JP2018160751A - Vehicular display control device, vehicular display control system, vehicular display control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately display a relative positional relationship between a vehicle and surroundings of the vehicle.SOLUTION: A vehicular display control device includes: a video data acquisition section 41 for acquiring video data from a camera unit 10 for photographing surroundings of a vehicle; another vehicle information acquisition section 43 for acquiring information on another vehicle different from the vehicle; a prediction trajectory information generation section 451 for generating a first travel prediction trajectory indicating distance information from a first reference position in the vehicle on the basis of vehicle information and a second travel prediction trajectory indicating distance information from a second reference position in the other vehicle on the basis of other vehicle information acquired by the other vehicle information acquisition section 43; a video combining section 452 for generating a video obtained by combining a first travel prediction trajectory and a second travel prediction trajectory that are generated by the prediction trajectory information generation section 451 with a video acquired by the video data acquisition section 41; and a display control section 49 for making a display unit 20 display a video combined by the video combining section 452.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle display control device, a vehicle display control system, a vehicle display control method, and a program.

  A technique is known in which a vehicle surrounding is photographed with a camera installed around the vehicle, a viewpoint conversion process is performed on the photographed image, and an overhead image is displayed on a monitor. Furthermore, a technique for displaying an expected traveling locus of a vehicle in an overhead view image is known (see, for example, Patent Document 1 and Patent Document 2).

JP 2011-116149 A JP 2012-066700 A

  However, even if the expected traveling trajectory of the vehicle is superimposed on the bird's-eye view image, if the size and shape of the vehicle with high driving frequency and the driving vehicle are different, the relative relationship between the vehicle and the surroundings of the vehicle It may be difficult to grasp the correct positional relationship.

  The present invention has been made in view of the above, and an object thereof is to appropriately display the relative positional relationship between a vehicle and the surroundings of the vehicle.

  In order to solve the above-described problems and achieve the object, a vehicle display control device according to the present invention is different from the vehicle in which a video data acquisition unit that acquires video data from a camera that captures the surroundings of the vehicle is different from the vehicle. Other vehicle information acquisition unit for acquiring information of other vehicle, first travel predicted locus indicating distance information from the first reference position in the vehicle based on the information of the vehicle, and other acquired by the other vehicle information acquisition unit An expected trajectory information generating unit that generates a second predicted travel trajectory indicating distance information from the second reference position in the other vehicle based on information on the vehicle, and the predicted trajectory information on the video acquired by the video data acquiring unit A video synthesizing unit that generates an image obtained by synthesizing the first predicted traveling track and the second predicted traveling track generated by the generating unit; a display control unit that displays the video synthesized by the video synthesizing unit on a display unit; Characterized in that it comprises a.

  A vehicle display control system according to the present invention includes at least one of the vehicle display control device, the plurality of cameras, and the display unit.

  The vehicle display control method according to the present invention includes a video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle, an other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle, Based on the first travel expected locus indicating distance information from the first reference position in the vehicle based on the vehicle information, and the second reference position in the other vehicle based on the information on the other vehicle acquired in the other vehicle information acquisition step. A predicted trajectory information generating step for generating a second travel predicted trajectory indicating the distance information of the first travel predicted trajectory generated in the predicted trajectory information generating step and the first trajectory generated in the predicted trajectory information generating step A video composition step for generating a video synthesized with the two predicted travel trajectories, and a display control for displaying the video synthesized in the video synthesis step on the display unit Includes a step, a.

  The program according to the present invention includes a video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle, an other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle, and the vehicle information Based on the first predicted travel path indicating the distance information from the first reference position in the vehicle and the distance information from the second reference position in the other vehicle based on the information on the other vehicle acquired in the other vehicle information acquisition step. A predicted trajectory information generating step for generating a second predicted travel trajectory, and a first predicted travel trajectory and a second predicted travel trajectory generated in the predicted trajectory information generation step on the video acquired in the video data acquisition step. And a video control step for generating a video synthesized with the video synthesis step, and a display control step for displaying the video synthesized in the video synthesis step on a display unit The be executed by a computer to operate as a vehicle for the display control device.

  According to the present invention, the relative positional relationship between the vehicle and the surroundings of the vehicle can be appropriately displayed.

FIG. 1 is a block diagram illustrating a configuration example of the vehicle display control system according to the first embodiment. FIG. 2 is a schematic diagram illustrating the difference between the first reference position of the vehicle and the second reference position of the other vehicle. FIG. 3 is a flowchart showing an example of a process flow in the vehicle display control apparatus of the vehicle display control system according to the first embodiment. FIG. 4 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the first embodiment. FIG. 5 is a diagram illustrating another example of a rear image generated by the vehicle display control system according to the first embodiment. FIG. 6 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the second embodiment. FIG. 7 is a diagram illustrating an example of a bird's-eye view image generated by the vehicle display control system according to the third embodiment. FIG. 8 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the fourth embodiment. FIG. 9 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the fifth embodiment. FIG. 10 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the sixth embodiment.

  Exemplary embodiments of a vehicle display control device 30, a vehicle display control system 1, a vehicle display control method, and a program according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, this invention is not limited by the following embodiment.

[First embodiment]
FIG. 1 is a block diagram illustrating a configuration example of the vehicle display control system according to the first embodiment. The vehicle display control system 1 is mounted on a vehicle. In addition to what is mounted on the vehicle, the vehicle display control system 1 may be a portable device that can be used in the vehicle. When the vehicle display control system 1 displays an image on the display unit 20, the vehicle display control system 1 displays the second travel predicted trajectory of another vehicle having a high driving frequency along with the first travel predicted trajectory of the host vehicle. In the present embodiment, a case will be described in which the size of the host vehicle that is the driving vehicle is larger than the size of the other vehicle.

  The vehicle to which the present invention is applied is not limited, but examples of the application target are company-owned cars, rental cars, etc., and other vehicles that are frequently operated by the driver are owned by the driver on a daily basis. A vehicle to drive.

  The vehicle display control system 1 will be described with reference to FIG. The vehicle display control system 1 includes a camera unit (camera) 10, a display unit (display unit) 20, and a vehicle display control device 30.

  The camera unit 10 has a camera that captures the surroundings of the vehicle. In the present embodiment, the camera unit 10 has a rear camera (not shown).

  The rear camera is arranged at the rear of the vehicle and photographs a periphery around the rear of the vehicle. The rear camera captures a range including a confirmation range by the rear view monitor. The rear camera 11 has a horizontal field angle of, for example, 90 to 180 °, and a vertical field angle of, for example, 50 to 100 °. The rear camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  The display unit 20 has a display panel (not shown).

  The display panel is, for example, a display device shared with other systems including a navigation system, and is a monitor for confirming the rear of the vehicle and the surroundings of the vehicle at a necessary timing such as when reversing. The display panel can take various forms as long as the rear of the vehicle can be confirmed when reversing. As an example of the display panel, an electronic room mirror can be used or a function of an instrument panel can be used. The display panel is, for example, a display including a liquid crystal display (LCD) or an organic EL-organic electroluminescence (EL) display.

  The display panel is disposed at a position that is easily visible to the driver. In the present embodiment, the display panel is disposed on a dashboard, an instrument panel, a center console, etc. in front of the driver of the vehicle.

  The display panel displays a rear image 100 </ b> C of the vehicle based on the video signal output from the display control unit 49 of the control unit 40 of the vehicle display control device 30.

  The vehicle display control device 30 includes a control unit 40 and a storage unit 50.

  The control unit 40 is an arithmetic processing unit configured with, for example, a CPU (Central Processing Unit) and a video processing processor. The control unit 40 loads the program stored in the storage unit 50 into the memory and executes instructions included in the program. The control unit 40 includes a video data acquisition unit 41, a vehicle information acquisition unit 42, another vehicle information acquisition unit 43, a video processing unit 45, and a display control unit 49. The control unit 40 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 40. The control unit 40 may be composed of one or a plurality of devices.

  The video data acquisition unit 41 acquires peripheral video data obtained by photographing the periphery of the vehicle. More specifically, the video data acquisition unit 41 acquires peripheral video data output by the rear camera of the camera unit 10. The video data acquisition unit 41 outputs the acquired peripheral video data to the video processing unit 45.

  The vehicle information acquisition unit 42 is a vehicle information serving as a trajectory display trigger that is a trigger for displaying a trajectory such as gear operation information of the host vehicle, a controller area network (CAN), various sensors that sense the state of the host vehicle, and the like. Get from. The vehicle information acquisition unit 42 outputs the acquired vehicle information to the video processing unit 45.

  The other vehicle information acquisition unit 43 acquires information of another vehicle different from the host vehicle through, for example, an input operation unit (not shown), a memory reading unit (not shown), and a communication device (not shown).

  In this embodiment, the length of the other vehicle and the driver's seat position of the other vehicle are used as information on the other vehicle.

  In this embodiment, the other vehicle information acquisition part 43 acquires the information of the other vehicle which the driver input directly via the input operation part. Or the other vehicle information acquisition part 43 may acquire the information of the other vehicle memorize | stored in the memory | storage part 50 via a memory reading part. Or the other vehicle information acquisition part 43 may acquire the information of the other vehicle memorize | stored in the external storage device connected by radio | wireless via a communication apparatus (communication network). The other vehicle information acquisition unit 43 outputs the acquired other vehicle information to the video processing unit 45.

  The video processing unit 45 executes a process for synthesizing a predicted travel locus on the video acquired by the video data acquisition unit 41.

  The video processing unit 45 includes an expected trajectory information generation unit 451 and a video synthesis unit 452.

  The predicted trajectory information generation unit 451 is based on the first travel predicted trajectory indicating the distance information from the first reference position in the own vehicle and the information on the other vehicle acquired by the other vehicle information acquisition unit 43 based on the information on the own vehicle. Then, a second predicted travel path indicating distance information from the second reference position in the other vehicle is generated.

  The first reference position and the second reference position will be described with reference to FIG. FIG. 2 is a schematic diagram illustrating the difference between the first reference position of the vehicle and the second reference position of the other vehicle.

  In the present embodiment, the first reference position is the vehicle end in the traveling direction of the host vehicle V. For example, when the host vehicle V is moving backward, the first reference position is the rear end portion Va of the host vehicle V. In the present embodiment, the second reference position is the vehicle end portion of the other vehicle V2 in the same direction as the traveling direction of the host vehicle V. For example, when the host vehicle V is moving backward, the second reference position is the rear end V2a of the vehicle V2. The difference between the distance between the driver's seat position P1 of the host vehicle V and the rear end portion Va and the distance between the driver's seat position P2 and the rear end portion V2a of the vehicle V2 is d.

  The first predicted travel path indicates distance information from the first reference position of the host vehicle. In the present embodiment, the first predicted travel path indicates an expected travel path at a position of a first predetermined distance from the first reference position of the host vehicle. The first travel predicted trajectory indicates, for example, predicted trajectories at positions where the distance from the first reference position of the host vehicle is 0.4 m, 1.0 m, 2.0 m, and 3.0 m. For example, when the host vehicle is moving backward, the first predicted travel track indicates the predicted track of the position of the rear end portion Va of the host vehicle V up to the first predetermined distance ahead.

  Further, in the present embodiment, the first predicted travel path may include an expected travel path from the first reference position of the host vehicle to the second predetermined distance. In this case, the first predicted travel path may indicate a travel path in which the distance from the first reference position of the host vehicle corresponds to, for example, a vehicle width or a wheel width up to a position of 3.2 m.

  The predicted trajectory information generation unit 451 generates a first predicted travel trajectory based on the vehicle information stored in the storage unit 50. The predicted trajectory information generation unit 451 generates the first trajectory image 200C indicating the first predicted travel trajectory in the rear video 100C based on the generated first predicted travel trajectory.

  The second predicted travel path indicates distance information from the second reference position of the other vehicle. In the present embodiment, the second predicted travel path indicates an expected travel path at a position at a first predetermined distance from the second reference position of the other vehicle. The second predicted travel path is the same as the first predicted travel path, for example, when the distance from the second reference position of the other vehicle is 0.4 m, 1.0 m, 2.0 m, or 3.0 m. Indicates. For example, when the host vehicle is moving backward, the second predicted travel trajectory indicates a predicted trajectory of the position of the rear end V2a of the other vehicle V2 up to the first predetermined distance ahead.

  Further, in the present embodiment, the second predicted travel path may include an expected travel path from the second reference position of the other vehicle to the second predetermined distance. In this case, the second predicted travel trajectory may indicate a travel trajectory of the vehicle width up to, for example, a position where the distance from the second reference position of the other vehicle is, for example, 3.2 m.

  The predicted trajectory information generation unit 451 generates a second predicted travel trajectory based on the vehicle information stored in the storage unit 50 and the information on the other vehicle acquired by the other vehicle information acquisition unit 43. More specifically, the predicted trajectory information generation unit 451 calculates a second predicted travel trajectory on the assumption that another vehicle has traveled in the same direction as the travel direction of the host vehicle. The predicted trajectory information generation unit 451 generates a second trajectory image 300C indicating the second predicted travel trajectory in the rear image 100C based on the generated second predicted travel trajectory.

  It is preferable that the first predicted travel path and the second predicted travel path have the same shape. For example, when the distance from the first reference position of the host vehicle in the first predicted travel path is 0.4 m, 1.0 m, 2.0 m, and 3.0 m, the second travel predicted path also includes the The distances from the two reference positions are 0.4 m, 1.0 m, 2.0 m, and 3.0 m.

  The predicted trajectory information generation unit 451 outputs the generated first trajectory image 200C and the second trajectory image 300C to the video composition unit 452.

  The video synthesizing unit 452 performs a synthesizing process for synthesizing the first trajectory image indicating the first travel expected trajectory on the video acquired by the video data acquiring unit 41 to generate a rear video. In the present embodiment, the video composition unit 452 generates a rear video by performing a synthesis process for synthesizing a first trajectory image indicating a first travel expected trajectory on the peripheral video output from the rear camera.

  When the other vehicle information is set, the video synthesis unit 452 generates a rear video 100C obtained by synthesizing the first trajectory image 200C and the second trajectory image 300C with the video acquired by the video data acquisition unit 41. . In the present embodiment, when the other vehicle information acquisition unit 43 acquires the other vehicle information, the video composition unit 452 outputs the first trajectory image 200C and the second trajectory image 300C with respect to the peripheral video output by the rear camera. A compositing process is performed to generate the rear video 100C.

  The video synthesis unit 452 outputs the rear video or the video data of the rear video 100C synthesized in this way to the display control unit 49.

  The display control unit 49 displays the rear video or the rear video 100C on the display panel of the display unit 20.

  The storage unit 50 stores data and various processing results required for various processes in the vehicle display control device 30. The storage unit 50 is, for example, a semiconductor memory device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk. Alternatively, an external storage device that is wirelessly connected via a communication device (not shown) may be used.

  The memory | storage part 50 has memorize | stored the length of the own vehicle, and the driver's seat position of the own vehicle as vehicle information. The vehicle information is acquired via, for example, an input operation unit (not shown), a memory reading unit (not shown), and a communication device (not shown).

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described with reference to FIG. FIG. 3 is a flowchart showing an example of a process flow in the vehicle display control apparatus of the vehicle display control system according to the first embodiment.

  When the vehicle display control system 1 is activated, the control unit 40 causes the video data acquisition unit 41 to acquire peripheral video data.

  The driver inputs information about other vehicles via the input operation unit, and sets other vehicle information.

  The control unit 40 causes the other vehicle information input by the other vehicle information acquisition unit 43 to be acquired.

  The control unit 40 determines the presence or absence of a locus display trigger (step S11). In the present embodiment, the trajectory display trigger means that the shift position is “reverse”, for example. Or a locus | trajectory display trigger means that the advancing direction of the own vehicle became the back of the own vehicle. When there is no locus display trigger (No in Step S11), the control unit 40 executes the process of Step S11 again. When there is a locus display trigger (Yes in Step S11), the control unit 40 proceeds to Step S12. Arbitrary triggers such as user operations, obstacle detection results, and stoppages are applied to the locus display trigger.

  When it determines with there being a locus | trajectory display trigger by step S11 (it is Yes at step S11), the control part 40 determines the presence or absence of other vehicle information setting (step S12). More specifically, the control unit 40 determines whether or not the other vehicle information is acquired by the other vehicle information acquisition unit 43. When it is determined that the other vehicle information is acquired by the other vehicle information acquisition unit 43 (Yes in step S12), the control unit 40 proceeds to step S14. When the other vehicle information acquisition unit 43 determines that the other vehicle information is not acquired (No in Step S12), the control unit 40 proceeds to Step S13.

  The control unit 40 generates and displays a first predicted travel path (step S13). More specifically, the control unit 40 causes the predicted trajectory information generation unit 451 to generate a first predicted travel trajectory based on the vehicle information stored in the storage unit 50. And the control part 40 is made to produce | generate the 1st locus | trajectory image which shows the 1st driving | running expected locus | trajectory in a back image | video based on the produced | generated estimated 1st driving | running locus | trajectory in the estimated locus | trajectory information generation part 451. Then, the control unit 40 causes the video synthesis unit 452 to generate a rear video in which the first trajectory image is synthesized with the video acquired by the video data acquisition unit 41. Then, the control unit 40 causes the display control unit 49 to display the rear video on the display panel. The control unit 40 proceeds to step S15.

  The control unit 40 generates a first predicted travel path and a second predicted travel path and displays them in combination (step S14). The control unit 40 causes the predicted trajectory information generation unit 451 to generate a first travel predicted trajectory based on the vehicle information stored in the storage unit 50. The control unit 40 causes the predicted trajectory information generation unit 451 to generate the first trajectory image 200C indicating the first predicted travel trajectory in the rear video 100C. The control unit 40 causes the predicted trajectory information generation unit 451 to generate a second predicted travel trajectory based on the vehicle information stored in the storage unit 50 and the other vehicle information acquired by the other vehicle information acquisition unit 43. The control unit 40 causes the predicted trajectory information generation unit 451 to generate a second trajectory image 300C indicating the second predicted travel trajectory in the rear video 100C. Then, the control unit 40 causes the video synthesis unit 452 to generate a rear video 100C obtained by synthesizing the first trajectory image 200C and the second trajectory image 300C with the video acquired by the video data acquisition unit 41. Then, the control unit 40 causes the display control unit 49 to display the rear video 100C on the display panel. The control unit 40 proceeds to step S15.

  The control unit 40 determines the presence / absence of a locus display end trigger (step S15). The locus display end trigger means, for example, that the shift position has changed from “reverse” to another position. If there is a locus display end trigger (Yes in step S15), the control unit 40 ends the process. When there is no locus display end trigger (No in Step S15), the control unit 40 executes the process of Step S15 again.

  The rear image 100C and the rear image 100D generated by the vehicle display control system 1 will be described with reference to FIGS. FIG. 4 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the first embodiment. FIG. 5 is a diagram illustrating another example of a rear image generated by the vehicle display control system according to the first embodiment. In the present embodiment, the case where the host vehicle is moving straight back and the distance from the driver's seat position to the rear end of the host vehicle is greater than the distance from the driver's seat position to the rear end of the other vehicle will be described. To do.

  In the rear image 100C shown in FIG. 4, the first trajectory image 200C includes a pair of first trajectory lines 201C indicating an expected trajectory from the rear end of the host vehicle to the second predetermined distance, and the first trajectory from the rear end of the host vehicle. And a second trajectory line 202C indicating an expected trajectory at a position of a predetermined distance. In the present embodiment, the pair of first trajectory lines 201C indicate an expected trajectory until the distance from the first reference position of the host vehicle, for example, the vehicle width of the rear end portion of the host vehicle is 3.2 m. . The pair of first trajectory lines 201C extends along the traveling direction of the host vehicle. The pair of first trajectory lines 201C extends linearly along the front-rear direction. The second locus line 202C extends in the vehicle width direction between the pair of first locus lines 201C. The second trajectory line 202C indicates, for example, predicted trajectories at positions where the distance from the rear end of the host vehicle is 0.4 m, 1.0 m, 2.0 m, and 3.0 m. The first trajectory line 201C and the second trajectory line 202C integrally indicate distance information from the first reference position in the vehicle.

  In the rear image 100C shown in FIG. 4, the second trajectory image 300C includes a pair of first trajectory lines 301C indicating an expected trajectory from the rear end of the other vehicle to the second predetermined distance, and a second trajectory from the rear end of the other vehicle. And a second trajectory line 302C indicating an expected trajectory at a position of one predetermined distance. In the present embodiment, the pair of first trajectory lines 301C indicate an expected trajectory until the distance from the second reference position of the other vehicle of the rear end portion of the other vehicle is, for example, 3.2 m. . The pair of first trajectory lines 301C extends along the traveling direction of the host vehicle. The pair of first trajectory lines 301C extend linearly along the front-rear direction. The second trajectory line 302C extends between the pair of first trajectory lines 301 in the vehicle width direction. For example, the second trajectory line 302C indicates an expected trajectory at positions where the distance from the rear end of the other vehicle is 0.4 m, 1.0 m, 2.0 m, and 3.0 m. The first trajectory line 301C and the second trajectory line 302C integrally indicate distance information from the second reference position in the other vehicle.

  In the first trajectory image 200C and the second trajectory image 300C, the difference d between the driver's seat position of the host vehicle and the first reference position and the driver seat position of the other vehicle is the second reference position. The display is shifted to. More specifically, the first trajectory line 201C and the second trajectory line 202C, and the first trajectory line 301C and the second trajectory line 302C are integrally displayed with a deviation in the traveling direction in the rear video 100C. In this embodiment, since the distance from the driver's seat position of the own vehicle to the rear end is larger than the distance from the driver's seat position of the other vehicle to the rear end, the second trajectory line 202C is relative to the second trajectory line 302C. It is shifted backward. As a result, the distance from the driver's seat position to the rear end of the own vehicle is larger than the distance from the driver seat position to the rear end of the other vehicle, in other words, the rear end of the own vehicle is more than the rear end of the other vehicle. It is recognized that it is located behind.

  In FIG. 4, in order to distinguish the first trajectory image 200C and the second trajectory image 300C, the first trajectory image 200C is shown as a solid line, and the second trajectory image 300C is shown as a two-dot chain line. In the rear video 100C displayed on the rear view monitor, the first trajectory image 200C and the second trajectory image 300C may be displayed in different colors.

  In the rear image 100D shown in FIG. 5, the display modes of the first trajectory image 200D and the second trajectory image 300D are changed. The second trajectory image 300D is colored in a strip shape. In this way, the first trajectory image 200D and the second trajectory image 300D may be easily identified by changing the display mode of the first trajectory image 200D and the second trajectory image 300D.

  Thus, the vehicle display control system 1 synthesizes the rear image 100C of the first trajectory image 200C and the second trajectory image 300C, and the rear image 100D of the first trajectory image 200D and the second trajectory image 300D. Is generated and displayed.

  As described above, in the present embodiment, when other vehicle information is set, the first trajectory image 200C indicating distance information from the first reference position in the host vehicle and the distance from the second reference position in the other vehicle. A rear image 100C obtained by combining the second trajectory image 300C indicating information is generated and displayed. Thus, the position of the first predetermined distance from the rear end of the host vehicle and the position of the first predetermined distance from the rear end of the other vehicle due to the difference between the second trajectory line 202C and the second trajectory line 302C in the rear image 100C. Can be easily recognized. Thereby, this embodiment can display appropriately the relative positional relationship of the periphery in the advancing direction of the own vehicle and other vehicles. In other words, the present embodiment makes it easy to grasp the difference in length between the host vehicle and the other vehicle in the traveling direction, for example, when the host vehicle has a longer length than the other vehicle having a high driving frequency. Useful display can be made.

  In the present embodiment, a rear video 100D in which the first trajectory image 200D and the strip-shaped second trajectory image 300D are combined and displayed may be generated. According to this embodiment, the display which can identify easily 1st locus | trajectory image 200D and 2nd locus | trajectory image 300D can be made.

  In this manner, the present embodiment can display, for example, an easy-to-understand indication of how far the host vehicle can retreat compared to other vehicles with high driving frequency.

[Second Embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the second embodiment. The vehicle display control system 1 has the same basic configuration as the vehicle display control system 1 of the first embodiment. In the following description, components similar to those of the vehicle display control system 1 are denoted by the same reference numerals or corresponding reference numerals, and detailed description thereof is omitted.

  The predicted trajectory information generation unit 451 has a second reference position in another vehicle based on the information on the other vehicle acquired by the other vehicle information acquisition unit 43 when there is a predetermined difference or more between the first reference position and the second reference position. A second predicted travel trajectory indicating distance information from is generated. This is to prevent the second trajectory image from being displayed when the difference in length between the host vehicle and the other vehicle is small.

  The predicted trajectory information generation unit 451 sets the vehicle end in the traveling direction of the host vehicle as the first reference position, and sets the vehicle end of the other vehicle in the same direction as the traveling direction of the host vehicle as the second reference position. Information on the other vehicle acquired by the other vehicle information acquisition unit 43 when the distance between the seat position and the first reference position and the distance between the driver seat position of the other vehicle and the second reference position are more than a predetermined difference. Based on this, a second predicted travel path indicating distance information from the second reference position in the other vehicle is generated.

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described with reference to FIG. The processes in steps S21, S22, and S24 to S26 in the flowchart shown in FIG. 6 are the same as those in steps S11, S12, and S13 to S15 in the flowchart shown in FIG.

  If it is determined in step S22 that other vehicle information is set (Yes in step S22), the control unit 40 determines whether there is a difference greater than or equal to a predetermined value (step S23). More specifically, the control unit 40 determines that the distance between the driver's seat position of the host vehicle and the first reference position and the distance between the driver's seat position of the other vehicle and the second reference position are greater than or equal to a predetermined difference. If yes (Yes in step S23), the process proceeds to step S25. The control unit 40 determines that the distance between the driver's seat position of the host vehicle and the first reference position and the distance between the driver's seat position of the other vehicle and the second reference position are less than a predetermined difference (step S23). No), the process proceeds to step S24. An example of the predetermined difference between the distance between the driver's seat position of the host vehicle and the first reference position and the distance between the driver's seat position of the other vehicle and the second reference position is 20 cm.

  As described above, according to the present embodiment, the first trajectory image and the second trajectory image are combined and displayed when the difference between the host vehicle and the other vehicle is small, so that the first trajectory image and the second trajectory image are displayed. It can be suppressed that the trajectory image is overlapped and displayed, and the display is complicated and has poor visibility. According to the present embodiment, it is possible to perform a display that suppresses the first trajectory image and the second trajectory image from overlapping and becoming an image that is difficult to visually recognize. The term “overlap” as used herein includes not only the first trajectory image and the second trajectory image being completely or partially overlapping but also being close to each other.

[Third embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 7 is a diagram illustrating an example of a bird's-eye view image generated by the vehicle display control system according to the third embodiment. The vehicle display control system 1 has the same basic configuration as the vehicle display control system 1 of the first embodiment.

  The vehicle display control system 1 according to the present embodiment is different from the first embodiment in that the first travel predicted trajectory and the second travel predicted trajectory are combined and displayed on a bird's-eye view video looking down from above.

  The camera unit 10 includes a front overhead camera, a rear overhead camera, a left side overhead camera, and a right side overhead camera (not shown).

  The front bird's-eye camera is disposed in front of the vehicle and photographs a periphery around the front of the vehicle. The front bird's-eye camera captures an imaging range of about 180 °, for example. The front overhead camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  The rear bird's-eye view camera is arranged at the rear of the vehicle and photographs the periphery around the rear of the vehicle. For example, the rear overhead camera captures an imaging range of about 180 °. The rear overhead camera outputs the captured image to the image data acquisition unit 41 of the vehicle display control device 30.

  The left side bird's-eye view camera is arranged on the left side of the vehicle and shoots the periphery around the left side of the vehicle. The left side overhead camera captures an imaging range of about 180 °, for example. The left side overhead camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  The right side overhead camera is arranged on the right side of the vehicle and shoots the periphery around the right side of the vehicle. The right side overhead camera captures an imaging range of about 180 °, for example. The right side overhead camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  With such a front bird's-eye camera, a rear bird's-eye camera, a left-side bird's-eye camera, and a right-side bird's-eye camera, all directions of the vehicle are photographed.

  When the shape of the display panel is a horizontally long rectangle, the display panel may be divided into a plurality of display ranges. For example, the display panel has a display range for displaying the bird's-eye view video 110E and a display range for displaying a navigation screen or an audio screen arranged on the side of the display range of the bird's-eye view image 110E. The display range for displaying the overhead image 110E is a vertically long rectangular shape.

  The video processing unit 45 performs viewpoint conversion processing and synthesis processing on the video acquired by the video data acquisition unit 41.

  The predicted trajectory information generation unit 451 generates a first trajectory image 210E indicating the first predicted travel trajectory in the overhead view image 110E based on the first predicted travel trajectory generated in the same manner as in the first embodiment.

  The predicted trajectory information generation unit 451 generates a second trajectory image 310E indicating the second predicted travel trajectory in the overhead view image 110E based on the second predicted travel trajectory generated as in the first embodiment.

  The video composition unit 452 synthesizes the video acquired by the video data acquisition unit 41 with a plurality of videos that have undergone viewpoint conversion processing so that the vehicle is looked down from above, and combines the vehicle icon at the center thereof. Process. More specifically, the video composition unit 452 generates a video that has undergone viewpoint conversion processing based on peripheral video data captured by the front overhead camera, the rear overhead camera, the left side overhead camera, and the right side overhead camera. The method of viewpoint conversion processing may be any known method and is not limited. Then, the video synthesis unit 452 performs a synthesis process for synthesizing the first trajectory image with the synthesized video and generates an overhead video.

  When other vehicle information is set, the video composition unit 452 synthesizes a plurality of videos obtained by performing viewpoint conversion processing on the video acquired by the video data acquisition unit 41, and synthesizes the own vehicle icon at the center. Perform the synthesis process. Then, the video composition unit 452 generates an overhead image 110E in which the first trajectory image 210E and the second trajectory image 310E are synthesized with the synthesized video.

  The video composition unit 452 outputs the video data of the overhead view video generated in this way to the display control unit 49.

  The display control unit 49 displays the overhead view video on the display panel of the display unit 20.

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described. The control part 40 performs the process according to the flowchart shown in FIG. In this embodiment, the process in step S11, step S12, and step S15 performs the same process as 1st embodiment.

  The control unit 40 generates and displays a first predicted travel path (step S13). More specifically, the control unit 40 generates a first trajectory image indicating a first travel expected trajectory in the overhead view video based on the first travel predicted trajectory generated in the same manner as in the first embodiment by the predicted trajectory information generation unit 451. Generate. Then, the control unit 40 synthesizes a plurality of videos obtained by performing viewpoint conversion processing on the video acquired by the video data acquisition unit 41 by the video synthesis unit 452 and synthesizes the vehicle icon at the center. To do. Then, the control unit 40 causes the video synthesis unit 452 to generate a bird's-eye view video obtained by synthesizing the first trajectory image with the synthesized video. Then, the control unit 40 causes the display control unit 49 to display the overhead view video on the display panel. The control unit 40 proceeds to step S15.

  The control unit 40 generates a first predicted travel path and a second predicted travel path and displays them in combination (step S14). The control unit 40 causes the predicted trajectory information generation unit 451 to generate a first trajectory image 210E indicating the first predicted travel trajectory in the overhead view image 110E based on the first predicted travel trajectory generated in the same manner as in the first embodiment. . The control unit 40 generates a second trajectory image 310E indicating the second predicted travel trajectory in the overhead view image 110E based on the second predicted travel trajectory generated as in the first embodiment. Then, the control unit 40 synthesizes a plurality of videos obtained by performing viewpoint conversion processing on the video acquired by the video data acquisition unit 41 by the video synthesis unit 452 and synthesizes the vehicle icon at the center. To do. Then, the control unit 40 causes the video composition unit 452 to generate an overhead image 110E in which the first trajectory image 210E and the second trajectory image 310E are synthesized with the synthesized video. Then, the control unit 40 causes the display control unit 49 to display the overhead view image 110E on the display panel. The control unit 40 proceeds to step S15.

  The overhead view image 110E generated by the vehicle display control system 1 will be described. In the present embodiment, the case where the host vehicle is moving straight back and the distance from the driver's seat position to the rear end of the host vehicle is greater than the distance from the driver's seat position to the rear end of the other vehicle will be described. To do.

  The overhead image 110E includes a front image 111, a rear image 112, a left side image 113, and a right side image 114. A host vehicle icon 120 is displayed at the center of the overhead view image 110E. The own vehicle icon 120 is a vehicle shape image representing the form and size of the own vehicle.

  In the bird's-eye view image 110 </ b> E shown in FIG. 7, the first trajectory image 210 </ b> E extends from the rear end portion of the host vehicle icon 120. The first trajectory image 210E and the second trajectory image 310E are superimposed on the rear video 112. The first trajectory image 210E includes a pair of first trajectory lines 211E indicating an expected trajectory at a position at a second predetermined distance from the rear end of the host vehicle, and an expected trajectory at a position at the first predetermined distance from the rear end of the host vehicle. And a second trajectory line 212E. The pair of first trajectory lines 211E extend in the front-rear direction while curving.

  In the bird's-eye view image 110E shown in FIG. 7, the second trajectory image 310E has a second trajectory line 312E indicating an expected trajectory at a position of the first predetermined distance from the rear end of the other vehicle.

  In FIG. 7, oblique broken lines indicating boundaries between the front image 111, the rear image 112, the left side image 113, and the right side image 114 are shown for explanation, but the overhead view actually displayed on the display panel is shown. The broken line may or may not be displayed on the video 110E. The same applies to the other figures.

  As described above, in the present embodiment, when other vehicle information is set, the overhead image 110E in which the first trajectory image 210E and the second trajectory image 310E are combined and displayed is generated. Thereby, the position of the first predetermined distance from the rear end of the host vehicle and the position of the first predetermined distance from the rear end of the other vehicle due to the difference between the second trajectory line 212E and the second trajectory line 312E in the overhead view image 110E. Can be easily recognized. Thereby, this embodiment can display appropriately the relative positional relationship of the periphery in the advancing direction of the own vehicle and other vehicles. In other words, the present embodiment makes it easy to grasp the difference in length between the own vehicle and the other vehicle in the traveling direction, for example, when the own vehicle has a larger length than the other vehicle having a high driving frequency. Useful display can be made.

[Fourth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 8 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the fourth embodiment. The vehicle display control system 1 of the present embodiment is different from the first embodiment in that an icon indicating the rear end portion of the host vehicle or the other vehicle is synthesized and displayed on the rear image. In the present embodiment, the case where the host vehicle is moving straight back and the distance from the driver's seat position to the rear end of the host vehicle is smaller than the distance from the driver's seat position to the rear end of the other vehicle will be described. To do.

  When the other vehicle information is set, the video composition unit 452 combines the first trajectory image 200E, the second trajectory image 300E, and the other vehicle icon 130 with the video acquired by the video data acquisition unit 41. A video 100E is generated. In the present embodiment, when the other vehicle information acquisition unit 43 acquires the other vehicle information, the video composition unit 452 applies the first trajectory image 200E, the second trajectory image 300E, and the like to the peripheral video output by the rear camera. A rear image 100E is generated by performing a compositing process for compositing the vehicle icon 130.

  The rear video 100E generated by the vehicle display control system 1 will be described. The rear video 100E has the same basic configuration as the rear video 100C shown in FIG. In the following description, the same components as those in the rear video 100C shown in FIG. 4 are denoted by corresponding reference numerals, and detailed description thereof is omitted.

  In the rear image 100E shown in FIG. 8, the other vehicle icon 130 is displayed. In this embodiment, the distance from the driver's seat position to the rear end of the own vehicle is smaller than the distance from the driver seat position to the rear end of the other vehicle, in other words, the rear end of the other vehicle is the rear end of the own vehicle. It is longer than the part and protrudes backward. The other vehicle icon 130 imitates the rear end portion of the other vehicle. The other vehicle icon 130 indicates a difference d between the rear end portion of the other vehicle and the rear end portion of the host vehicle. The other vehicle icon 130 protrudes backward by a difference d from the long side 100Ea on the vehicle side of the rear image 100E. It is preferable that the other vehicle icon 130 has a display form in which a blind spot caused by the other vehicle icon 130 does not occur. For example, the other vehicle icon 130 may be translucent. For example, the other vehicle icon 130 may have a frame shape indicating the outer shape.

  As described above, in the present embodiment, when other vehicle information is set, the rear image 100E obtained by combining the first trajectory image 200E, the second trajectory image 300E, and the other vehicle icon 130 is generated and displayed. Thereby, the other vehicle icon 130 can easily recognize the difference between the position of the first predetermined distance from the rear end of the host vehicle and the position of the first predetermined distance from the rear end of the other vehicle. Thereby, this embodiment can display appropriately the relative positional relationship of the periphery in the advancing direction of the own vehicle and other vehicles. In other words, in the present embodiment, the other vehicle icon 130 makes it easier to grasp the difference in length between the own vehicle and the other vehicle in the traveling direction. For example, the own vehicle is longer than the other vehicle having a high driving frequency. More useful display can be made when the vehicle is put in the garage.

[Fifth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 9 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the fifth embodiment. The vehicle display control system 1 of the present embodiment is different from the first embodiment in that an icon indicating the rear end portion of the host vehicle and the other vehicle is combined and displayed on the rear image. In the present embodiment, the case where the host vehicle is moving straight back and the distance from the driver's seat position to the rear end of the host vehicle is greater than the distance from the driver's seat position to the rear end of the other vehicle will be described. To do.

  When the other vehicle information is set, the video composition unit 452 performs the first trajectory image 200F, the second trajectory image 300F, the host vehicle icon 140, and the other vehicle icon 130 with respect to the video acquired by the video data acquisition unit 41. And a rear video 100F is generated. In the present embodiment, when the other vehicle information acquisition unit 43 acquires the other vehicle information, the video composition unit 452 automatically compares the first trajectory image 200F and the second trajectory image 300F with respect to the peripheral video output by the rear camera. A synthesis process for synthesizing the vehicle icon 140 and the other vehicle icon 130 is performed to generate the rear video 100F.

  The rear image 100F generated by the vehicle display control system 1 will be described. The basic structure of the rear video 100F is the same as that of the rear video 100C shown in FIG.

  In the rear image 100F shown in FIG. 9, the host vehicle icon 140 and the other vehicle icon 130 are displayed. In the present embodiment, the distance from the driver's seat position to the rear end of the own vehicle is larger than the distance from the driver seat position to the rear end of the other vehicle, in other words, the rear end of the own vehicle is the rear end of the other vehicle. It is longer than the part and protrudes backward. The other vehicle icon 130 imitates the rear end portion of the other vehicle. The other vehicle icon 130 indicates the position of the rear end of the other vehicle. The other vehicle icon 130 protrudes rearward from the long side 100Fa on the vehicle side of the rear image 100F. It is preferable that the other vehicle icon 130 has a display form in which no blind spot caused by the other vehicle icon 130 is generated. For example, the other vehicle icon 130 may be translucent. For example, the other vehicle icon 130 may have a frame shape indicating the outer shape. The other vehicle side end of the second trajectory image 300F is connected to the vehicle end of the other vehicle icon 130. The host vehicle icon 140 imitates the rear end of the host vehicle. The host vehicle icon 140 indicates the position of the rear end of the host vehicle. The host vehicle icon 140 protrudes rearward from the vehicle-side long side 100Fa of the rear image 100F. The own vehicle icon 140 is longer to the rear than the other vehicle icon 130. The host vehicle icon 140 is preferably displayed in such a manner that no blind spot caused by the host vehicle icon 140 is generated. For example, the host vehicle icon 140 may be translucent. For example, the host vehicle icon 140 may have a frame shape indicating the outer shape. The end of the first trajectory image 200F on the vehicle side is connected to the end of the vehicle icon 140.

  As described above, in the present embodiment, when other vehicle information is set, the rear image 100F in which the first trajectory image 200F, the second trajectory image 300F, the host vehicle icon 140, and the other vehicle icon 130 are combined is generated. indicate. Thereby, the difference between the position of the first predetermined distance from the rear end portion of the own vehicle and the position of the first predetermined distance from the rear end portion of the other vehicle is easily recognized by the own vehicle icon 140 and the other vehicle icon 130. Can do. Thereby, this embodiment can display appropriately the relative positional relationship of the own vehicle and the periphery in the advancing direction of a vehicle. In other words, in the present embodiment, it is easy to grasp the difference in length between the own vehicle and the other vehicle in the traveling direction by the own vehicle icon 140 and the other vehicle icon 130, for example, between the other vehicle having a high driving frequency and the rear end portion. It is possible to display useful information when the host vehicle has a large position difference when entering the garage.

[Sixth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the sixth embodiment. The vehicle display control system 1 of the present embodiment differs from the vehicle display control system 1 of the first embodiment in the processing in the video processing unit 45.

  Even if there is a locus display trigger, the image processing unit 45 generates and displays an image that does not synthesize and display the second locus image when a predetermined condition is satisfied.

  The predetermined condition refers to a condition estimated that the driver has become accustomed to driving the vehicle and can appropriately grasp the relative positional relationship between the vehicle and the surroundings of the vehicle. More specifically, the case where the predetermined condition is satisfied may be a case where the rear video 100C in which the first trajectory image 200C and the second trajectory image 300C are synthesized and displayed is generated and displayed a predetermined number of times or more after the start of driving. Alternatively, the case where the predetermined condition is satisfied may be a case where the vehicle has traveled for a predetermined travel distance from the start of driving. Alternatively, the case where the predetermined condition is satisfied may be a case where a predetermined time or more has elapsed since the start of operation. Alternatively, the case where the predetermined condition is satisfied may be a case where it is detected that the driver inputs that the second trajectory image is not synthesized and displayed via the input operation unit.

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described with reference to FIG. Steps S31 and S33 to S36 are the same as steps S11 and S12 to S15 in the first embodiment.

  If it is determined in step S31 that there is a trajectory display trigger (Yes in step S31), the control unit 40 determines whether or not to display the second predicted travel trajectory display (step S32). The control unit 40 determines whether or not a predetermined condition for not displaying the second predicted travel path display is satisfied. When it determines with the control part 40 satisfy | filling predetermined conditions (it is Yes at step S32), it progresses to step S34. When it is determined that the predetermined condition is not satisfied (No in Step S32), the control unit 40 proceeds to Step S33.

  As described above, according to the present embodiment, even if the other vehicle information acquisition unit 43 acquires other vehicle information, if the predetermined condition is satisfied, the second trajectory image is not synthesized and the first trajectory image is obtained. A top-down video that combines only the images is generated and displayed. Thus, the second trajectory image is not synthesized after the predetermined condition is satisfied and the driver becomes accustomed to driving the vehicle and can appropriately grasp the relative positional relationship between the vehicle and the surroundings of the vehicle. An overhead view video can be generated and displayed. Thus, according to the present embodiment, when the driver gets used to driving the host vehicle, the relative positional relationship between the vehicle and the surroundings of the vehicle can be appropriately displayed.

[Seventh embodiment]
The vehicle display control system 1 of the present embodiment differs from the vehicle display control system 1 of the first embodiment in the processing in the other vehicle information acquisition unit 43.

  The other vehicle information acquisition unit 43 can refer to the other vehicle database storing the information of the other vehicle, and acquires information on the other vehicle selected by the driver via the input operation unit based on the other vehicle database. The other vehicle database may be stored in the storage unit 50 or may be stored in an external storage device that is wirelessly connected via a communication device (not shown). The information on the other vehicle includes information that can identify the other vehicle such as the vehicle name, year, and model of the other vehicle, and the size of the other vehicle. The other vehicle information acquisition unit 43 receives a corresponding other vehicle when the driver inputs the name, year, model, etc. of the other vehicle directly through the input operation unit or by selecting from a list. Information from other vehicle database.

  As described above, according to the present embodiment, information on other vehicles can be acquired accurately and easily. Thereby, this embodiment can display the other vehicle icon which shows the magnitude | size of another vehicle correctly. Thus, this embodiment can appropriately display the relative positional relationship between the vehicle and the surroundings of the vehicle.

  Now, the vehicle display control system 1 according to the present invention has been described so far, but the present invention may be implemented in various different forms other than the above-described embodiment. For example, in the above-described embodiment, the difference between the first reference position and the second reference position is the difference in the distance from the driver's seat position of the own vehicle and the other vehicle to the end of the vehicle. It may be a difference in overhang in the direction.

  Each component of the illustrated vehicle display control system 1 is functionally conceptual, and may not necessarily be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or a part of them is functionally or physically distributed or integrated in arbitrary units according to the processing load or usage status of each device. May be.

  The configuration of the vehicle display control system 1 is realized by, for example, a program loaded in a memory as software. The above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

  The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the structures described above can be appropriately combined. In addition, various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present invention.

  Even if the predetermined condition is satisfied in step S32, if the exception condition is satisfied, the rear video 100C in which the first trajectory image 200C and the second trajectory image 300C are combined and displayed may be generated. For example, the case where the exception condition is satisfied is a case where it is determined that the road width of the current position of the own vehicle is a narrow place based on the current position information of the own vehicle and the map information. Alternatively, for example, the case where the exception condition is satisfied may be a case where an obstacle is detected around the host vehicle. In step S32, the control unit 40 determines whether or not a predetermined condition for not displaying the second predicted travel path display is satisfied and an exceptional condition is not satisfied. When determining that the predetermined condition is satisfied and the exception condition is not satisfied, the control unit 40 determines Yes in step S32. When it is determined that the predetermined condition is not satisfied, or when it is determined that the exception condition is satisfied, the control unit 40 determines No in step S32. In this way, even if the predetermined condition is satisfied, if the exception condition is satisfied, the rear video 100C in which the first trajectory image 200C and the second trajectory image 300C are combined and displayed can be generated. Thereby, this embodiment can support checking the circumference of vehicles more appropriately.

  When the controller 40 detects an obstacle around the vehicle when displaying the rear video or the bird's-eye view video, the controller 40 may notify the driver with an alarm sound or an alarm display. For the detection of obstacles around the vehicle, for example, obstacles within 2 m around the vehicle are detected by an infrared sensor, an ultrasonic sensor, a millimeter wave sensor, a sensor based on image recognition, or the like. The sensor outputs obstacle information of the detected obstacle to the control unit 40. And the control part 40 alert | reports to a driver | operator by an alarm sound, an alarm display, etc., when an obstacle is detected with a sensor. The control part 40 may change the range which detects an obstruction by the difference between the own vehicle and another vehicle. For example, when the difference in position between the rear end portion Va and the rear end portion V2a of the host vehicle and the other vehicle is larger than a predetermined value, an obstacle within 2.2 m around the vehicle may be detected. For example, when the difference in position between the rear end portion Va and the rear end portion V2a of the host vehicle and the other vehicle is less than a predetermined value, an obstacle within 1.8 m around the vehicle may be detected. As described above, according to the present embodiment, when there is a difference in position between the rear end portion Va and the rear end portion V2a of the host vehicle and the other vehicle, the driver can be notified by changing the range in which the obstacle is detected. Thereby, this embodiment can support checking the circumference of vehicles more appropriately.

  In step S11, for example, the control unit 40 may determine whether or not to start the overhead video display based on whether or not the operation unit starts the overhead video display start operation.

  In the above-described embodiment, the case where the host vehicle retreats straight has been described, but the present invention can also be applied when the host vehicle is being steered. The vehicle information acquisition unit (steering information acquisition unit) 42 includes, for example, various sensors including steering information including steering operation information such as the operation amount of the steering operation of the host vehicle, and steering angle sensors that sense the state of the CAN and the host vehicle. May be obtained from The predicted trajectory information generation unit 451 may generate a first predicted travel trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the vehicle information stored in the storage unit 50. The predicted trajectory information generation unit 451 generates a second travel predicted trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the information of the other vehicle acquired by the other vehicle information acquisition unit 43. More specifically, the predicted trajectory information generation unit 451 calculates a second predicted travel trajectory on the assumption that another vehicle has traveled with the same steering information as the steering information of the host vehicle.

  In the above-described embodiment, the case where the host vehicle moves backward has been described, but the present invention is also applicable to the case where the host vehicle moves forward. In this case, what is necessary is just to produce | generate a back image by performing the synthetic | combination process which synthesize | combines a 1st locus | trajectory image and a 2nd locus | trajectory image with respect to the surrounding image | video which the front camera output.

1 Vehicle display control system 10 Camera unit (camera)
20 Display unit (display unit)
DESCRIPTION OF SYMBOLS 30 Vehicle display control apparatus 40 Control part 41 Image | video data acquisition part 42 Vehicle information acquisition part 43 Other vehicle information acquisition part 45 Image | video process part 451 Expected locus | trajectory information generation part 452 Image | video synthesis | combination part 49 Display control part 100C Back image | video 200C 1st locus | trajectory Image 300C Second trajectory image

Claims (10)

A video data acquisition unit that acquires video data from a camera that captures the surroundings of the vehicle;
Other vehicle information acquisition unit for acquiring information of other vehicles different from the vehicle,
Based on the first travel expected locus indicating distance information from the first reference position in the vehicle based on the vehicle information and the second reference position in the other vehicle based on the information on the other vehicle acquired by the other vehicle information acquisition unit. A predicted trajectory information generating unit that generates a second travel predicted trajectory indicating the distance information of
A video synthesizing unit that generates a video obtained by synthesizing the first predicted travel track and the second predicted travel track generated by the predicted trajectory information generation unit with the video acquired by the video data acquisition unit;
A display control unit for causing the display unit to display the video synthesized by the video synthesis unit;
A vehicle display control device comprising: The predicted trajectory information generation unit is configured to change the first vehicle position in the other vehicle based on the information on the other vehicle acquired by the other vehicle information acquisition unit when there is a predetermined difference or more between the first reference position and the second reference position. Generating a second predicted trajectory indicating distance information from the two reference positions;
The vehicle display control apparatus according to claim 1. The predicted trajectory information generation unit sets a vehicle end in the traveling direction of the vehicle as the first reference position, a vehicle end of the other vehicle in the same direction as the traveling direction of the vehicle as the second reference position, When the distance between the driver's seat position of the vehicle and the first reference position and the distance between the driver's seat position of the other vehicle and the second reference position are more than a predetermined difference, the other vehicle information acquisition unit Generating a second predicted travel path indicating distance information from the second reference position in the other vehicle based on the acquired information of the other vehicle;
The vehicle display control apparatus according to claim 2. A steering information acquisition unit for acquiring steering information of the vehicle;
The predicted trajectory information generation unit includes a first predicted travel trajectory corresponding to the steering information, and a second predicted travel trajectory calculated based on the steering information and information on the other vehicle acquired by the other vehicle information acquisition unit. Generate,
The display control apparatus for vehicles as described in any one of Claim 1 to 3. The video synthesizing unit includes, on the video acquired by the video data acquisition unit, the first predicted travel track and the second predicted travel track generated by the predicted track information generation unit, and a vehicle end portion in the traveling direction of the vehicle. And generating an image that combines an icon simulating at least one of the vehicle end portions of the other vehicle in the same direction as the traveling direction of the vehicle,
The display control apparatus for vehicles as described in any one of Claim 1 to 4. The video composition unit combines a video obtained by combining the video acquired by the video data acquisition unit while changing the display mode of the first predicted travel track and the second predicted travel track generated by the predicted trajectory information generation unit. Generate,
The vehicle display control apparatus according to any one of claims 1 to 5. The other vehicle information acquisition unit can refer to another vehicle database storing information on other vehicles, and acquires information on other vehicles selected based on the other vehicle database.
The vehicle display control apparatus according to any one of claims 1 to 6. The vehicle display control device according to any one of claims 1 to 7,
A vehicle display control system comprising at least one of the camera and the display unit. A video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle;
Other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle;
Based on the first travel expected locus indicating distance information from the first reference position in the vehicle based on the vehicle information, and the second reference position in the other vehicle based on the information on the other vehicle acquired in the other vehicle information acquisition step. A predicted trajectory information generation step for generating a second travel predicted trajectory indicating the distance information of
A video synthesizing step for generating a video obtained by synthesizing the first travel predicted trajectory and the second travel predicted trajectory generated in the predicted trajectory information generating step on the video acquired in the video data acquiring step;
A display control step of displaying the video synthesized in the video synthesis step on a display unit;
The vehicle display control method characterized by including. A video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle;
Other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle;
Based on the first travel expected locus indicating distance information from the first reference position in the vehicle based on the vehicle information, and the second reference position in the other vehicle based on the information on the other vehicle acquired in the other vehicle information acquisition step. A predicted trajectory information generation step for generating a second travel predicted trajectory indicating the distance information of
A video synthesizing step for generating a video obtained by synthesizing the first travel predicted trajectory and the second travel predicted trajectory generated in the predicted trajectory information generating step on the video acquired in the video data acquiring step;
A display control step of displaying the video synthesized in the video synthesis step on a display unit;
For causing a computer that operates as a display control device for a vehicle to execute.

Images