images. The display means displays a setting screen image for setting the parameters by the setting means.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a technique for processing an image showing the periphery of a vehicle.

  2. Description of the Related Art Conventionally, an image display system that acquires an image showing the periphery of a vehicle such as an automobile and displays the image on a display device provided in the vehicle is known. By using such an image display system, a user (typically a driver) can check the situation around the vehicle.

  For example, if an image display system that displays an image showing an area in front of a vehicle is used, when the vehicle approaches an intersection with poor visibility, the user can grasp an object approaching the intersection from the left or right side of the vehicle. Cheap. In addition, if an image display system that displays an image indicating a region behind the vehicle is used, the user can easily grasp an object that exists behind the vehicle when the vehicle is moved backward. For this reason, the user can move the vehicle safely while avoiding contact between the vehicle and the object.

  In recent years, there has also been proposed an image display system that combines a plurality of captured images to generate an overhead view image that shows the periphery of the vehicle viewed from a virtual viewpoint, and displays the overhead view image (see, for example, Patent Document 1). ). The user can confirm the overall state around the vehicle by visually recognizing such a bird's-eye view image.

JP 2010-274813 A

  By the way, in general, the image display system as described above displays only when a predetermined display condition such as “the vehicle speed is smaller than the threshold” or “the shift position is reverse (R)” is satisfied in consideration of safety. An image is displayed on the apparatus (for example, refer to Patent Document 1). This prevents the driver of the vehicle from gazing at the display device and reducing attention to driving.

  However, when a passenger other than the driver views the display device, the driving is not affected. A passenger who does not drive can also ensure safety by fully grasping the situation around the vehicle based on the displayed image. For this reason, even if it is a case where display conditions are not satisfied, the technique in which the passengers other than a driver | operator can confirm the mode of the periphery of a vehicle was requested | required.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a technology that allows passengers other than the driver to check the periphery of the vehicle even when the display conditions are not satisfied.

  In order to solve the above-described problem, the display device according to the embodiment is a portable display device, which is set by a setting unit that sets a parameter that defines a virtual viewpoint of an overhead image showing the periphery of the vehicle, And a display unit for displaying various display images. The display unit displays a setting screen for setting parameters by the setting unit.

FIG. 1 is a diagram showing an overview of an image display system. FIG. 2 is a diagram illustrating a configuration of the vehicle device. FIG. 3 is a diagram illustrating directions in which four cameras capture images. FIG. 4 is a diagram illustrating a configuration of the portable display device. FIG. 5 is a diagram illustrating an example of a vehicle display image. FIG. 6 is a diagram illustrating an example of a portable display image. FIG. 7 is a diagram illustrating a method for generating a bird's-eye view image. FIG. 8 is a diagram illustrating a processing flow of the vehicle apparatus according to the first embodiment. FIG. 9 is a diagram illustrating a processing flow of the portable display device according to the first embodiment. FIG. 10 is a diagram illustrating a processing flow of the vehicle apparatus according to the second embodiment. FIG. 11 is a diagram illustrating a configuration of a portable display device according to the third embodiment. FIG. 12 is a diagram illustrating an example of a setting screen for designating a virtual viewpoint. FIG. 13 is a diagram illustrating an example of the designated overhead view image. FIG. 14 is a diagram illustrating a processing flow of the vehicle device according to the third embodiment. FIG. 15 is a diagram illustrating a detailed flow of the specified overhead image processing. FIG. 16 is a diagram illustrating a processing flow of the portable display device according to the third embodiment. FIG. 17 is a diagram illustrating a processing flow of the vehicle device according to the fourth embodiment. FIG. 18 is a diagram illustrating a configuration of a portable display device according to the fifth embodiment. FIG. 19 is a diagram illustrating a processing flow of the vehicle apparatus according to the fifth embodiment. FIG. 20 is a diagram illustrating a processing flow of the portable display device according to the fifth embodiment. FIG. 21 is a diagram illustrating a change in the color of the vehicle image included in the designated overhead view image.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<1. First Embodiment>
<1-1. System overview>
FIG. 1 is a diagram showing an overview of an image display system 10 according to the present embodiment. The image display system 10 includes a vehicle device 2 mounted on a vehicle 9 such as an automobile, and a portable display device 3 configured separately from the vehicle device 2.

  Both the vehicle device 2 and the portable display device 3 have a wireless communication function in conformity with a predetermined communication method such as Bluetooth (registered trademark). Therefore, the vehicle device 2 and the portable display device 3 can transmit and receive data to and from each other by wireless communication. Note that the vehicle device 2 and the portable display device 3 may be physically connected by a communication cable so that the vehicle device 2 and the portable display device 3 can transmit and receive data to each other by wired communication.

  The vehicle device 2 is an electronic device used in the vehicle 9, and includes a plurality of cameras 5 that capture the periphery of the vehicle 9, an image processing device 4 that processes images, and an in-vehicle display device 6 that displays images. ing. The in-vehicle display device 6 is fixedly provided in the vehicle interior of the vehicle 9 so that a driver of the vehicle 9 who is a main user of the vehicle device 2 can visually recognize. The vehicle device 2 has a function of displaying an image showing the periphery of the vehicle 9 on the in-vehicle display device 6 based on captured images obtained by the plurality of cameras 5.

  The mobile display device 3 is a portable display device such as a mobile phone or a smartphone. The portable display device 3 can receive an image showing the periphery of the vehicle 9 transmitted from the image processing device 4 and display the received image. Passengers other than the driver who has boarded the vehicle 9 can handle the mobile display device 3 and visually recognize an image displayed on the mobile display device 3.

  The in-vehicle display device 6 displays an image showing the periphery of the vehicle 9 when a predetermined display condition is satisfied, but does not display an image when the display condition is not satisfied. On the other hand, the portable display device 3 displays an image showing the periphery of the vehicle 9 regardless of the display conditions. Therefore, even if the display conditions are not satisfied, an image is displayed on the mobile display device 3, so that the passenger who is the user of the mobile display device 3 can check the situation around the vehicle 9.

  Hereinafter, the configuration and processing of the image display system 10 will be described in detail.

<1-2. Configuration of Vehicle Device>
First, the configuration of the vehicle device 2 will be described. FIG. 2 is a diagram illustrating a configuration of the vehicle device 2. As described above, the vehicular device 2 includes the plurality of cameras 5, the image processing device 4, and the in-vehicle display device 6.

  The in-vehicle display device 6 is a thin display provided with, for example, a liquid crystal panel. The in-vehicle display device 6 is integrated with the image processing device 4 and displays a display image output from the image processing device 4.

  Each of the plurality of cameras 5 includes a lens and an image sensor, and electronically obtains a photographed image showing the periphery of the vehicle 9. Each of the cameras 5F, 5B, 5L, and 5R periodically shoots at a predetermined cycle (for example, 1/30 second).

  Each of the plurality of cameras 5 is arranged at an appropriate position of the vehicle 9 separately from the image processing device 4, and inputs the acquired captured image to the image processing device 4. The multiple cameras 5 include a front camera 5F, a rear camera 5B, a left side camera 5L, and a right side camera 5R. These four cameras 5F, 5B, 5L, and 5R are arranged at different positions of the vehicle 9 and photograph different directions around the vehicle 9.

  FIG. 3 is a diagram showing directions in which the four cameras 5F, 5B, 5L, and 5R are respectively photographed. The front camera 5F is provided at the front end of the vehicle 9, and its optical axis 5Fa is directed to the front (straight direction) of the vehicle 9. The rear camera 5B is provided at the rear end of the vehicle 9, and its optical axis 5Ba is directed to the rear of the vehicle 9 (the direction opposite to the straight traveling direction). The left side camera 5L is provided on the left side mirror 93L of the vehicle 9, and its optical axis 5La is directed to the left side of the vehicle 9 (a direction orthogonal to the straight traveling direction). The right side camera 5R is provided on the right side mirror 93R of the vehicle 9, and its optical axis 5Ra is directed to the right side of the vehicle 9 (a direction orthogonal to the straight traveling direction).

  These cameras 5F, 5B, 5L, and 5R use fish-eye lenses, and each camera 5F, 5B, 5L, and 5R has an angle of view θ of 180 degrees or more. For this reason, it is possible to photograph the entire periphery of the vehicle 9 by using the four cameras 5F, 5B, 5L, and 5R.

  Returning to FIG. The image processing device 4 processes captured images acquired by the plurality of cameras 5 and generates a display image for display on the in-vehicle display device 6 and a display image for display on the portable display device 3.

  The image processing device 4 includes a control unit 40 that is a microcomputer that controls the entire vehicle device 2. Further, the image processing device 4 includes an image acquisition unit 41, an image synthesis unit 42, a display image generation unit 43, an image output unit 44, and a data communication unit 45. These processing units 41 to 45 are, for example, hardware circuits that process images.

  The image acquisition unit 41 acquires captured images respectively obtained by the four cameras 5F, 5B, 5L, and 5R. The image acquisition unit 41 has an image processing function such as converting an analog captured image into a digital captured image. The image acquisition unit 41 performs predetermined image processing on the acquired captured image and inputs the processed captured image to the image composition unit 42 and the display image generation unit 43.

  The image composition unit 42 generates an overhead image showing the periphery of the vehicle 9 as viewed from the virtual viewpoint. The image composition unit 42 composes a plurality of captured images acquired by the plurality of cameras 5 and generates an overhead image viewed from a virtual viewpoint that is a composite image of the plurality of captured images. A method by which the image composition unit 42 generates the overhead image will be described later. The image composition unit 42 inputs the generated overhead image to the display image generation unit 43.

  The display image generation unit 43 generates a display image for display on the in-vehicle display device 6 (hereinafter referred to as “vehicle display image”). The display image generation unit 43 generates a vehicle display image using the captured image input from the image acquisition unit 41 and the overhead image input from the image composition unit 42. This vehicle display image is different in form from a display image (hereinafter referred to as “portable display image”) for display on the mobile display device 3.

  The image output unit 44 outputs the display image to the in-vehicle display device 6 and causes the in-vehicle display device 6 to display the display image. The image output unit 44 outputs the vehicle display image generated by the display image generation unit 43 to the in-vehicle display device 6. Thereby, the vehicle display image is displayed on the in-vehicle display device 6.

  The data communication unit 45 transmits / receives data to / from the portable display device 3 by wireless communication using a predetermined communication method. The data communication unit 45 transmits the display image to the portable display device 3 and causes the in-vehicle display device 6 to display the display image. The data communication unit 45 transmits the overhead image generated by the image composition unit 42 to the portable display device 3 as a portable display image. Thereby, an overhead image (portable display image) is displayed on the portable display device 3. In addition, when the data communication unit 45 receives data from the portable display device 3, the data communication unit 45 inputs the received data to the control unit 40.

  The image processing apparatus 4 further includes a storage unit 46 and a signal receiving unit 47.

  The storage unit 46 is a nonvolatile memory such as a flash memory, for example, and stores various types of information. The storage unit 46 stores vehicle data 46a and a program 46b as firmware. The vehicle data 46a is data related to the vehicle 9 on which the vehicle device 2 is mounted, and includes data indicating the appearance of the vehicle 9 such as a body shape and a body color.

  The signal receiving unit 47 receives signals from other devices provided in the vehicle 9. The signal receiving unit 47 inputs the received signal to the control unit 40. The signal receiving unit 47 receives, for example, a signal indicating the speed (km / h) at which the vehicle 9 travels from the vehicle speed sensor 8.

  The control unit 40 includes a CPU, a RAM, a ROM, and the like. Various functions of the control unit 40 are realized by the CPU performing arithmetic processing according to the program 46b stored in the storage unit 46. An image control unit 40a, a condition determination unit 40b, and a display control unit 40c shown in the drawing are a part of functional units realized by the CPU performing arithmetic processing according to a program.

  The image control unit 40 a performs control related to image processing executed by the image acquisition unit 41, the image synthesis unit 42, and the display image generation unit 43. For example, the image control unit 40a sets a virtual viewpoint for the overhead image generated by the image composition unit 42.

  The condition determination unit 40b determines whether or not the in-vehicle display device 6 satisfies a display condition for displaying a display image. The condition determination unit 40b determines that the display condition is satisfied when the speed of the vehicle 9 is smaller than a predetermined threshold. Thereby, for example, when the vehicle 9 is approaching an intersection with poor visibility, the display condition is satisfied when the driver slows down the vehicle 9 to check the periphery of the vehicle 9. .

  The display control unit 40c performs control related to display of the display image. The display control unit 40 c can switch between enabling / disabling the output function of the image output unit 44 and the transmission function of the data communication unit 45. When the display control unit 40 c invalidates the output function of the image output unit 44, the vehicle display image is not displayed on the in-vehicle display device 6. When the display control unit 40 c disables the transmission function of the data communication unit 45, the portable display image is not displayed on the portable display device 3.

<1-3. Configuration of portable display device>
Next, the configuration of the portable display device 3 will be described. FIG. 4 is a diagram illustrating a configuration of the portable display device 3. The portable display device 3 includes a control unit 31, a microphone 32, a speaker 33, a voice communication unit 34, an operation unit 35, a display 36, a data communication unit 37, and a storage unit 38.

  The microphone 32 converts surrounding sounds into electrical signals. The microphone 32 converts, for example, a voice uttered by a user during a call into an electric signal. The speaker 33 outputs various sounds based on the electrical signal. The speaker 33 outputs, for example, a voice uttered by the other party. The voice communication unit 34 transmits / receives a voice electrical signal for a call to / from the base station. The microphone 32, the speaker 33, and the voice communication unit 34 realize the call function of the portable display device 3.

  The operation unit 35 is an operation member that directly receives a user's operation and includes a plurality of operation buttons. When the user operates the operation unit 35, a signal indicating the operation content is input to the control unit 31.

  The display 36 includes, for example, a liquid crystal panel and displays various images. The display 36 includes a touch panel and functions as an operation member that receives a user operation. When the user operates the display 36 as a touch panel, a signal indicating the operation content is input to the control unit 31.

  The data communication unit 37 transmits and receives data to and from the vehicle device 2 by wireless communication using a predetermined communication method. The data communication unit 37 receives an overhead image transmitted from the vehicle device 2.

  The storage unit 38 is a non-volatile memory such as a flash memory, for example, and stores various types of information. The storage unit 38 stores an application program 38 a for linking with the vehicle device 2.

  The control unit 31 is a microcomputer that comprehensively controls the entire portable display device 3. The control unit 31 includes a CPU, a RAM, a ROM, and the like. Various functions of the application are realized by the CPU performing arithmetic processing in accordance with the program 38a stored in the storage unit 38.

  A communication control unit 31a and a display control unit 31b shown in the drawing are a part of application functions. The communication control unit 31 a controls the data communication unit 37 and causes the data communication unit 37 to receive the bird's-eye view image transmitted from the vehicle device 2. In addition, the display control unit 31b controls the display 36 and causes the display 36 to display the received overhead image as a portable display image when the data communication unit 37 receives the overhead image.

<1-4. Display image>
Next, the display image will be described. As described above, the display image includes a vehicle display image to be displayed on the in-vehicle display device 6 and a portable display image to be displayed on the portable display device 3. FIG. 5 is a diagram illustrating an example of the vehicle display image DP1, and FIG. 6 is a diagram illustrating an example of the portable display image DP2.

  As shown in FIG. 5, the vehicle display image DP <b> 1 includes a captured image PF that shows the front of the vehicle 9 and an overhead image CP that shows the periphery of the vehicle 9 as viewed from the virtual viewpoint. Since this vehicle display image DP1 is displayed on the in-vehicle display device 6, it is visually recognized by the driver of the vehicle 9. The driver can check not only the situation in front of the vehicle 9 but also the overall situation around the vehicle 9 by visually recognizing such a display image DP1 for the vehicle.

  On the other hand, as shown in FIG. 6, the portable display image DP <b> 2 includes the bird's-eye view image CP, but does not include other images showing the periphery of the vehicle 9. Specifically, the overhead image CP is the portable display image DP2 as it is. Since this portable display image DP2 is displayed on the portable display device 3, it is viewed by a passenger other than the driver. The passenger can check the overall state of the periphery of the vehicle 9 by visually recognizing the portable display image DP2.

  In general, the screen size of the display 36 included in the portable display device 3 is relatively small. Therefore, if a display image similar to the vehicle display image DP1 is displayed on the mobile display device 3, the size of the overhead image CP on the display is reduced, and the passenger who is the user of the mobile display image DP2 However, it is difficult to grasp the subject image included in the overhead image CP. In the present embodiment, the portable display image DP2 including only the overhead image CP is displayed on the portable display device 3. For this reason, the size of the overhead image CP on display can be increased, and the passenger can easily grasp the image of the subject included in the overhead image CP.

  As shown in FIGS. 5 and 6, both the vehicle display image DP <b> 1 and the portable display image DP <b> 2 include an overhead image CP that shows the periphery of the vehicle 9 as viewed from the virtual viewpoint. This overhead image CP is generated by the image composition unit 42. FIG. 7 is a diagram illustrating a method in which the image composition unit 42 generates the overhead image CP. Hereinafter, a method in which the image composition unit 42 generates the overhead image CP will be described with reference to FIG.

  When shooting is performed with each of the front camera 5F, the rear camera 5B, the left side camera 5L, and the right side camera 5R, four captured images PF and PB showing the front, rear, left side, and right side of the vehicle 9, respectively. , PL, PR are acquired. These four captured images PF, PB, PL, and PR include data around the entire vehicle 9.

  First, the image composition unit 42 projects data (values of each pixel) included in these four captured images PF, PB, PL, and PR onto a projection surface TS that is a three-dimensional curved surface in a virtual three-dimensional space. The projection surface TS has, for example, a substantially hemispherical shape (a bowl shape). The center part (bottom part of the bowl) of the projection surface TS is determined as the position of the vehicle 9. Further, a portion other than the center of the projection surface TS is associated with any one of the captured images PF, PB, PL, and PR.

  The image composition unit 42 projects the data included in the captured images PF, PB, PL, and PR on a portion other than the center of the projection surface TS. The image composition unit 42 projects the data of the captured image PF of the front camera 5F onto an area corresponding to the front of the vehicle 9 on the projection surface TS. In addition, the image composition unit 42 projects the data of the captured image PB of the rear camera 5B on an area corresponding to the rear of the vehicle 9 on the projection surface TS. Further, the image composition unit 42 projects the data of the captured image PL of the left side camera 5L on the area corresponding to the left side of the vehicle 9 on the projection plane TS, and the area corresponding to the right side of the vehicle 9 on the projection plane TS. Data of the captured image PR of the right side camera 5R is projected.

  When data is projected onto each part of the projection surface TS in this way, the image composition unit 42 then virtually generates a polygon model indicating the three-dimensional shape of the vehicle 9 based on the vehicle data 46a stored in the storage unit 46. To configure. The shape and color of the model of the vehicle 9 conforms to the actual body shape and body color of the vehicle 9. The model of the vehicle 9 is arranged at a central portion of the projection surface TS determined as the position of the vehicle 9 in the three-dimensional space where the projection surface TS is set.

  Next, the image control unit 40a sets a virtual viewpoint VP for the three-dimensional space. Thereby, the image composition unit 42 cuts out, as an image, an area included in the predetermined viewing angle from the virtual viewpoint VP in the projection surface TS. Further, the image composition unit 42 performs rendering on the polygon model in accordance with the virtual viewpoint VP, and superimposes the resulting two-dimensional vehicle image 90 on the cut-out image. Thereby, the image composition unit 42 generates a bird's-eye view image CP showing the vehicle 9 and the area around the vehicle 9 viewed from the virtual viewpoint VP.

  Normally, the image control unit 40a is a virtual viewpoint VP for the bird's-eye view image CP, as shown in the figure, a virtual viewpoint (hereinafter referred to as a “basic virtual viewpoint”) in which the viewpoint position is directly above the vehicle 9 and the viewing direction is directly below. .) Set VPa. When this basic virtual viewpoint VPa is set, a bird's-eye view image CPa overlooking the vehicle 9 and the area around the vehicle 9 is generated.

  Further, the image control unit 40a can arbitrarily change parameters (viewpoint position, visual field direction, etc.) that define the virtual viewpoint VP, and can also set a virtual viewpoint VP different from the basic virtual viewpoint VPa. For example, as shown in the figure, when the virtual viewpoint VPb is set with the viewpoint position being the left rear of the vehicle 9 and the visual field direction being the front of the vehicle 9, so as to look around the entire periphery from the left rear of the vehicle 9, A bird's-eye view image CPb showing the vehicle 9 and the area around the vehicle 9 is generated.

<1-5. Process flow>
Next, a processing flow of the image display system 10 will be described. FIG. 8 is a diagram showing a flow of processing of the vehicle device 2. This process is repeatedly performed at a predetermined cycle (for example, 1/30 second). Further, a pairing process or the like is performed before this process, and the vehicle device 2 and the portable display device 3 are in a state where they can communicate with each other.

  First, each of the four cameras 5 of the vehicle device 2 captures the vicinity of the vehicle 9. Then, the image acquisition unit 41 acquires four captured images respectively obtained by the four cameras 5 (step SA11).

  Next, the image composition unit 42 generates an overhead image showing the periphery of the vehicle 9 viewed from the virtual viewpoint based on the four captured images (step SA12). At this time, the image control unit 40a sets a basic virtual viewpoint as a virtual viewpoint for the overhead image. Therefore, the image composition unit 42 generates an overhead image that looks down on the area around the vehicle 9 from directly above the vehicle 9.

  Next, the display image generation unit 43 generates the vehicle display image DP1 (step SA13). The display image generation unit 43 generates the vehicle display image DP1 using the captured image PF of the front camera 5F acquired by the image acquisition unit 41 and the overhead image CP generated by the image composition unit 42 (see FIG. 5). .)

  Next, the condition determination part 40b determines whether the display conditions for the vehicle-mounted display apparatus 6 to display a display image are satisfied (step SA14). The condition determining unit 40b acquires the speed of the vehicle 9 based on the signal received by the signal receiving unit 47 from the vehicle speed sensor 8. And the condition determination part 40b determines with the display conditions being satisfied, when the speed of the vehicle 9 is smaller than a predetermined threshold value (for example, 5 km / h).

  If the display condition is satisfied (Yes in step SA14), it is considered that the driver has slowed down or stopped to check the surroundings of the vehicle 9. For this reason, the display control unit 40 c enables the output function of the image output unit 44. Thereby, the image output unit 44 outputs the vehicle display image DP1 to the in-vehicle display device 6, and the in-vehicle display device 6 displays the vehicle display image DP1 (step SA15). A driver of the vehicle 9 can visually check the display image DP1 for the vehicle displayed on the in-vehicle display device 6 in this way, and can confirm the state around the vehicle 9. Then, the process proceeds to step SA16.

  On the other hand, when the display condition is not satisfied (No in step SA14), the display control unit 40c invalidates the output function of the image output unit 44. Accordingly, the image output unit 44 does not output the vehicle display image DP1, and the vehicle display image DP1 is not displayed on the in-vehicle display device 6. Then, the process proceeds to step SA16.

  In step SA16, the display control unit 40c determines whether or not a state in which communication with the portable display device 3 is possible is continued. If communication with the mobile display device 3 is possible (Yes in step SA16), the display control unit 40c enables the transmission function of the data communication unit 45. Thereby, the data communication part 45 transmits the bird's-eye view image (the bird's-eye view image generated in step SA12) to be the portable display image DP2 to the portable display device 3 (step SA17).

  As described above, the data communication unit 45 of the vehicle device 2 transmits the bird's-eye view image to the portable display device 3 regardless of the display conditions. Therefore, even when the display conditions are not satisfied, the overhead image (that is, the portable display image DP2) is displayed on the portable display device 3.

  FIG. 9 is a diagram illustrating a processing flow of the mobile display device 3. This process is repeatedly performed at a predetermined cycle (for example, 1/30 second) when an application for linking with the vehicle device 2 is executed. Even before this process, the vehicle device 2 and the portable display device 3 are in a state where they can communicate with each other.

  First, when an overhead image is transmitted from the vehicle device 2, the data communication unit 37 receives the overhead image under the control of the communication control unit 31a (step SB11).

  As described above, when the data communication unit 37 receives the overhead image (Yes in Step SB12), the display 36 displays the portable display image DP2 including only the overhead image under the control of the display control unit 31b (Step SB13). ).

  The passenger can visually check the portable display image DP <b> 2 displayed on the portable display device 3 in this manner and check the state of the surroundings of the vehicle 9. That is, even if the display conditions are not satisfied, the passenger can check the situation around the vehicle 9.

  As described above, in the image display system 10 according to the first embodiment, the image processing device 4 outputs a display image indicating the periphery of the vehicle to the in-vehicle display device 6 provided in the vehicle 9 to display the display image. An image output unit 44 and a data communication unit 45 that transmits the display image to the portable portable display device 3 to display the display image are provided. Moreover, the condition determination part 40b determines whether the display conditions for the vehicle-mounted display device 6 to display a display image are satisfied.

  When the display condition is satisfied, the display control unit 40c validates both the output function of the image output unit 44 and the transmission function of the data communication unit 45. Thereby, a display image is displayed on the in-vehicle display device 6 and a display image is also displayed on the portable display device 3.

  On the other hand, when the display condition is not satisfied, the display control unit 40c invalidates the output function of the image output unit 44 and validates the transmission function of the data communication unit 45. Thereby, the display image is not displayed on the in-vehicle display device 6, but the display image is displayed on the portable display device 3. For this reason, even if the display conditions are not satisfied, the passenger who handles the mobile display device 3 can check the situation around the vehicle 9.

  The display images DP1 and DP2 include a bird's-eye view image showing the periphery of the vehicle as viewed from the virtual viewpoint. For this reason, the user can confirm the overall state of the periphery of the vehicle 9 by visually recognizing the display images DP1 and DP2.

  In addition, the portable display device 3 displays a portable display image DP2 that includes an overhead image and does not include other images showing the periphery of the vehicle 9. For this reason, the size of the overhead image on the display on the portable display device 3 is increased, and the user of the portable display device 3 can easily grasp the image of the subject included in the overhead image.

<2. Second Embodiment>
Next, a second embodiment will be described. Since the configuration and processing of the image display system 10 of the second embodiment are substantially the same as those of the first embodiment, the following description will be focused on differences from the first embodiment. In the first embodiment, the display image is displayed on both the in-vehicle display device 6 and the portable display device 3 when the display condition is satisfied. On the other hand, in the second embodiment, when the display condition is satisfied, the display image is displayed on the in-vehicle display device 6, but the display image is not displayed on the portable display device 3. .

  FIG. 10 is a diagram illustrating a processing flow of the vehicle device 2 according to the second embodiment. The flow of processing of the portable display device 3 according to the second embodiment is the same as that shown in FIG. Hereinafter, the flow of processing of the vehicle device 2 according to the second embodiment will be described.

  First, shooting is performed with the four cameras 5, and the image acquisition unit 41 acquires four captured images (step SA21). Next, the image composition unit 42 generates an overhead image showing the periphery of the vehicle 9 viewed from the virtual viewpoint based on the four photographed images (step SA22). Next, the display image generation unit 43 generates the vehicle display image DP1 (step SA23). Then, the condition determining unit 40b determines whether or not the display condition is satisfied (step SA24).

  If the display condition is satisfied (Yes in step SA24), the display control unit 40c enables the output function of the image output unit 44. Thereby, the image output unit 44 outputs the vehicle display image DP1 to the in-vehicle display device 6, and the in-vehicle display device 6 displays the vehicle display image DP1 (step SA25).

  Further, when the display condition is satisfied, the display control unit 40c invalidates the transmission function of the data communication unit 45. Thereby, the data communication unit 45 does not transmit the overhead image, and the portable display image DP2 is not displayed on the portable display device 3.

  On the other hand, when the display condition is not satisfied (No in step SA24), the display control unit 40c invalidates the output function of the image output unit 44. Accordingly, the image output unit 44 does not output the vehicle display image DP1, and the vehicle display image DP1 is not displayed on the in-vehicle display device 6.

  Further, if the display condition is not satisfied, if communication with the portable display device 3 is possible (Yes in step SA26), the display control unit 40c enables the transmission function of the data communication unit 45. Thereby, the data communication part 45 transmits a bird's-eye view image to the portable display device 3, and the portable display image DP2 is displayed on the portable display device 3 (step SA27).

  As described above, in the image display system 10 of the second embodiment, when the display condition is satisfied, the transmission function of the data communication unit 45 is invalidated, and the display image is displayed only by the in-vehicle display device 6. For this reason, since the process which concerns on the display of the portable display apparatus 3 can be abbreviate | omitted, the process load can be reduced. As a result, resources necessary for the processing can be allocated to the processing related to the display of the in-vehicle display device 6, and the display image displayed on the in-vehicle display device 6 necessary for driving the vehicle 9 can be smoothly displayed.

<3. Third Embodiment>
Next, a third embodiment will be described. Since the configuration and processing of the image display system 10 of the third embodiment are substantially the same as those of the first embodiment, the following description will be focused on differences from the first embodiment.

  In the first embodiment, both the in-vehicle display device 6 and the portable display device 3 display an overhead image viewed from the basic virtual viewpoint. On the other hand, in the third embodiment, the mobile display device 3 can display an overhead image viewed from a virtual viewpoint different from the basic virtual viewpoint. Further, a passenger who is a user of the mobile display device 3 can operate the mobile display device 3 to designate a desired virtual viewpoint as a virtual viewpoint for an overhead image displayed on the mobile display device 3. .

  FIG. 11 is a diagram illustrating a configuration of the portable display device 3 according to the third embodiment. The mobile display device 3 according to the third embodiment further includes a viewpoint setting unit 31c as an application function in addition to the configuration of the mobile display device 3 according to the first embodiment shown in FIG. The viewpoint setting unit 31c receives an operation for designating a virtual viewpoint for the overhead image from the user. Then, the viewpoint setting unit 31c sets parameters that define the virtual viewpoint according to the virtual viewpoint specified by the user.

  FIG. 12 is a diagram illustrating an example of a setting screen for designating a virtual viewpoint. This setting screen is displayed on the display 36 of the portable display device 3. In the setting screen, an illustration 91 indicating the side of the vehicle 9 is included at the top of the screen, and an illustration 92 indicating the front of the vehicle 9 is included at the bottom of the screen. Markers Mv1 and Mv2 indicating virtual viewpoints are included in the upper portions of the two illustrations 91 and 92, respectively.

  The user of the portable display device 3 can move the positions of the markers Mv1 and Mv2 along the arcuate guideline G by touching the display 36 as a touch panel.

  The position of the marker Mv1 with respect to the illustration 91 at the top of the screen corresponds to the viewpoint position of the virtual viewpoint in the front-rear direction of the vehicle 9. Further, the position of the marker Mv <b> 2 with respect to the illustration 92 at the bottom of the screen corresponds to the viewpoint position of the virtual viewpoint in the left-right direction of the vehicle 9. Therefore, the user can designate a desired virtual viewpoint by moving the markers Mv1 and Mv2. The user may be able to move the markers Mv1 and Mv2 in the vertical direction.

  When the user touches the completion button Cb displayed on the setting screen, the viewpoint setting unit 31c sets the viewpoint position of the virtual viewpoint based on the positions of the two markers Mv1 and Mv2 at that time. In addition, the viewpoint setting unit 31c sets the viewing direction of the virtual viewpoint in the direction toward the approximate center of the vehicle 9 (corresponding to the position 9c in the figure). Thereby, the viewpoint setting unit 31c sets the viewpoint position and the viewing direction, which are parameters defining the virtual viewpoint.

  The parameters set by the viewpoint setting unit 31 c in this way are transmitted from the portable display device 3 to the vehicle device 2. The image composition unit 42 of the vehicle device 2 generates an overhead image viewed from a virtual viewpoint based on this parameter. That is, the image composition unit 42 generates an overhead image viewed from a virtual viewpoint designated by the user of the mobile display device 3 (hereinafter referred to as “designated overhead image”).

  FIG. 13 is a diagram illustrating an example of the designated overhead view image. The four designated bird's-eye images CP0 to CP3 shown in FIG. 13 have different virtual viewpoint viewpoint positions. Each designated bird's-eye view images CP <b> 0 to CP <b> 3 includes a vehicle image 90 showing the appearance of the vehicle 9.

  The default viewpoint position of the virtual viewpoint is the same position (directly above the vehicle 9) as the basic virtual viewpoint. Therefore, when the virtual viewpoint is not designated by the user, a designated bird's-eye view image CP0 that looks down on the area around the vehicle 9 from directly above the vehicle 9 is generated.

  Further, when the virtual viewpoint is moved to the front side of the vehicle 9, as shown in the upper part of FIG. 13, a designated overhead image CP <b> 1 that looks down on the area around the vehicle 9 from the front upper part of the vehicle 9 is generated. Further, when the virtual viewpoint is moved to the rear side of the vehicle 9, as shown in the lower part of FIG. 13, a designated overhead view image CP <b> 2 that looks down on the area around the vehicle 9 from the rear upper part of the vehicle 9 is generated. . Further, when the virtual viewpoint is moved to the left side of the vehicle 9, as shown on the left side of FIG. 13, a designated overhead image CP3 that looks down on the area around the vehicle 9 from the upper left side of the vehicle 9 is generated.

  The designated overhead view image generated by the image composition unit 42 is transmitted from the vehicle device 2 to the portable display device 3. Then, the portable display device 3 displays the portable display image DP2 including the designated overhead view image on the display 36. For this reason, the user of the portable display device 3 can visually recognize the designated overhead image viewed from the virtual viewpoint designated by the user. As a result, the user can confirm the surroundings of the vehicle 9 from a desired viewpoint.

  FIG. 14 is a diagram illustrating a processing flow of the vehicle device 2 according to the third embodiment. Hereinafter, the flow of processing of the vehicle device 2 according to the third embodiment will be described.

  First, shooting is performed with the four cameras 5, and the image acquisition unit 41 acquires four captured images (step SA31). Next, the image composition unit 42 generates an overhead image viewed from a virtual viewpoint based on the four captured images (step SA32). At this time, the image control unit 40a sets a basic virtual viewpoint as a virtual viewpoint for the overhead image. That is, this bird's-eye view image is a bird's-eye view image (hereinafter referred to as “fixed bird's-eye view image”) viewed from the basic virtual viewpoint, and is used for the vehicle display image DP1. Then, the display image generation unit 43 generates the vehicle display image DP1 using the fixed overhead image and the captured image PF (step SA33).

  Next, the condition determination unit 40b determines whether or not the display condition is satisfied (step SA34). If the display condition is satisfied (Yes in step SA34), the image output unit 44 outputs the vehicle display image DP1 to the in-vehicle display device 6, and the in-vehicle display device 6 includes the vehicle display image DP1 including the fixed overhead view image. Is displayed (step SA35). On the other hand, when the display condition is not satisfied (No in step SA34), the image output unit 44 does not output the vehicle display image DP1, and the vehicle display image DP1 is not displayed on the in-vehicle display device 6.

  Next, the display control part 40c determines whether the state which can communicate with the portable display apparatus 3 continues (step SA36). If communication with the portable display device 3 is possible (Yes in step SA36), processing for displaying the designated overhead image on the portable display device 3 (hereinafter referred to as “designated overhead image processing”) (step SA37) is executed. Is done.

  FIG. 15 is a diagram showing a detailed flow of this designated overhead image processing (step SA37). First, when a parameter defining a virtual viewpoint is transmitted from the mobile display device 3, the data communication unit 45 receives this parameter under the control of the image control unit 40a (step SA1). Such parameters are transmitted from the portable display device 3 when the user designates a virtual viewpoint on the portable display device 3. For this reason, it is not necessary to receive this parameter for each designated overhead image processing. The parameters received by the data communication unit 45 are stored in the storage unit 46.

  Next, the image control unit 40a reads parameters stored in the storage unit 46 (step SA2). Then, the image control unit 40a sets a virtual viewpoint based on the read parameters, and the image composition unit 42 generates a designated overhead image viewed from this virtual viewpoint (step SA3). If no parameters are stored in the storage unit 46, the image composition unit 42 generates a designated overhead image viewed from the default virtual viewpoint.

  Next, the data communication unit 45 transmits a designated overhead image that becomes the portable display image DP2 to the portable display device 3 (step SA4). The designated overhead view image transmitted in this way is displayed on the portable display device 3.

  FIG. 16 is a diagram illustrating a processing flow of the portable display device 3 according to the third embodiment. First, when the designated bird's-eye view image is transmitted from the vehicle device 2, the data communication unit 37 receives the designated bird's-eye view image under the control of the communication control unit 31a (step SB31).

  As described above, when the data communication unit 37 receives the designated overhead image (Yes in Step SB32), the display 36 displays the portable display image DP2 including the designated overhead image under the control of the display control unit 31b (Step SSB32). SB33). Thereby, the designated overhead image viewed from the virtual viewpoint based on the parameter is displayed on the display 36.

  Next, the viewpoint setting unit 31c determines whether or not the user has given an instruction to designate a virtual viewpoint by operating the operation unit 35 or the like (step SB34). When such an instruction is given, the viewpoint setting unit 31c causes the display 36 to display the setting screen shown in FIG. Then, the viewpoint setting unit 31c receives an operation for specifying the viewpoint position of the virtual viewpoint from the user, and sets a parameter that defines the virtual viewpoint (step SB35).

  Next, the data communication unit 37 transmits the parameters set in this way to the vehicle device 2 under the control of the viewpoint setting unit 31c (step SB36). The transmitted parameter is received by the vehicle device 2 in step SA1 of the designated overhead image processing. Thereafter, the vehicle device 2 generates a designated overhead image viewed from a virtual viewpoint based on this parameter.

  As described above, in the image display system 10 according to the third embodiment, the data communication unit 45 of the vehicle device 2 receives the parameter defining the virtual viewpoint from the portable display device 3, and the image composition unit 42 A designated overhead image viewed from a virtual viewpoint based on the parameter is generated. Then, the data communication unit 45 transmits the designated overhead image to the portable display device 3, so that the display image including the designated overhead image is displayed on the portable display device 3.

  Therefore, by setting a parameter that defines the virtual viewpoint on the portable display device 3, the designated overhead image viewed from the virtual viewpoint based on this parameter can be displayed on the portable display device 3. For this reason, the passenger who is the user of the portable display device 3 can check the situation around the vehicle 9 from a desired viewpoint.

  The on-vehicle display device 6 displays a vehicle display image DP1 including a fixed overhead view viewed from the basic virtual viewpoint. On the other hand, the portable display device 3 displays a portable display image DP2 including a designated overhead view viewed from a virtual viewpoint different from the basic virtual viewpoint. For this reason, the state around the vehicle 9 can be confirmed from different viewpoints by the in-vehicle display device 6 and the portable display device 3.

<4. Fourth Embodiment>
Next, a fourth embodiment will be described. Since the configuration and processing of the image display system 10 of the fourth embodiment are substantially the same as those of the third embodiment, the following description will be focused on differences from the third embodiment.

  In the third embodiment, two types of overhead images, that is, a fixed overhead image and a designated overhead image are generated. On the other hand, in the fourth embodiment, the designated overhead image is generated when the display condition is not satisfied, but only the fixed overhead image is generated when the display condition is satisfied. Therefore, when the display condition is satisfied, the fixed overhead view image is also displayed on the portable display device 3.

  FIG. 17 is a diagram illustrating a processing flow of the vehicle device 2 according to the fourth embodiment. The flow of processing of the portable display device 3 of the fourth embodiment is the same as that shown in FIG. Hereinafter, the flow of processing of the vehicle device 2 according to the fourth embodiment will be described.

  First, shooting is performed with the four cameras 5, and the image acquisition unit 41 acquires four captured images (step SA41). Next, the image composition unit 42 generates a fixed overhead image showing the periphery of the vehicle 9 viewed from the basic virtual viewpoint based on the four captured images (step SA42). Next, the display image generation unit 43 generates the vehicle display image DP1 including the fixed overhead view image (step SA43). Then, the condition determining unit 40b determines whether or not the display condition is satisfied (step SA44).

  If the display condition is not satisfied (No in step SA44), the same processing as in the third embodiment is performed. That is, the image output unit 44 does not output the vehicle display image DP1, and the vehicle display image DP1 is not displayed on the in-vehicle display device 6. If communication with portable display device 3 is possible (Yes in step SA48), designated overhead image processing (step SA49) is executed.

  The detailed flow of this designated overhead image processing (step SA49) is the same as the processing of FIG. Therefore, when the display condition is not satisfied, the designated overhead image is generated in the vehicle device 2, and the designated overhead image is transmitted from the vehicle device 2 to the portable display device 3. Then, the portable display image DP <b> 2 including the designated overhead view image is displayed on the portable display device 3.

  On the other hand, when the display condition is satisfied (Yes in step SA44), first, the image output unit 44 outputs the vehicle display image DP1 to the in-vehicle display device 6, and the in-vehicle display device 6 includes the fixed overhead image. The display image DP1 for use is displayed (step SA45).

  Next, if communication with the portable display device 3 is possible (Yes in step SA46), the fixed overhead view image generated in step SA42 is transmitted from the vehicle device 2 to the portable display device 3 instead of the designated overhead view image. (Step SA47). Thereby, the portable display image DP <b> 2 including the fixed overhead view image is displayed on the portable display device 3. For this reason, when the display condition is satisfied, the designated overhead image is not generated.

  As described above, in the image display system 10 according to the fourth embodiment, when the display condition is satisfied, the display image including the fixed overhead image is displayed on both the in-vehicle display device 6 and the portable display device 3. For this reason, it is sufficient to generate only the fixed overhead image, and the processing for generating the designated overhead image can be omitted, so that the processing load can be reduced. As a result, resources necessary for the processing can be allocated to the processing related to the display of the in-vehicle display device 6, and the display image can be displayed smoothly on the in-vehicle display device 6.

<5. Fifth embodiment>
Next, a fifth embodiment will be described. Since the configuration and processing of the image display system 10 of the fifth embodiment are substantially the same as those of the first embodiment, the following description will be focused on differences from the first embodiment.

  In the first embodiment, an overhead image is generated only in the vehicle device 2, and the overhead display image cannot be generated in the mobile display device 3. On the other hand, in the fifth embodiment, the portable display device 3 can generate an overhead image.

  FIG. 18 is a diagram illustrating a configuration of the portable display device 3 according to the fifth embodiment. In addition to the configuration of the portable display device 3 of the first embodiment shown in FIG. 4, the portable display device 3 of the fifth embodiment has a viewpoint setting unit 31c, a vehicle setting unit 31d, and an image as application functions. A synthesizer 31e is further provided.

  The viewpoint setting unit 31c receives an operation for designating a virtual viewpoint for the overhead image from the user, and sets a parameter for defining the virtual viewpoint according to the virtual viewpoint designated by the user. The method in which the viewpoint setting unit 31c receives an operation for designating a virtual viewpoint from the user is the same as that in the third embodiment. The viewpoint setting unit 31 c according to the fifth embodiment stores the set parameters in the storage unit 38 of the portable display device 3 without transmitting them to the vehicle device 2.

  The vehicle setting unit 31d receives an operation for designating an aspect such as the shape and color of the vehicle image 90 included in the overhead view image from the user. The storage unit 38 of the mobile display device 3 according to the fifth embodiment stores a plurality of vehicle data 38b corresponding to various body shapes and body colors. The vehicle setting unit 31d selects the vehicle data 38b corresponding to the mode of the vehicle image 90 designated by the user, and sets the selected vehicle data 38b as vehicle data used for generating the overhead view image.

  The image composition unit 31e generates a bird's-eye view image showing the periphery of the vehicle 9 viewed from the virtual viewpoint. The method by which the image composition unit 31e generates the overhead image is the same as that of the image composition unit 42 of the vehicle device 2. The image composition unit 31e generates an overhead image viewed from a virtual viewpoint based on the parameters set by the viewpoint setting unit 31c. That is, the image composition unit 31e generates a designated overhead image viewed from a virtual viewpoint designated by the user of the mobile display device 3.

  Thus, since the portable display device 3 of the fifth embodiment can generate a bird's-eye view image, the vehicle device 2 transmits four captured images necessary for the bird's-eye view image to the portable display device 3 instead of the bird's-eye view image. It is like that.

  FIG. 19 is a diagram illustrating a processing flow of the vehicle device 2 according to the fifth embodiment. Hereinafter, the flow of processing of the vehicular apparatus 2 according to the fifth embodiment will be described.

  First, shooting is performed with the four cameras 5, and the image acquisition unit 41 acquires four captured images (step SA51). Next, the image composition unit 42 generates a fixed overhead image showing the periphery of the vehicle 9 viewed from the basic virtual viewpoint based on the four captured images (step SA52). Next, the display image generation unit 43 generates a vehicle display image DP1 including a fixed overhead view image (step SA53).

  Next, the condition determination unit 40b determines whether or not the display condition is satisfied (step SA54). When the display condition is satisfied (Yes in step SA54), the image output unit 44 outputs the vehicle display image DP1 to the vehicle-mounted display device 6, and the vehicle display image DP1 including the fixed overhead image is displayed on the vehicle-mounted display device 6. Is displayed (step SA55). On the other hand, when the display condition is not satisfied (No in step SA54), the image output unit 44 does not output the vehicle display image DP1, and the vehicle display image DP1 is not displayed on the in-vehicle display device 6.

  Next, the display control part 40c determines whether the state which can communicate with the portable display apparatus 3 is continuing (step SA56). If communication with the portable display device 3 is possible (Yes in step SA56), the data communication unit 45 obtains four captured images (four captured images acquired in step SA51) necessary for generating the overhead image. It transmits to the portable display device 3 (step SA57). In the portable display device 3, a designated overhead image is generated based on the four captured images transmitted in this way.

  FIG. 20 is a diagram illustrating a processing flow of the portable display device 3 according to the fifth embodiment. First, when four captured images are transmitted from the vehicle device 2, the data communication unit 37 receives the four captured images under the control of the communication control unit 31a (step SB51).

  As described above, when the data communication unit 37 receives the captured image (Yes in Step SB52), the image composition unit 31e reads out the parameters stored in the storage unit 38 (Step SB53).

  Next, the image composition unit 31e sets a virtual viewpoint based on the read parameter, and generates a specified overhead image viewed from the virtual viewpoint based on the parameter (step SB54). If no parameters are stored in the storage unit 38, the image composition unit 31e generates a designated overhead image viewed from the default virtual viewpoint.

  The image composition unit 31e generates a designated overhead image using the vehicle data 38b selected by the vehicle setting unit 31d among the plurality of vehicle data 38b stored in the storage unit 38. Therefore, the generated designated bird's-eye view image includes the vehicle image 90 having the shape and color indicated by the vehicle data 38b selected by the vehicle setting unit 31d.

  Next, the display 36 displays the portable display image DP2 including the designated overhead image under the control of the display control unit 31b (step SB55). Thereby, the designated overhead image viewed from the virtual viewpoint based on the parameter is displayed on the display 36.

  Next, the viewpoint setting unit 31c determines whether or not the user has given an instruction to designate a virtual viewpoint by operating the operation unit 35 or the like (step SB56). When this instruction is given, the viewpoint setting unit 31c receives an operation for specifying the viewpoint position of the virtual viewpoint from the user, and sets a parameter for defining the virtual viewpoint (step SB57).

  Then, the viewpoint setting unit 31c stores the set parameters in the storage unit 38. Thereby, in the process after the next time, the designated overhead view image seen from the virtual viewpoint designated by the user is generated.

  Next, the vehicle setting unit 31d determines whether or not the user has operated the operation unit 35 or the like to give an instruction to specify the vehicle image 90 included in the overhead image (step SB58). When this instruction is given, the vehicle setting unit 31d displays a predetermined setting screen on the display 36, and receives an operation for designating the shape, color, and other aspects of the vehicle image 90 from the user (step SB59).

  And the vehicle setting part 31d selects the vehicle data 38b according to the aspect of the vehicle image 90 designated by the user from the memory | storage part 38, and sets the selected vehicle data 38b as vehicle data used for the production | generation of a bird's-eye view image. Thereby, in the process after the next time, the designated bird's-eye view image including the vehicle image 90 of the aspect designated by the user is generated.

  For example, when the color of the vehicle image 90 is “white” and the user designates “red” as the color of the vehicle image 90, as shown in FIG. 21, the designated overhead image CP4 generated by the image composition unit 31e. The color of the vehicle image 90 included in is changed from “white” to “red”. Similarly, the shape of the vehicle image 90 included in the designated overhead view image can be changed to a desired shape by the user. For example, the user can change the shape of the vehicle image 90 included in the designated overhead view image from “minivan type” to “racing car type”.

  The shape and color of the vehicle image 90 can be based on the actual body shape and body color of the vehicle 9, but can also be different. Therefore, the passenger who is the user of the portable display device 3 can change the shape and color of the vehicle image 90 included in the designated overhead image to a desired one, and visually recognize the designated overhead image. .

  As described above, in the image display system 10 according to the fifth embodiment, the mobile display device 3 receives four captured images from the vehicle device 2 and generates an overhead image based on the received captured images. A display image including the generated overhead image is displayed. Thus, since the portable display device 3 can generate a bird's-eye view image, the bird's-eye view image directed to the portable display device 3 can be displayed on the portable display device 3 without greatly affecting the processing of the vehicle device 2. .

  Moreover, since the vehicle-mounted display apparatus 6 receives designation | designated of the vehicle image 90 contained in a bird's-eye view image from a user, it can include the desired vehicle image 90 of the passenger who is the user of the portable display apparatus 3 in a bird's-eye view image.

<6. Modification>
Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications are possible. Below, such a modification is demonstrated. All the forms including the above-described embodiment and the form described below can be appropriately combined.

  In the above-described embodiment, the display condition for the vehicle-mounted display device 6 to display the display image is the condition that “the speed of the vehicle 9 is smaller than the threshold value”. For example, the display condition may be a condition that “the shift position is reverse (R)”. In this case, it is desirable that the vehicular display image DP1 includes a captured image PR indicating the rear of the vehicle 9 so that the rear of the vehicle 9 in the traveling direction can be confirmed.

  Further, the user may be able to select which one of the process of the first embodiment and the process of the second embodiment is executed. In addition, the user may be able to select which of the process of the third embodiment and the process of the fourth embodiment is executed.

  In the above-described embodiment, the vehicle device 2 and the portable display device 3 are described as communicating directly, but the vehicle device 2 and the portable display device 3 communicate via a wide area network such as the Internet. You may make it do.

  Moreover, in the said embodiment, although the bird's-eye view image became portable display image DP2 as it is, portable display image DP2 may contain various information other than a bird's-eye view image. In this case, the portable display image DP2 is generated by adding various information to the overhead image. Such a process for generating the portable display image DP2 may be executed by either the vehicle device 2 or the portable display device 3.

  In the above embodiment, the in-vehicle display device 6 is integrated with the image processing device 4, but the in-vehicle display device 6 may be provided separately from the image processing device 4.

  Moreover, in the said embodiment, the bird's-eye view image displayed on the vehicle-mounted display apparatus 6 was a bird's-eye view image seen from the basic virtual viewpoint, However, The bird's-eye view image seen from the virtual viewpoint different from a basic virtual viewpoint may be sufficient.

  Further, in the above-described embodiment, it has been described that various functions are realized in software by the arithmetic processing of the CPU according to the program. However, some of these functions are realized by an electrical hardware circuit. Also good. Conversely, some of the functions realized by the hardware circuit may be realized by software.

DESCRIPTION OF SYMBOLS 2 Apparatus for vehicles 3 Portable display apparatus 4 Image processing apparatus 9 Vehicle 10 Image display system 40b Condition determination part 40c Display control part 44 Image output part 45 Data communication part 90 Vehicle image

Claims (7)

A portable display device,
Setting means for setting a parameter that defines a virtual viewpoint of an overhead image showing the periphery of the vehicle;
Transmitting means for transmitting the parameter set by the setting means to the vehicle;
Display means for displaying various display images,
The display unit displays a setting screen for setting parameters by the setting unit. The display device according to claim 1,
Receiving means for receiving a bird's-eye view image generated from the vehicle based on the parameter defining the virtual viewpoint transmitted from the transmitting means;
Further comprising
The display unit displays the overhead image received by the receiving unit. The display device according to claim 2,
The display unit displays the overhead image together with the setting screen. A portable display device,
Setting means for setting a parameter that defines a virtual viewpoint of an overhead image showing the periphery of the vehicle;
Receiving means for receiving an image from an image processing device used in a vehicle;
Generating means for generating an overhead image showing the periphery of the vehicle viewed from the virtual viewpoint set by the setting means based on the image received by the receiving means;
Display means for displaying various display images,
The display unit displays a setting screen for setting parameters by the setting unit. The display device according to claim 4,
The display unit displays the overhead image together with the setting screen. A program executable by a computer included in a portable display device,
Execution of the program by the computer causes the computer to
(A) generating a setting screen for setting a parameter defining a virtual viewpoint of an overhead image showing the periphery of the vehicle;
(B) displaying the setting screen generated in the step (a);
(C) receiving a parameter setting from the setting screen;
(D) transmitting the parameters set in step (c) to the vehicle;
A program characterized by having executed. A program executable by a computer included in a portable display device,
Execution of the program by the computer causes the computer to
(A) generating a setting screen for setting a parameter defining a virtual viewpoint of an overhead image showing the periphery of the vehicle;
(B) displaying the setting screen generated in the step (a);
(C) receiving a parameter setting from the setting screen;
(D) receiving an image from an image processing device used in the vehicle;
(E) based on the image received in the step (d), generating a bird's-eye view image showing the periphery of the vehicle viewed from the virtual viewpoint set in the step (c);
A program characterized by having executed.

Images