JP2017195533A - Display method and driving support apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a surrounding situation image with which a blind spot caused by an icon of its own vehicle drawn in the surrounding situation image can be reduced and a distance between the vehicle and surrounding objects can be easily perceived.SOLUTION: The method includes: capturing an image of the surroundings of its own vehicle 1; generating surrounding situation images (11, 15, 17) indicating the surrounding situation of the vehicle 1 as viewed from a virtual viewpoint (10z, 10x, 10y) on the basis of the captured image; setting a plurality of areas having different transparency indicating the vehicle 1 in accordance with the position of the virtual viewpoint (10z, 10x, 10y) at icons 12 to draw in the surrounding situation images (11, 15, 17), and displaying the surrounding situation images (11, 15, 17) in which the icons 12 having different transparencies of the plurality of areas are drawn.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a display method and a driving support device.

  As a technique for displaying the icon of the own vehicle drawn in the surrounding situation image indicating the surrounding situation of the own vehicle, there is a technique that makes it possible to visually recognize the area that becomes the blind spot of the icon by making part of the icon translucent. Known (for example, Patent Document 1).

Special table 2013-541915 gazette

However, in the conventional technology in which the part to be translucent in the icon of the own vehicle is fixed, the virtual viewpoint cannot be set as appropriate, and depending on the virtual viewpoint, there is a problem that a blind spot is caused by the icon of the own vehicle. It was.
An object of the present invention is to provide a surrounding situation image that can reduce a blind spot caused by an icon of the host vehicle drawn in the surrounding situation image and can easily perceive a distance between the host vehicle and a surrounding object. To do.

  In the display method according to an aspect of the present invention, a surrounding situation image indicating the surrounding situation of the host vehicle viewed from the virtual viewpoint is generated based on the captured images around the host vehicle, and the host vehicle is displayed according to the position of the virtual viewpoint. An area with different transparency is set in the icon shown, and an area with high transparency is drawn in the surrounding situation image.

  According to the present invention, since a region where the transparency is lowered can be set in the icon of the host vehicle according to the virtual viewpoint, it is possible to suppress the blind spot caused by the icon when viewed from the virtual viewpoint.

It is a figure showing an example of composition of vehicles provided with a driving support device concerning an embodiment. It is explanatory drawing of the example of a setting of a virtual viewpoint. It is a figure which shows the 1st example of a surrounding condition image. It is a figure which shows the 2nd example of a surrounding condition image. It is a figure which shows the 3rd example of a surrounding condition image. It is a figure which shows an example of the surrounding condition image by which the icon whose upper surface and right side were translucent was drawn. It is a figure which shows an example of the surrounding condition image by which the icon with a translucent right side and left side was drawn. It is a figure which shows an example of the surrounding condition image by which the icon whose front and back were translucent was drawn. It is a figure which shows the function structure of an example of the driving assistance device which concerns on 1st Embodiment. It is a flowchart explaining an example of the display method which concerns on 1st Embodiment. It is a figure which shows the function structure of an example of the driving assistance device which concerns on 2nd Embodiment. It is a flowchart explaining an example of the display method which concerns on 2nd Embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
(Constitution)
Please refer to FIG. The driving support device according to the embodiment is mounted on, for example, the vehicle 1. Reference numbers 2FR, 2FL, 2RR, and 2RL indicate the right front wheel, the left front wheel, the right rear wheel, and the left rear wheel of the vehicle 1, respectively.
The driving support apparatus according to the embodiment includes a front camera 3F, a rear camera 3B, a right camera 3R, a left camera 3L, a controller 4, and a display device 5 as image sensors.
The front camera 3F is a wide-angle (for example, 180 °) camera that is installed near the center of the front end of the vehicle 1 in the vehicle width direction and facing downward by 45 °, and photographs the front end of the vehicle 1 and the surroundings in front. .

The rear camera 3B is a wide-angle (for example, 180 °) camera installed in the vicinity of the center of the rear end of the vehicle 1 in the vehicle width direction and facing downward by 45 °. Take a picture.
The right-side camera 3R is a wide-angle (for example, 180 °) camera that is installed in the vicinity of the right door mirror of the vehicle 1 so as to face substantially downward, and captures the periphery of the right side surface and the right side surface of the vehicle 1.
The left-side camera 3L is a wide-angle (for example, 180 °) camera that is installed in the vicinity of the left door mirror of the vehicle 1 so as to face substantially downward, and captures the periphery of the left side surface and the left side surface of the vehicle 1.

The front camera 3F, the rear camera 3B, the right side camera 3R, and the left side camera 3L each output an image obtained by shooting to the controller 4.
The controller 4 is an electronic control unit including a CPU (Central Processing Unit) and CPU peripheral components such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The controller 4 processes the images output from the front camera 3F, the rear camera 3B, the right side camera 3R, and the left side camera 3L, and generates a surrounding situation image indicating the surrounding situation of the vehicle 1 viewed from the virtual viewpoint. .

Further, the controller 4 draws an icon indicating the vehicle 1 at the position of the vehicle 1 in the surrounding situation image, and outputs the surrounding situation image in which the icon showing the vehicle 1 is drawn to the display device 5.
The display device 5 is provided at a position where the driver of the vehicle 1 can visually recognize, and presents the surrounding situation image to the driver by displaying the surrounding situation image in which the icon indicating the vehicle 1 received from the controller 4 is depicted. To do.

Please refer to FIG. Virtual viewpoints 10z, 10x, and 10y are illustrated as examples of the viewpoints of the surrounding situation images. The coordinates of the virtual viewpoint are represented by, for example, a three-dimensional orthogonal coordinate system, and the three-dimensional orthogonal coordinate system has an X axis, a Y axis, and a Z axis, which are a first axis, a second axis, and a third axis, respectively. Here, the X-axis is set as the vehicle width direction axis, the Y-axis is set as the front-rear direction axis, and the Z-axis is set as the height direction axis.
The virtual viewpoint 10z is a viewpoint that is obliquely above the vehicle 1, and of the three axes including the X axis, the Y axis, and the Z axis, the Z axis is closest to the virtual viewpoint 10z, and the left is the X axis direction from the Z axis. It is set at a position shifted in the direction. That is, among the X axis, the Y axis, and the Z axis, the X axis is the second closest to the virtual viewpoint 10z, and the Y axis is the farthest from the virtual viewpoint 10z.

The virtual viewpoint 10x is an oblique viewpoint of the vehicle 1, and the X axis of the X axis, the Y axis, and the Z axis is closest to the virtual viewpoint 10x, and is a position shifted backward from the X axis in the Y axis direction. Set to That is, of the X, Y, and Z axes, the Y axis is second closest to the virtual viewpoint 10x, and the Z axis is farthest from the virtual viewpoint 10x.
The virtual viewpoint 10y is a viewpoint substantially behind the vehicle 1, and the Y axis of the X axis, the Y axis, and the Z axis is closest to the virtual viewpoint 10y and is shifted upward from the Y axis in the Z axis direction. Is set. That is, among the X, Y, and Z axes, the Z axis is second closest to the virtual viewpoint 10y, and the X axis is farthest from the virtual viewpoint 10y.
In the following description, the virtual viewpoints 10x, 10y, and 10z may be collectively referred to as “virtual viewpoint 10”.

An example of the surrounding situation image viewed from the virtual viewpoint 10z is shown in FIG. Reference numeral 11 indicates an ambient situation image viewed from the virtual viewpoint 10z.
Reference numeral 12 indicates an icon indicating the vehicle 1 drawn in the surrounding situation image 11. The icon 12 is a three-dimensional model having six surfaces including a top surface, a bottom surface, a front surface, a back surface, a left side surface, and a right side surface. Reference numerals 13FL and 13RL are the left front wheel and the left rear wheel of the icon 12, respectively.

The drawing position of the icon 12 is determined so that the positions of the left front wheel 13FL and the left rear wheel 13RL in the surrounding situation image 11 correspond to the positions of the left front wheel 2FL and the left rear wheel 2RL of the vehicle 1 in the actual surrounding situation. .
Reference numeral 14 indicates a left traveling road boundary of a road on which the vehicle 1 appears in the surrounding situation image 11.
In the surrounding situation image 11, since the virtual viewpoint 10z is closest to the Z axis (that is, the axis in the height direction), the X axis direction (that is, the vehicle width direction) and the Y axis direction (that is, the vehicle width direction) that are perpendicular to the Z axis. It is easy to grasp the positional relationship in the front-rear direction).

  In addition to this, in the surrounding situation image 11, the virtual viewpoint 10z is not on the Z axis, but is shifted from the Z axis in the X axis direction. If the virtual viewpoint 10z is on the Z axis, the left front wheel 13FL and the left rear wheel 13RL of the icon 12 become blind spots of the body of the icon 12 and it is difficult to visually recognize the ground contact position. Since the virtual viewpoint 10z is shifted from the Z-axis in the X-axis direction, it is easy to visually recognize the ground contact positions of the left front wheel 13FL and the left rear wheel 13RL of the icon 12, so the left front wheel 13FL and the left rear wheel 13RL and the left road boundary The relative position with respect to 14 becomes easy to visually recognize. As a result, for example, when the vehicle 1 travels on a narrow road, the driver can easily bring the vehicle 1 to the left travel path boundary 14 by viewing the surrounding situation image 11.

An example of the surrounding situation image viewed from the virtual viewpoint 10x is shown in FIG. Reference numeral 15 indicates an ambient situation image viewed from the virtual viewpoint 10x. Reference numeral 16 indicates an icon representing the position of another vehicle that travels right behind the vehicle 1. The drawing positions of the icons 12 and 16 in the surrounding situation image 15 are determined so as to correspond to the positions of the vehicle 1 and other vehicles in the actual surrounding situation.
In the surrounding situation image 15, since the virtual viewpoint 10x is closest to the X axis (that is, the axis in the vehicle width direction), it is easy to grasp the positional relationship in the Y axis direction (that is, the front-rear direction) orthogonal to the X axis.

In addition to this, in the surrounding situation image 15, the virtual viewpoint 10x is not on the X axis, but is shifted from the X axis in the Y axis direction. If the virtual viewpoint 10x is on the X axis, the positional relationship between the icon 12 and the icon 16 in the X axis direction is difficult to visually recognize. For this reason, for example, it is difficult to grasp whether another vehicle is traveling in the same lane as the vehicle 1, is traveling in an adjacent lane, or is traveling in the next adjacent lane.
Since the virtual viewpoint 10x is displaced from the X axis in the Y axis direction, the driver can obtain a sense of depth in the X axis direction. For example, by looking at the surrounding situation image 15 when traveling in a merged lane or changing lanes, the driver not only easily grasps the distance between the vehicle 1 and another vehicle, but also intends to merge or change lanes. It becomes easy to grasp whether there is another vehicle in the destination lane.

An example of the surrounding situation image viewed from the virtual viewpoint 10y is shown in FIG. Reference numeral 17 indicates an ambient situation image viewed from the virtual viewpoint 10y. The drawing positions of the icons 12 and 16 in the surrounding situation image 17 are determined so as to correspond to the positions of the vehicle 1 and other vehicles in the actual surrounding situation.
In the surrounding situation image 17, since the virtual viewpoint 10y is closest to the Y axis (that is, the axis in the vehicle width direction), it is easy to grasp the positional relationship in the X axis direction (that is, the front-rear direction) orthogonal to the Y axis.

In addition, in the surrounding situation image 17, the virtual viewpoint 10 y is not on the Y axis and is shifted from the Y axis in the Z axis direction. If the virtual viewpoint 10y is on the Y axis, it is difficult to visually recognize the positional relationship between the icon 12 and the icon 16 in the Y axis direction. For this reason, for example, it is difficult to grasp the inter-vehicle distance between the other vehicle and the vehicle 1.
Since the virtual viewpoint 10y is displaced from the Y axis in the Z axis direction, the driver can obtain a sense of depth in the Y axis direction. As a result, for example, by looking at the surrounding situation image 17 when traveling in a merged lane or changing lanes, the driver can easily understand whether there is another vehicle in the destination lane to be merged or changed lanes. It becomes easy to grasp the inter-vehicle distance between the vehicle 1 and the other vehicle.

As described above, by setting the virtual viewpoint 10 at a position deviated from any of the three axes, it is possible to generate an ambient situation image in which the ambient situation is easier to recognize.
Furthermore, in the embodiment of the present invention, the area of the icon 12 is rendered with a relatively high transparency, thereby enabling the area that becomes the blind spot of the icon 12 to be visually recognized. Reduce. However, if the transparency of the icon 12 is increased, the boundary between the icon 12 and the outside of the icon 12 becomes unclear, so that the distance between the vehicle 1 and surrounding objects is difficult to perceive depending on the portion where the transparency is increased.

For example, in the case of the surrounding situation image 11 viewed from the virtual viewpoint 10z shown in FIG. 3, when the transparency of the left side surface of the icon 12 including the left front wheel 13FL and the left rear wheel 13RL is increased to be translucent, the left front wheel 13FL and It becomes difficult to visually recognize the ground contact position of the left rear wheel 13RL. For this reason, it becomes difficult to perceive the distance between the left front wheel 13FL and the left rear wheel 13RL and the left traveling road boundary 14.
For example, in the case of the surrounding situation image 15 viewed from the virtual viewpoint 10x shown in FIG. 4, if the transparency of the front and back of the icon 12 is increased to be translucent, the front end and the lower end of the icon 12 become difficult to see, and the preceding vehicle In addition, the inter-vehicle distance between the following vehicle and the vehicle 1 becomes difficult to perceive.

Further, for example, in the case of the surrounding situation image 17 viewed from the virtual viewpoint 10x shown in FIG. 5, if the transparency of the right side surface and the left side surface of the icon 12 is increased to be translucent, the right end and the left end of the icon 12 become difficult to see. This makes it difficult to grasp the distance between the other vehicle in the adjacent lane and the vehicle 1.
Therefore, in the embodiment of the present invention, a plurality of regions having different transparency are set for the icon 12 according to the position of the virtual viewpoint 10 and drawn in the surrounding situation image, and the vehicle 1 is partially reduced by lowering the transparency of the icon 12. Makes it easier to perceive the distance between objects and surrounding objects.

For example, the transparency of the plurality of regions of the icon 12 may be set according to which of the three axes is closest to the virtual viewpoint 10.
For example, in the example of the surrounding situation image 11 viewed from the virtual viewpoint 10z illustrated in FIG. 3, relatively high transparency may be set on at least one of the right side surface and the bottom surface and the top surface of the icon 12. In addition, among the front surface, back surface, right side surface, left side surface, top surface, and bottom surface of the icon 12, at least one of the left side surface, front surface, and back surface other than the right side surface, top surface, and bottom surface may be set to a relatively low transparency. .
Note that setting a relatively high transparency in a region includes making the region translucent as well as semi-transparent. In addition, setting a relatively low transparency in an area includes making the area opaque and making it translucent having a lower transparency than an area set with a relatively high transparency.

For example, in the example of the surrounding situation image 11 in FIG. 6, relatively high transparency is set for the top surface 20T and the right side surface 20R, and relatively low transparency is set for the left side surface 20L, the front surface 20F, and the back surface 20B. When the lower part of the vehicle 1 can be photographed, a relatively high transparency may be set on the bottom surface 20S, and when the lower part of the vehicle 1 cannot be photographed, the bottom surface 20S may be opaque.
In the following description, the front surface 20F, the back surface 20B, the right side surface 20R, the left side surface 20L, the top surface 20T, and the bottom surface 20S may be referred to as “six surfaces of the icon 12”.

That is, when the Z axis of the three axes is closest to the virtual viewpoint 10z, the upper surface 20T that is relatively close to the virtual viewpoint 10z among the upper two upper surfaces 20T and the bottom surface 20S in the order of the angle formed by the normal to the Z axis. Is drawn large in the surrounding situation image 17. For this reason, it is preferable to set a relatively high transparency on the upper surface 20T in order to further reduce the blind spot.
The region that becomes the blind spot of the top surface 20T is also the blind spot of the bottom surface 20S and the right side surface 20R. Therefore, when a relatively high transparency is set on the upper surface 20T, the blind spot does not decrease unless a relatively high transparency is set on at least one of the bottom surface 20S and the right side surface 20R.

The bottom surface 20S is a surface that is relatively far from the virtual viewpoint 10z among the top surface 20T and the bottom surface 20S.
Further, the right side surface 20R is the upper left side in the order of decreasing angle formed by the normal to the X axis in the surrounding situation image 11 in which the virtual viewpoint 10z is set at a position shifted from the position on the Z axis in the X axis direction. Of the surface 20L and the right surface 20R, the surface is relatively far from the virtual viewpoint 10z.

For this reason, in addition to the upper surface 20T, a relatively high transparency is set on at least one of the bottom surface 20S and the right side surface 20R. Thereby, the blind spot produced by at least one of the bottom surface 20S and the right side surface 20R and the top surface 20T can be reduced.
That is, the transparency of the six faces of the icon 12 that is a plurality of areas in the icon 12 is set in accordance with each blind spot in which the respective faces appear in the surrounding situation image 11.
In the present embodiment, since it is preferable to visually recognize an area that is a blind spot of the right side surface 20R rather than the bottom surface 20S, a relatively high transparency is set on the right side surface 20R.

The bottom surface 20S may be made opaque when the lower part of the vehicle 1 becomes a blind spot of the vehicle body and cannot be photographed by the front camera 3F, the rear camera 3B, the right side camera 3R, and the left side camera 3L. When the lower part of the vehicle 1 can be photographed, a relatively high transparency may be set for the bottom surface 20S.
On the other hand, a relatively low transparency is set for at least one of the left surface 20L, the front surface 20F, and the back surface 20B other than the upper surface 20T, the bottom surface 20S, and the right surface 20R among the six surfaces of the icon 12. Thereby, it becomes possible to easily perceive the distance between the vehicle 1 and the object on the left, the front, or the rear.

In particular, from the virtual viewpoint 10z shifted to the left from the position on the Z axis, the left side surface 20L is easy to see next to the top surface 20T.
Therefore, the distance between the left side 20L and the left object can be easily perceived by setting a relatively low transparency on the left side 20L and clarifying the boundary between the left side 20L and the outside thereof. You can do it.
For example, in the surrounding situation image 11 of FIG. 6, the transparency of the left front wheel 13FL and the left rear wheel 13RL is lowered by setting a relatively low transparency on the left side 20L of the icon 12. As a result, the ground contact positions of the left front wheel 13FL and the left rear wheel 13RL are easily visible, and the distance to the left traveling road boundary 14 can be easily perceived.

Similarly, for example, in the example of the surrounding situation image 15 viewed from the virtual viewpoint 10x illustrated in FIG. 4, relatively high transparency may be set on at least one of the front surface and the right side surface and the left side surface of the icon 12. Moreover, you may set comparatively low transparency to at least 1 of the back surface, upper surface, and bottom face other than a front surface, a right side surface, and a left side surface among six surfaces of the icon 12. FIG. When it is not necessary to make it easy to perceive the distance from the object below the vehicle 1, a relatively low transparency may be set on at least one of the back surface and the top surface excluding the bottom surface. When it is not necessary to easily perceive the distance between the lower and upper objects of the vehicle 1, relatively low transparency may be set on the back surface except for the top surface and the bottom surface.
For example, in the example of the surrounding situation image 15 in FIG. 7, relatively high transparency is set for the left side 20L and the right side 20R, and relatively low transparency is set for the front surface 20F, the back surface 20B, the top surface 20T, and the bottom surface 20S.

That is, when the X axis among the three axes is closest to the virtual viewpoint 10x, the upper left side surface 20L and the right side surface 20R are relatively close to the virtual viewpoint 10x in order of increasing angle with the normal to the X axis. The left side surface 20L is greatly drawn on the surrounding situation image 15. For this reason, in order to further reduce the blind spot, it is preferable to set a relatively high transparency on the left side surface 20L.
The region that becomes the blind spot of the left side surface 20L is also the blind spot of the right side surface 20R and the front surface 20F. Therefore, when a relatively high transparency is set on the left side surface 20L, the blind spot does not decrease unless a relatively high transparency is set on at least one of the right side surface 20R and the front surface 20F.

The right side surface 20R is a surface that is relatively far from the virtual viewpoint 10x among the right side surface 20R and the left side surface 20L.
Further, the front surface 20F is the upper two front surfaces 20F in order of decreasing angle formed by the normal to the Y axis in the surrounding situation image 15 in which the virtual viewpoint 10x is set at a position shifted from the position on the X axis in the Y axis direction. And the rear surface 20B is a surface relatively far from the virtual viewpoint 10x.

For this reason, in addition to the left side surface 20L, a relatively high transparency is set on at least one of the right side surface 20R and the front surface 20F.
That is, the transparency of the six faces of the icon 12 that is a plurality of areas in the icon 12 is set in accordance with each blind spot in which the respective faces appear in the surrounding situation image 15.
In this embodiment, in the surrounding situation image 15 in which the X axis of the three axes is closest to the virtual viewpoint 10x, the positional relationship in the Y direction is easy to grasp. It is preferable to make it easy to grasp the distance from the object. Accordingly, a relatively high transparency is set for the right side surface 20R, and a relatively low transparency is set for the front surface 20F.

On the other hand, if relatively low transparency is set for at least one of the rear surface 20B, the upper surface 20T, and the bottom surface 20S other than the left surface 20L, the right surface 20R, and the front surface 20F among the six surfaces of the icon 12, the rear, upper, and lower The distance between the object and the vehicle 1 can be easily perceived.
In particular, from the virtual viewpoint 10z shifted backward from the position on the X-axis, the back surface 20B is easy to see next to the left side surface 20L.

For this reason, the distance between the back surface 20B and the rear object may be easily perceived by setting a relatively low transparency on the back surface 20B and clarifying the boundary between the back surface 20B and the outside thereof.
For example, in the surrounding situation image 15 in FIG. 7, a relatively low transparency is set on the back surface 20 </ b> B of the icon 12. As a result, the distance between the back surface 20B and the icon 16 of the following vehicle can be easily perceived.
Note that a relatively low transparency or a relatively high transparency may be set on the upper surface 20T.

Similarly, in the example of the surrounding situation image 17 viewed from the virtual viewpoint 10y illustrated in FIG. 5, for example, relatively high transparency may be set on at least one of the front surface and the bottom surface of the icon 12 and the back surface. Moreover, you may set comparatively low transparency to at least 1 of the right side, left side, and upper surface other than a front surface, a back surface, and a bottom surface among six surfaces of the icon 12. FIG. When it is not necessary to easily perceive the distance from the object above the vehicle 1, a relatively low transparency may be set on at least one of the right side surface and the left side surface excluding the upper surface.
For example, in the example of the surrounding situation image 17 in FIG. 8, relatively high transparency is set for the back surface 20B and the front surface 20F, and relatively low transparency is set for the right side surface 20R, the left side surface 20L, the top surface 20T, and the bottom surface 20S.

That is, when the Y axis among the three axes is closest to the virtual viewpoint 10y, the back surface 20B that is relatively close to the virtual viewpoint 10y among the top two back surfaces 20B and the front surface 20F in order of increasing angle with the normal to the Y axis. Is drawn large in the surrounding situation image 17. For this reason, in order to further reduce the blind spot, it is preferable to set a relatively high transparency on the back surface 20B.
The region that becomes the blind spot of the back surface 20B is also the blind spot of the front surface 20F and the bottom surface 20S. Therefore, when the back surface 20B is made translucent, the blind spot does not decrease unless a relatively high transparency is set for at least one of the front surface 20F and the bottom surface 20S.

The front surface 20F is a surface that is relatively far from the virtual viewpoint 10y among the back surface 20B and the front surface 20F.
In addition, the bottom surface 20S includes the top two top surfaces 20T in order of decreasing angle formed by the normal to the Z axis in the surrounding situation image 17 in which the virtual viewpoint 10y is set at a position shifted from the position on the Y axis in the Z axis direction. The bottom surface 20S is a surface relatively far from the virtual viewpoint 10y.
For this reason, in addition to the back surface 20B, a relatively high transparency is set on at least one of the front surface 20F and the bottom surface 20S.
That is, the transparency of the six faces of the icon 12 that is a plurality of areas in the icon 12 is set in accordance with each blind spot in which the respective faces appear in the surrounding situation image 17.

In the present embodiment, it is preferable to be able to visually recognize an area that is a blind spot of the front surface 20F rather than the bottom surface 20S, and therefore relatively high transparency is set on the front surface 20F. If the lower part of the vehicle 1 cannot be photographed, the bottom surface 20S may be opaque, and if the photograph is possible, a relatively high transparency may be set for the bottom surface 20S.
On the other hand, when relatively low transparency is set for at least one of the right side 20R, the left side 20L, and the top side 20T other than the back side 20B, the front side 20F, and the bottom side 20S among the six sides of the icon 12, the right side, the left side, The distance between the upper object and the vehicle 1 can be easily perceived.

In particular, in the surrounding situation image 17 in which the Y axis of the three axes is closest to the virtual viewpoint 10y, the positional relationship in the X direction can be easily grasped, so the boundary between the right end and the left end of the vehicle 1 is clarified and It is preferable to make it easy to grasp the interval and the interval between the vehicle 1 and the lane boundary.
For this reason, for example, in the surrounding state image 17 of FIG. 8, relatively low transparency is set on the right side surface 20R and the left side surface 20L of the icon 12. Thereby, since the lateral position of the vehicle 1 can be easily perceived, the interval when the succeeding vehicle moves to the side of the vehicle 1 can be easily perceived.
Note that a relatively low transparency or a relatively high transparency may be set on the upper surface 20T.

As described above, in the embodiment of the present invention, a plurality of regions having different transparency are set in the icon 12 according to the position of the virtual viewpoint 10 and rendered in the surrounding situation image.
For this reason, partially increasing the transparency to reduce the blind spot region where the icon 12 is generated, and lowering the transparency of the part where the distance from the surroundings can be easily grasped according to the position of the virtual viewpoint 10 to clarify the boundary Thus, it is possible to easily perceive the distance between the vehicle 1 and surrounding objects.

Next, a functional configuration of an example of the driving support apparatus according to the first embodiment will be described with reference to FIG. As described above, the driving support device 30 includes the front camera 3F, the rear camera 3B, the right side camera 3R, the left side camera 3L, the controller 4, and the display device 5.
The controller 4 includes a virtual viewpoint setting unit 32, a surrounding situation image generation unit 33, a transparency control unit 34, an icon storage unit 35, and an icon drawing unit 36. For example, the CPU provided in the controller 4 executes a process to be performed by the virtual viewpoint setting unit 32, the surrounding situation image generation unit 33, the transparency control unit 34, and the icon drawing unit 36 by executing a predetermined computer program. .

The virtual viewpoint setting unit 32 sets the virtual viewpoint 10. For example, the virtual viewpoint setting unit 32 may set the virtual viewpoint 10 according to the operation of the controller 4 by the driver, or may automatically set the virtual viewpoint 10 according to the traveling state of the vehicle 1. An example of setting the virtual viewpoint 10 according to the traveling state of the vehicle 1 will be described in a second embodiment described later. The virtual viewpoint setting unit 32 outputs the set virtual viewpoint 10 to the surrounding situation image generation unit 33 and the transparency control unit 34.
The surrounding situation image generation unit 33 is a virtual viewpoint 10 set by the virtual viewpoint setting unit 32 based on images obtained by the front camera 3F, the rear camera 3B, the right side camera 3R, and the left side camera 3L. The surrounding situation image which shows the surrounding situation of the vehicle 1 seen from is produced | generated.

The surrounding situation image generation unit 33 includes a viewpoint conversion unit 37 and a synthesis unit 38. The viewpoint conversion unit 37 converts the images output from the front camera 3F, the rear camera 3B, the right side camera 3R, and the left side camera 3L into an image viewed from the virtual viewpoint 10, and outputs the image to the synthesis unit 38.
The synthesizing unit 38 synthesizes the individual viewpoint-converted images output from the viewpoint converting unit 37, generates a surrounding situation image in which the periphery of the vehicle 1 is viewed from the virtual viewpoint 10, and outputs it to the icon drawing unit 36.

The transparency control unit 34 reads the icon 12 of the vehicle 1 generated in advance and stored in the icon storage unit 35. For example, the icon 12 is divided into a plurality of regions and stored in the icon storage unit 35, and the transparency control unit 34 sets different transparency in the divided plurality of regions. That is, the transparency control unit 34 makes the transparency of any of the plurality of regions of the divided icon 12 different from the transparency of the other regions.
For example, the transparency setting mode by the transparency control unit 34 is as described above with reference to FIGS. 6 to 8, and the icons 12 are the upper surface 20T, the bottom surface 20S, the front surface 20F, the back surface 20B, the left side surface 20L, and the right side surface 20R. Are divided into six regions.

The transparency control unit 34 outputs icons 12 having different transparency levels in a plurality of areas to the icon drawing unit 36.
The icon drawing unit 36 draws the icon 12 in which the transparency is set by the transparency control unit 34 in the surrounding situation image generated by the surrounding situation image generation unit 33, and the surroundings in which icons 12 having different transparency in a plurality of regions are drawn. The situation image is output to the display device 5. The display device 5 displays the surrounding situation image output by the icon drawing unit 36.

(Operation)
Then, operation | movement of the driving assistance apparatus 30 of 1st Embodiment is demonstrated. Please refer to FIG.
In step S10, the driving support device 30 determines whether or not the display of the surrounding situation image on the display device 5 is on. If the display of the surrounding situation image is on (S10: Y), the process proceeds to step S11. If the display of the surrounding situation image is not turned on (S10: N), the process returns to step S10.

In step S11, the virtual viewpoint setting unit 32 sets the virtual viewpoint 10.
In step S <b> 12, the transparency control unit 34 determines whether or not the Z axis among the three axes is the closest axis to the virtual viewpoint 10. If the Z axis is the axis closest to the virtual viewpoint 10 (S12: Y), the process proceeds to step S13. If the Z axis is not the closest axis to the virtual viewpoint 10 (S12: N), the process proceeds to step S14.
In step S13, the transparency control unit 34 increases the transparency of the upper surface 20T and the right side 20R of the icon 12 to set relatively high transparency, and sets relatively low transparency to the left side 20L, the front surface 20F, the back surface 20B, and the bottom surface 20S. Leave. Thereafter, the process proceeds to step S17.

In step S <b> 14, the transparency control unit 34 determines whether or not the X axis of the three axes is the axis closest to the virtual viewpoint 10. If the X axis is the axis closest to the virtual viewpoint 10 (S14: Y), the process proceeds to step S15. If the X axis is not the closest axis to the virtual viewpoint 10 (S14: N), the process proceeds to step S16.
In step S15, the transparency control unit 34 sets a relatively high transparency by increasing the transparency of the right side surface 20R and the left side surface 20L of the icon 12, and sets a relatively low transparency on the front surface 20F, the back surface 20B, the top surface 20T, and the bottom surface 20S. Leave it set. Thereafter, the process proceeds to step S17.

In step S16, the transparency control unit 34 sets a relatively high transparency by increasing the transparency of the front surface 20F and the back surface 20B of the icon 12, and sets a relatively low transparency on the right side surface 20R, the left side surface 20L, the top surface 20T, and the bottom surface 20S. Leave it set. Thereafter, the process proceeds to step S17.
In step S <b> 17, the ambient situation image generation unit 33 generates an ambient situation image viewed from the virtual viewpoint 10 set by the virtual viewpoint setting unit 32.

In step S <b> 18, the icon drawing unit 36 draws the icon 12 whose transparency is set by the transparency control unit 34 in the surrounding situation image generated by the surrounding situation image generating unit 33. The display device 5 displays an ambient state image in which the icon 12 with the transparency set by the transparency control unit 34 is drawn.
In step S <b> 19, the driving support device 30 determines whether the display of the surrounding situation image on the display device 5 is turned off. If the display of the surrounding situation image is off (S19: Y), the process ends. If the display of the surrounding situation image is not turned off (S19: N), the process proceeds to step S20.
In step S, the virtual viewpoint setting unit 32 determines whether or not the virtual viewpoint 10 should be changed. When the virtual viewpoint 10 is changed (S20: Y), the processing returns to step S11. If the virtual viewpoint 10 is not changed (S20: N), the process returns to step S17.

(Modification)
(1) The coordinate system that expresses the coordinates of the virtual viewpoint 10 is not limited to a three-dimensional orthogonal coordinate system, and may be, for example, a three-dimensional coordinate system having at least a first axis and a second axis that are orthogonal to each other. Examples of such a three-dimensional coordinate system include a spherical coordinate having two axes serving as a reference for two declinations of a radius vector, and one axis and a height direction serving as a reference for one argument of a radius vector. It may be a cylindrical coordinate having a coordinate axis.
The transparency control unit 34 includes a first axis and a second axis that are orthogonal to each other, and an imaginary line that passes through the intersection of the first axis and the second axis and is orthogonal to the first axis and the second axis. Depending on whether it is closest to the viewpoint 10, a plurality of areas with different transparency may be set for the icon 12.
When a three-dimensional orthogonal coordinate system is used, the imaginary straight line passing through the first axis, the second axis, and the intersection of the first axis and the second axis and orthogonal to the first axis and the second axis is X This corresponds to the three axes of the axis, Y axis, and Z axis.

(2) When relatively high transparency is set for a certain one of the six faces of the icon 12, the entire range of this face does not have to be relatively high, and only a part of the area has relatively high transparency. It may be. Similarly, when setting a relatively low transparency, the entire range of this surface may not be set to a relatively low transparency, and only a part of the area may be set to a relatively low transparency.
Moreover, the icon 12 does not need to be divided into a plurality of regions in advance, and the portion of the icon 12 whose transparency should be set may be determined according to the position of the virtual viewpoint. For example, in the surrounding situation image 11 (see FIG. 6) in which the virtual viewpoint 10z is set, relatively low transparency is set only for the left front wheel 13FL and the left rear wheel 13RL in the left side surface 20L, so that the ground contact position is easily visible. May be. Moreover, you may set comparatively low transparency only to the area | region of predetermined height from the ground among the left side surfaces 20L.

(3) The region where the relatively low transparency is set becomes smaller as the distance between the axis closest to the virtual viewpoint 10 and the virtual viewpoint 10 among the three axes of the X axis, the Y axis, and the Z axis is shorter. For example, in the surrounding situation image 11 viewed from the virtual viewpoint 10z shown in FIG. 6, it is assumed that a relatively low transparency is partially set on the left side surface 20L. Since the left side surface 20L is parallel to the Z-axis, when the distance between the Z-axis and the virtual viewpoint 10z is shortened, the area that the relatively low transparency is partially set on the left-side surface 20L occupies a small area in the surrounding situation image 11. Become. For this reason, it becomes difficult to visually recognize the distance between the left object and the vehicle 1.
Therefore, the region where the relatively low transparency is set is increased as the distance between the virtual viewpoint 10 and the axis closest to the virtual viewpoint 10 among the three axes of the X axis, the Y axis, and the Z axis is relatively low. You may reduce the reduction | decrease of the area | region where transparency is set.

  (4) The icon 12 may be stored in advance in the icon storage unit 35, or may be generated each time by the transparency control unit 34. In other words, the transparency control unit 34 may read the previously generated opaque icon 12 from the icon storage unit 35 and change the transparency of a part of the icon 12 read from the icon storage unit 35, and may be partially transparent. May be generated from the beginning.

(Effect of 1st Embodiment)
(1) The transparency control unit 34 sets areas with different transparency in the icon 12 indicating the vehicle 1 according to the position of the virtual viewpoint 10. Thereby, it becomes possible to suppress a blind spot generated according to the virtual viewpoint. Further, by lowering the transparency of some areas in the icon, partially increasing the transparency to reduce the blind spot area where the icon 12 is generated, and the distance from the surroundings according to the position of the virtual viewpoint 10 It is possible to provide an ambient situation image that can easily perceive the distance between the vehicle 1 and the surrounding object by lowering the transparency of the part where it is easy to grasp the above.

(2) The transparency control unit 34 sets a region with high transparency in the icon according to the blind spot generated in the surrounding situation image by the icon 12. Thereby, the area | region which raises transparency can be determined so that the blind spot area | region where the icon 12 produces may be reduced.
(3) The coordinates of the virtual viewpoint 10 are expressed by a coordinate system having at least a first axis and a second axis that are orthogonal to each other. The transparency control unit 34 determines which one of the virtual straight lines passing through the first axis, the second axis, and the intersection of the first axis and the second axis and orthogonal to the first axis and the second axis is closest to the virtual viewpoint. Set the transparency of multiple areas according to how.
Thereby, it is possible to determine a plurality of areas for increasing transparency so as to reduce the blind spot area where the icon 12 is generated, and to determine an area where the distance from the surrounding can be easily grasped according to the position of the virtual viewpoint 10 and to reduce the transparency. Thus, the distance between the vehicle 1 and surrounding objects can be easily perceived.

(Second Embodiment)
Next, a second embodiment will be described. The driving support device 30 according to the second embodiment detects the traveling state of the vehicle 1, sets a plurality of regions with different transparency in the icon 12 according to the detected traveling state, and draws the region in the surrounding state image.
For example, the driving support device 30 may detect a road form indicating the form of the road on which the vehicle 1 travels. The road form includes, for example, road types such as narrow roads, merges, branches, intersections, and road types such as general roads and highways.

Further, for example, the driving support device 30 may detect an object that should be noted by the driver, which is specific to the road form of the road on which the vehicle 1 travels, among the objects around the vehicle 1 as the traveling state. The objects that should be noted by the driver specific to the road form of the road are, for example, the left traveling road boundary in a narrow road, and the preceding or succeeding vehicle on the main line in the merging lane.
Further, for example, the driving support device 30 may detect the operation of the vehicle 1, and may detect an object that should be noted by the driver peculiar to the operation of the vehicle 1 among the surrounding objects of the vehicle 1 as the traveling state. An object that should be noted by the driver specific to the operation of the vehicle 1 is, for example, a preceding vehicle or a succeeding vehicle in an adjacent lane when the lane is changed. The driving support device 30 may detect the operation of the vehicle 1 by an operation of a steering wheel, an accelerator pedal, a brake, or a winker by a driver.

Please refer to FIG. Among the components of the driving support device 30 according to the second embodiment, the same components as those of the driving support device 30 according to the first embodiment are denoted by the same reference numerals.
The driving support device 30 includes an environment detection unit 50, an object detection unit 51, and a traveling state determination unit 52. The CPU included in the controller 4 executes a process to be performed by the traveling state determination unit 52 by executing a predetermined computer program.
The environment detection unit 50, the object detection unit 51, and the traveling state determination unit 52 form a traveling state detection unit that detects the traveling state of the vehicle 1.

  The environment detection unit 50 detects a road form indicating the form of the road on which the vehicle 1 travels as the environment around the vehicle 1. For example, the environment detection unit 50 may be a navigation device that includes a database that stores road form data of roads existing in a predetermined area. The environment detection unit 50 detects a road form indicating the form of the road on which the vehicle 1 travels based on current position information of the vehicle 1 measured by, for example, a global positioning system (GPS) or an inertial navigation device. You can do it. The environment detection unit 50 outputs the detected road form information to the traveling state determination unit 52.

  The object detection unit 51 detects the presence or absence of an object existing around the vehicle 1 and the distance to the object. The object detection unit 51 may be, for example, a sensor such as a laser range finder or a millimeter wave radar. The front camera 3 </ b> F, the rear camera 3 </ b> B, the right side camera 3 </ b> R, and the left side camera 3 </ b> L that capture an object around the vehicle 1 may also be used as the object detection unit 51. The object detection unit 51 outputs a detection result of objects around the vehicle 1 to the traveling state determination unit 52.

Based on the detection results of the environment detection unit 50 and the object detection unit 51, the traveling state determination unit 52 determines whether the detected traveling state is a traveling state in which the virtual viewpoint 10 corresponding to the traveling state should be set. .
For example, when the environment detection unit 50 detects that the travel path of the vehicle 1 is a narrow road, the travel condition determination unit 52 sets the virtual viewpoint 10z in which the travel condition of the vehicle 1 is close to the Z axis. You may judge that. Alternatively, when the travel path of the vehicle 1 is detected as a narrow road and the object detection unit 51 detects that the distance from the left travel path boundary is equal to or less than a predetermined value, the travel condition determination unit 52 It may be determined that the driving situation 1 is a driving situation in which the virtual viewpoint 10z should be set.

  Further, for example, when a lane change of the vehicle 1 is detected as an operation of the vehicle 1 by a driver operating a turn signal, the traveling state determination unit 52 should set a virtual viewpoint 10x in which the traveling state of the vehicle 1 is close to the X axis. You may judge that it is a driving situation. Alternatively, when a lane change of the vehicle 1 is detected and only the subsequent vehicle is detected by the object detection unit 51, the traveling state determination unit 52 is a traveling state in which the traveling state of the vehicle 1 should set the virtual viewpoint 10x. You may judge. Alternatively, when the lane change of the vehicle 1 is detected, only the following vehicle is detected, and the environment detection unit 50 detects that the traveling path of the vehicle 1 is a highway, the traveling state determination unit 52 It may be determined that the travel situation is a travel situation in which the virtual viewpoint 10x should be set.

  Alternatively, when a lane change of the vehicle 1 is detected and a subsequent vehicle and a preceding vehicle are detected by the object detection unit 51, the traveling state determination unit 52 travels the traveling state of the vehicle 1 that should set the virtual viewpoint 10x. You may judge that this is the situation. Alternatively, when the lane change of the vehicle 1 is detected, the following vehicle and the preceding vehicle are detected, and the traveling path of the vehicle 1 is detected to be a highway, the traveling state determination unit 52 determines the traveling state of the vehicle 1. May be determined as a traveling situation in which the virtual viewpoint 10x should be set.

  In addition, for example, when the environment detection unit 50 detects that the traveling path of the vehicle 1 is a merged lane, the traveling state determination unit 52 determines that the traveling state of the vehicle 1 is a traveling state in which the virtual viewpoint 10x should be set. You can do it. Alternatively, when the travel path of the vehicle 1 is detected as a merged lane and only the following vehicle is detected, the travel status determination unit 52 is the travel status where the travel status of the vehicle 1 should set the virtual viewpoint 10x. You may judge. Alternatively, when the travel path of the vehicle 1 is detected as a merge lane, only the following vehicle is detected, and the travel path of the vehicle 1 is detected as an expressway, the travel status determination unit 52 It may be determined that the travel situation is a travel situation in which the virtual viewpoint 10x should be set.

Alternatively, when the travel path of the vehicle 1 is detected as a merged lane, and the subsequent vehicle and the preceding vehicle are detected, the travel state determination unit 52 travels the travel state of the vehicle 1 that should set the virtual viewpoint 10x. You may judge that this is the situation. Alternatively, when the travel path of the vehicle 1 is detected as a merging lane, the following vehicle and the preceding vehicle are detected, and the travel path of the vehicle 1 is detected as an expressway, the travel situation determination unit 52 It may be determined that the traveling state of the vehicle 1 is a traveling state in which the virtual viewpoint 10x should be set.
The traveling state determination unit 52 outputs these determination results to the virtual viewpoint setting unit 32.

Further, the traveling state determination unit 52 determines whether the detected traveling state is a traveling state in which a plurality of areas having different transparency levels should be set based on the detection results of the environment detection unit 50 and the object detection unit 51.
For example, when it is detected that the traveling path of the vehicle 1 is a narrow road, the traveling state determination unit 52 sets the relatively low transparency of the traveling state of the vehicle 1 at least on the left side surface 20L and sets the upper surface 20T and the right side surface. You may judge that it is the driving | running | working condition which should set comparatively high transparency to 20R.
Alternatively, when it is detected that the travel path of the vehicle 1 is a narrow path and the distance from the left travel path boundary is less than or equal to a predetermined value, at least the left side surface 20L is set with a relatively low transparency and the upper surface You may judge that it is the driving | running | working condition which should set comparatively high transparency to 20T and right side 20R.
That is, when a left travel road boundary that is an object around the vehicle 1 is detected, a relatively low transparency may be set on the left side surface 20L facing the left travel road boundary.

Further, for example, when the lane change of the vehicle 1 is detected, the traveling state determination unit 52 sets the traveling state of the vehicle 1 to a relatively low transparency at least on the back surface 20B and relatively high on the right side surface 20R and the left side surface 20L. You may judge that it is a driving situation where transparency should be set.
Alternatively, when a lane change of the vehicle 1 is detected and only the following vehicle is detected, at least a relatively low transparency is set on the back surface 20B and a relatively high transparency is set on the right side surface 20R and the left side surface 20L. You may judge that this is the situation. That is, when a succeeding vehicle that is an object around the vehicle 1 is detected, it may be determined that it is a traveling situation in which a relatively low transparency should be set on the back surface 20B facing the succeeding vehicle.
Alternatively, when a lane change of the vehicle 1 is detected, only the following vehicle is detected, and it is detected that the travel path of the vehicle 1 is a highway, at least the rear surface 20B is set with a relatively low transparency and the right side surface 20R. In addition, it may be determined that the driving situation should set a relatively high transparency on the left side surface 20L.

Alternatively, when a lane change of the vehicle 1 is detected and a subsequent vehicle and a preceding vehicle are detected, at least a relatively low transparency is set for the front surface 20F and the back surface 20B, and a relatively high transparency is set for the right side surface 20R and the left side surface 20L. It may be determined that the driving situation should be set.
That is, when the preceding vehicle and the following vehicle, which are objects around the vehicle 1, are detected, relatively low transparency may be set on the front surface 20F and the back surface 20B that face the preceding vehicle and the following vehicle, respectively.
Alternatively, when a lane change of the vehicle 1 is detected, a subsequent vehicle and a preceding vehicle are detected, and it is detected that the travel path of the vehicle 1 is an expressway, at least a relatively low transparency is set on the front surface 20F and the rear surface 20B. However, it may be determined that the driving situation should be set to a relatively high transparency on the right side surface 20R and the left side surface 20L.

Further, for example, when it is detected that the traveling path of the vehicle 1 is a merged lane, the traveling state determination unit 52 sets a relatively low transparency of the traveling state of the vehicle 1 at least on the back surface 20B and sets the right side surface 20R and the left side surface. You may judge that it is the driving | running | working condition which should set comparatively high transparency to the surface 20L.
Alternatively, when the travel path of the vehicle 1 is detected as a merge lane and only the following vehicle is detected, a relatively low transparency is set on at least the back surface 20B, and a relatively high transparency is set on the right side surface 20R and the left side surface 20L. It may be determined that the driving situation should be set.
That is, when a subsequent vehicle that is an object around the vehicle 1 is detected, a relatively low transparency may be set on the back surface 20B facing the subsequent vehicle.
Or, when the travel path of the vehicle 1 is detected as a merge lane, only the following vehicle is detected, and when the travel path of the vehicle 1 is detected as an expressway, at least the rear surface 20B has a relatively low transparency. You may judge that it is the driving | running | working condition which should set and set comparatively high transparency to the right side 20R and the left side 20L.

Alternatively, when the traveling path of the vehicle 1 is detected as a merge lane, and a subsequent vehicle and a preceding vehicle are detected, a relatively low transparency is set on at least the front surface 20F and the rear surface 20B, and the right side surface 20R and the left side surface 20L. It may be determined that the driving situation should be set to a relatively high transparency. That is, when the preceding vehicle and the following vehicle, which are objects around the vehicle 1, are detected, relatively low transparency may be set on the front surface 20F and the back surface 20B that face the preceding vehicle and the following vehicle, respectively.
Alternatively, when the travel path of the vehicle 1 is detected as a merge lane, the following vehicle and the preceding vehicle are detected, and the travel path of the vehicle 1 is detected as an expressway, at least on the front surface 20F and the rear surface 20B You may judge that it is the driving | running | working condition which should set comparatively low transparency and should set comparatively high transparency to the right side 20R and the left side 20L.
The traveling state determination unit 52 outputs these determination results to the transparency control unit 34.

The virtual viewpoint setting unit 32 sets the virtual viewpoint 10 based on the determination result output by the traveling state determination unit 52.
The transparency control unit 34 sets the transparency of the upper surface 20T, the bottom surface 20S, the front surface 20F, the back surface 20B, the left side surface 20L, and the right side surface 20R of the icon 12 based on the determination result output by the traveling state determination unit 52. For example, when the traveling state determination unit 52 determines that the traveling state of the vehicle 1 is a traveling state where a relatively high transparency should be set on the upper surface 20T, the relatively high transparency is set on the upper surface 20T. A relatively low transparency is set for the driving situation to be set. The same applies to the bottom surface 20S, the front surface 20F, the back surface 20B, the left side surface 20L, and the right side surface 20R.

Further, the transparency control unit 34 may acquire the distance to the preceding vehicle and the subsequent vehicle detected by the object detection unit 51 from the traveling state determination unit 52. The transparency control unit 34 may set different transparency on the front surface 20F depending on the distance to the preceding vehicle, and may set different transparency on the back surface 20B depending on the distance to the following vehicle.
For example, as the distance to the preceding vehicle is shorter, the transparency control unit 34 may lower the transparency of the front surface 20F that is opposed to the preceding vehicle and in which a relatively low region of transparency is set. In addition, the transparency control unit 34 may lower the transparency of the back surface 20 </ b> B in which the transparency of the relatively low area facing the succeeding vehicle is set as the distance to the succeeding vehicle is shorter.

Then, operation | movement of the driving assistance apparatus 30 of 2nd Embodiment is demonstrated. Please refer to FIG.
In step S <b> 30, the driving support device 30 determines whether the display of the surrounding situation image on the display device 5 is on. If the display of the surrounding situation image is on (S30: Y), the process proceeds to step S31. If the display of the surrounding situation image is not turned on (S30: N), the process returns to step S30.
In step S <b> 31, the environment detection unit 50 detects the road form of the travel path of the vehicle 1 as the environment around the vehicle 1.

  In step S32, the traveling state determination unit 52 determines whether the traveling path of the vehicle 1 is a narrow road or an expressway. When the traveling path of the vehicle 1 is a narrow road (S32: narrow road), the process proceeds to step S33. If the travel path of the vehicle 1 is a highway (S32: highway), the process proceeds to step S36. If the travel path of the vehicle 1 is neither a narrow road nor a highway (S32: Neither), the process proceeds to step S45.

  In step S33, the object detection unit 51 detects the interval between the left end of the vehicle 1 and the left travel path boundary. The traveling state determination unit 52 determines whether or not the interval between the left end of the vehicle 1 and the left traveling road boundary is equal to or less than a predetermined value. When the distance between the left end of the vehicle 1 and the left travel path boundary is equal to or smaller than a predetermined value (S33: Y), the travel status determination unit 52 sets a virtual viewpoint 10z in which the travel status of the vehicle 1 is close to the Z axis. Judge that it is a driving situation. Furthermore, the traveling state determination unit 52 determines that it is a traveling state in which a relatively low transparency is set on at least the left side surface 20L and a relatively high transparency is set on the upper surface 20T and the right side surface 20R. Then, the process proceeds to step S34.

When the interval between the left end of the vehicle 1 and the left travel path boundary is not less than or equal to the predetermined value (S33: N), the process proceeds to step S45.
In step S34, the virtual viewpoint setting unit 32 sets the virtual viewpoint 10z.
In step S35, the transparency control unit 34 sets a relatively low transparency on at least the left side surface 20L and sets a relatively high transparency on the upper surface 20T and the right side surface 20R. Thereafter, the process proceeds to step S45.

In step S <b> 36, the traveling state determination unit 52 determines whether the vehicle 1 joins or changes lanes. When the vehicle 1 joins or changes lanes (S36: Y), the process proceeds to step S37. If the vehicle 1 does not merge or change lanes (S35: N), the process proceeds to step S45.
In step S <b> 37, the object detection unit 51 detects the presence or absence of objects around the vehicle 1. The traveling state determination unit 52 determines whether there are a following vehicle and a preceding vehicle. When there is only the subsequent vehicle (S37: only the subsequent vehicle), the traveling state determination unit 52 determines that the traveling state of the vehicle 1 is a traveling state in which the virtual viewpoint 10x close to the X axis is to be set. Furthermore, the traveling state determination unit 52 determines that the traveling state should set a relatively low transparency on at least the back surface 20B and set a relatively high transparency on the right side surface 20R and the left side surface 20L. Then, the process proceeds to step S38.

When there are both the following vehicle and the preceding vehicle (S37: both are present), the traveling state determination unit 52 determines that the traveling state of the vehicle 1 is a traveling state in which a virtual viewpoint 10x close to the X axis is to be set. Further, the traveling state determination unit 52 determines that it is a traveling state in which relatively low transparency is set on at least the front surface 20F and the back surface 20B, and relatively high transparency is set on the right side surface 20R and the left side surface 20L. Then, the process proceeds to step S40.
If there is no succeeding vehicle or preceding vehicle (S: none), the process proceeds to step S42.

In step S38, the virtual viewpoint setting unit 32 sets the virtual viewpoint 10x. In step S39, the transparency control unit 34 sets a relatively low transparency on the back surface 20B, and sets a relatively high transparency on the right side surface 20R and the left side surface 20L. Thereafter, the process proceeds to step S43.
In step S40, the virtual viewpoint setting unit 32 sets the virtual viewpoint 10x. In step S41, the transparency control unit 34 sets relatively low transparency on at least the front surface 20F and the back surface 20B, and sets relatively high transparency on the right side surface 20R and the left side surface 20L. Thereafter, the process proceeds to step S43.
In step S42, the virtual viewpoint setting unit 32 sets the virtual viewpoint 10x. Thereafter, the process proceeds to step S45 without changing the transparency of the icon 12 (for example, while the relatively low transparency is set for the entire icon 12).

  When only the following vehicle is detected in step S37, in step S43, the transparency control unit 34 determines whether or not the inter-vehicle distance from the following vehicle is equal to or less than a predetermined value. If the inter-vehicle distance with the following vehicle is equal to or smaller than the predetermined value (step S43: Y), the process proceeds to step S44. If the inter-vehicle distance with the following vehicle is not less than the predetermined value (step S43: N), the process proceeds to step S45. In step S44, the transparency control unit 34 further lowers the transparency of the back surface 20B whose transparency has been lowered in step S39. Thereafter, the process proceeds to step S45.

When only the preceding vehicle and the following vehicle are detected in step S37, in step S43, the transparency control unit 34 determines whether or not each of the inter-vehicle distance with the preceding vehicle and the inter-vehicle distance with the following vehicle is equal to or less than a predetermined value. to decide. If neither the distance between the following vehicle nor the distance between the following vehicle and the following vehicle is less than the predetermined value (step S43: N), the process proceeds to step S45.
If the inter-vehicle distance with the preceding vehicle is equal to or less than the predetermined value (step S43: Y), the process proceeds to step S44. In step S44, the transparency control unit 34 further lowers the transparency of the front surface 20F whose transparency has been lowered in step S41. Thereafter, the process proceeds to step S45.
If the inter-vehicle distance with the following vehicle is equal to or smaller than the predetermined value (step S43: Y), the process proceeds to step S44. In step S44, the transparency control unit 34 further lowers the transparency of the back surface 20B whose transparency has been lowered in step S41. Thereafter, the process proceeds to step S45.

In step S <b> 45, the ambient situation image generation unit 33 generates an ambient situation image viewed from the virtual viewpoint 10 set by the virtual viewpoint setting unit 32.
In step S <b> 46, the icon drawing unit 36 draws the icon 12 whose transparency is set by the transparency control unit 34 in the surrounding situation image generated by the surrounding situation image generating unit 33. The display device 5 displays an ambient state image in which the icon 12 with the transparency set by the transparency control unit 34 is drawn.
In step S47, the driving support device 30 determines whether or not the display of the surrounding situation image on the display device 5 is turned off. If the display of the surrounding situation image is off (S47: Y), the process ends. If the display of the surrounding situation image is not turned off (S47: N), the process returns to step S31.

(Modification)
(1) The transparency control unit 34 selects an area with high transparency in the icon 12 according to the position of the virtual viewpoint 10 set by the virtual viewpoint setting unit 32 according to the determination result by the traveling state determination unit 52. Set to. The transparency setting method according to the virtual viewpoint 10 is the same as the setting method of the first embodiment. For this reason, in the surrounding situation image in which the virtual viewpoint 10 is set according to the traveling state of the vehicle 1, it is easy to grasp the distance from the surroundings according to the position of the virtual viewpoint 10 while reducing the blind spot area where the icon 12 is generated. Thus, the distance between the vehicle 1 and surrounding objects can be easily perceived.
(2) The object detection unit 51 and the traveling state determination unit 52 detect objects around the vehicle 1 as the traveling state of the vehicle 1. The transparency control unit 34 sets a region with high transparency in the icon when the detected object enters the blind spot by the icon.
The traveling state determination unit 52 determines whether the virtual viewpoint 10 set by the virtual viewpoint setting unit 32 determines whether or not an object around the vehicle 1 detected by the object detection unit 51 enters a blind spot caused by the icon 12 in the surrounding state image. You may judge according to a position.
The transparency control unit 34 sets a region with high transparency in the icon 12 when the traveling state determination unit 52 determines that the object detected by the object detection unit 51 enters the blind spot of any region. As a result, it is possible to prevent an object around the vehicle 1 from entering the blind spot caused by the icon 12 and overlooked by the driver.
Further, the transparency control unit 34 sets a region with low transparency in the icon 12 when the traveling state determination unit 52 determines that the object detected by the object detection unit 51 does not enter the blind spot caused by the icon 12. Thereby, since the edge of the icon 12 is displayed clearly, it becomes easy to perceive the space | interval with the surrounding object of the vehicle 1. FIG.

  (3) The virtual viewpoint setting unit 32 may select the virtual viewpoint 10 according to the traveling situation detected from the virtual viewpoints 10 determined in advance for each traveling situation, and the virtual viewpoint 10 according to the traveling situation. The virtual viewpoint 10 may be determined by calculating For example, the distance between the left end of the vehicle 1 detected by the object detection unit 51 and the left road boundary, the inter-vehicle distance from other surrounding vehicles, the speed of the vehicle 1 and the like are continuously changed. The virtual viewpoint 10 may be determined so as to change.

(Effect of the second embodiment)
(1) The environment detection unit 50, the object detection unit 51, and the traveling state determination unit 52 detect the traveling state of the vehicle 1, and the transparency control unit 34 determines the transparency in the icon 12 according to the detected traveling state. Set the area where is low.
Thereby, by partially increasing the transparency and reducing the blind spot area where the icon 12 is generated, by lowering the transparency of the part near the attention object around the vehicle 1 according to the driving situation, It becomes easy to perceive the distance between the vehicle 1 and the attention object.

(2) The object detection unit 51 and the traveling state determination unit 52 detect objects around the vehicle 1 as the traveling state. The transparency control unit 34 sets a relatively low transparency in a region facing the detected object among the plurality of regions of the icon 12. Thereby, the perception of the distance between the vehicle 1 and the attention object is facilitated by lowering the transparency of a portion near the object of attention around the vehicle 1 to make the boundary clear.
(3) The transparency control unit 34 decreases the transparency of the area facing the detected object as the distance between the detected object and the vehicle 1 is shorter. Thereby, when the distance to the attention target object is large, the area with high transparency can be increased to reduce the blind spot, and when the distance to the attention target object is short, the transparency of the part close to the attention target is decreased to reduce the vehicle 1 And the perception of the distance from the attention object can be facilitated.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2FR ... Right front wheel, 2FL ... Left front wheel, 2RR ... Right rear wheel, 2RL ... Left rear wheel, 3F ... Front camera, 3B ... Rear camera, 3R ... Right side camera, 3L ... Left side camera, 4 ... Controller, 5 ... Display device, 10x, 10y, 10z ... Virtual viewpoint, 11, 15, 17 ... Ambient situation image, 12 ... Icon, 30 ... Driving support device, 32 ... Virtual viewpoint setting unit, 33 ... Ambient situation image generation unit 34 ... Icon storage unit, 36 ... Icon drawing unit, 37 ... View point conversion unit, 38 ... Composition unit, 50 ... Environment detection unit, 51 ... Object detection unit, 52 ... Travel condition determination unit

Claims (15)

Take an image of the surroundings of your vehicle,
Based on the captured image, generate a surrounding situation image showing the surrounding situation of the host vehicle viewed from a virtual viewpoint,
According to the position of the virtual viewpoint, in the icon indicating the host vehicle, a region with different transparency is set, and a region with high transparency is drawn in the surrounding situation image,
Displaying the surrounding situation image in which the region with high transparency set according to the position of the virtual viewpoint is drawn;
A display method characterized by that.   The display method according to claim 1, wherein the high transparency region is set according to a blind spot generated in the surrounding situation image by the icon. Detecting the running situation of the vehicle,
The display method according to claim 1, wherein the virtual viewpoint is set according to the detected traveling situation. Detecting objects around the host vehicle as the driving situation,
The display method according to claim 3, wherein a relatively low transparency is set in a region facing the object in the icon.   The display method according to claim 4, wherein the transparency is lowered as the distance between the host vehicle and the object is shorter. Expressing the coordinates of the virtual viewpoint in a coordinate system having at least a first axis and a second axis orthogonal to each other;
Any one of the first axis, the second axis, and a virtual line that passes through the intersection of the first axis and the second axis and is orthogonal to the first axis and the second axis is the most suitable for the virtual viewpoint. The display method according to claim 1, wherein an area having a high transparency is set according to whether the area is close. The virtual viewpoint is a position on the first straight line that is closest to the virtual viewpoint among the first axis, the second axis, and the virtual straight line, and the first axis, the second axis, and the virtual straight line. The second straight line that is second closest to the virtual viewpoint is set at a position shifted in the extending direction,
As the icon, a three-dimensional model having six surfaces including a top surface, a bottom surface, a front surface, a back surface, a left side surface, and a right side surface is drawn.
Of the six surfaces, the top two surfaces in ascending order of the angle formed by the normal to the first straight line include a first surface that is relatively close to the virtual viewpoint and a second surface that is relatively far away, When the upper two surfaces in the order of decreasing angle formed by the normal to two straight lines include the third surface relatively close to the virtual viewpoint and the fourth surface relatively distant, the second surface and the fourth surface A relatively high transparency on at least one of the first surface and the first surface,
The display according to claim 6, wherein a relatively low transparency is set on at least one of the six surfaces other than the first surface, the second surface, and the fourth surface. Method.   The display method according to claim 6 or 7, wherein a region where a relatively low transparency is set is made wider as a distance between the first straight line and the virtual viewpoint is shorter. Take an image of the surroundings of your vehicle,
Detecting the running situation of the vehicle,
Based on the captured image, generate a surrounding situation image showing the surrounding situation of the host vehicle viewed from a virtual viewpoint,
In accordance with the detected driving situation, in the icon indicating the host vehicle, a region with different transparency is set, and a region with high transparency is drawn in the surrounding situation image,
Displaying the surrounding situation image in which the region with high transparency set according to the running situation is drawn;
A display method characterized by that. Detecting objects around the host vehicle as the driving situation,
The display method according to claim 9, wherein a relatively low transparency is set in a region facing the object in the icon.   The display method according to claim 10, wherein the transparency is lowered as the distance between the host vehicle and the object is shorter. Detecting objects around the host vehicle as the driving situation,
The display method according to claim 9, wherein when the object enters a blind spot caused by the icon, the region with the high transparency is set in the icon. Detecting objects around the host vehicle as the driving situation,
The display method according to claim 9, wherein when the object does not enter a blind spot caused by the icon, a region having a lower transparency than the region having a high transparency is set in the icon. An image sensor for capturing an image of the surroundings of the host vehicle;
Based on the image picked up by the image pickup device, a surrounding situation image showing the surrounding situation of the host vehicle viewed from a virtual viewpoint is generated, and transparency is displayed in an icon indicating the host vehicle according to the position of the virtual viewpoint. A controller that sets different regions and draws a region with high transparency in the surrounding situation image;
A display for displaying the surrounding situation image in which the region with high transparency set according to the position of the virtual viewpoint is drawn;
A driving support apparatus comprising: An image sensor for capturing an image of the surroundings of the host vehicle;
Based on the image picked up by the image pickup device, a surrounding state image showing the surrounding state of the host vehicle viewed from a virtual viewpoint is generated, and transparency is displayed in an icon indicating the host vehicle according to the traveling state of the host vehicle. Set different areas, and draw a high transparency area in the ambient situation image;
A display for displaying the surrounding situation image in which the region with high transparency set according to the traveling situation is drawn;
A driving support apparatus comprising:

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