JP2019029864A - Display controller, display control system, display control method, and program - Google Patents

Abstract

To appropriately make overlooking video be displayed depending on variation in a peripheral situation at the time of leaving a garage.SOLUTION: A display controller comprises: a video data acquisition unit 41 for acquiring video data from a plurality of cameras for imaging the periphery of a vehicle; an overlooking video creation unit 44 for performing viewpoint conversion processing and synthesis processing on the video data to create overlooking video; an adjacent information acquisition unit 43 for acquiring first obstacle location information including information on a location of an obstacle around the vehicle at the time of the vehicle moving backward and entering a garage and second obstacle location information including information on a location of an obstacle around the vehicle at the time of the vehicle moving forward from a state in which the vehicle is in the garage and leaving the garage; a comparison unit 45 for comparing the first obstacle location information with the second obstacle location information to determine whether or not the location of the obstacle at the time of the vehicle leaving the garage has changed from that at the time of the vehicle entering the garage; and a display control unit 48 for making the overlooking video be displayed on a display panel 31 at the time of leaving the garage when it is determined by the comparison unit 45 that the location of the obstacle at the time of the vehicle leaving the garage has changed.SELECTED DRAWING: Figure 1

Description

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

  A technique related to a vehicle periphery display device that displays a bird's-eye view image of a vehicle together with a vehicle image is known (see, for example, Patent Document 1). This technology widens the display area of the overhead view image behind the vehicle image when the vehicle switches from forward to backward.

Japanese Patent Laying-Open No. 2015-0776645

  As described in Patent Document 1, an overhead view image of a vehicle is displayed at the time of backward entry into the parking area because it mainly aims to assist parking when entering the parking area. Thereby, at the time of reverse warehousing, the driver confirms the surrounding situation including the blind spot range in the mirror visually or with a bird's-eye view image.

  Since a bird's-eye view image is not displayed when the warehouse has advanced from the parking area, the driver checks the surroundings visually or with a mirror. The operation at the time of advance advance from the parking area is easier than at the time of reverse entry. However, when there is a change in the surrounding situation, it may be desirable to check the surrounding situation with a bird's-eye view image in addition to visual or mirror confirmation. In addition, when a bird's-eye view image is displayed regardless of the surrounding situation when the warehouse has advanced from the parking area, the bird's-eye view image is displayed in a situation where there is no need to display the bird's-eye view image, or when it is desired to check the route by navigation, etc. Will be displayed.

  This invention is made in view of the above, Comprising: It aims at displaying a bird's-eye view image appropriately according to the change of a surrounding condition at the time of leaving.

  In order to solve the above-described problems and achieve the object, a display control device according to the present invention includes a video data acquisition unit that acquires video data from a plurality of imaging units that capture the surroundings of a vehicle, and the video data acquisition A first view image including a bird's-eye view image generation unit that generates a bird's-eye view image by performing a viewpoint conversion process and a composition process on the video data acquired by the unit; and a position information of obstacles around the vehicle when the vehicle moves backward An adjacent information acquisition unit that acquires obstacle position information, and second obstacle position information including position information of obstacles around the vehicle when the vehicle moves forward from the entry state and exits; Comparing the obstacle position information with the second obstacle position information and comparing the change in the position of the obstacle at the time of entry and exit of the vehicle, and the comparison part, the vehicle exits When you said When the position of the harm product is determined to have changed, characterized in that it comprises a display control unit that the overhead image creating unit causes a display section to display the overhead image to be generated when the goods issue.

  The display control system according to the present invention includes the display control device, a plurality of imaging units in which the video data acquisition unit acquires video data, the adjacent information acquisition unit including the first obstacle position information and the second obstacle. An obstacle detection unit that acquires object position information, and at least one of a display unit that causes the display control unit to display an overhead image.

  The display control method according to the present invention includes a video data acquisition step for acquiring video data from a plurality of imaging units that capture the surroundings of a vehicle, and a viewpoint conversion process and a synthesis process for the video data acquired in the video data acquisition step. A bird's-eye view image generation step for generating a bird's-eye view image, first obstacle position information including position information of obstacles around the vehicle when the vehicle moves backward and enters the vehicle, and the vehicle moves forward from the warehousing state Adjacent information acquisition step of acquiring second obstacle position information including position information of obstacles around the vehicle when leaving the vehicle, and the first obstacle position information and the second obstacle position information. In comparison, the comparison step of comparing the change in the position of the obstacle at the time of entry and exit of the vehicle, and the comparison step, when the vehicle exits, If it is determined that the location has changed, and a display control step of the overhead image generating step on the display unit the overhead view video to be generated when the goods issue.

  A program according to the present invention provides a video data acquisition step of acquiring video data from a plurality of imaging units that capture the surroundings of a vehicle, and performs a viewpoint conversion process and a synthesis process on the video data acquired in the video data acquisition step. A bird's-eye view image generation step for generating an image; first obstacle position information including position information of obstacles around the vehicle when the vehicle moves backward and enters the vehicle; and An adjacent information acquisition step of acquiring second obstacle position information including position information of obstacles around the vehicle when leaving the vehicle, and comparing the first obstacle position information and the second obstacle position information. In the comparison step of comparing the change in the position of the obstacle when the vehicle enters and exits, and the comparison step, the position of the obstacle is determined when the vehicle leaves. If a is determined to be changed, the overhead image generating step is executed by a computer running a display control step of displaying on the display unit an overhead image as a display control unit that generates when the goods issue.

  According to the present invention, there is an effect that it is possible to appropriately display a bird's-eye view video according to a change in the surrounding situation at the time of delivery.

FIG. 1 is a block diagram illustrating a configuration example of a display control system according to the first embodiment. FIG. 2 is a diagram for explaining a parking section and shows a state at the time of warehousing. FIG. 3 is a diagram for explaining a parking section and shows a state at the time of delivery. FIG. 4 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the first embodiment. FIG. 5 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the first embodiment. FIG. 6 is a flowchart showing another example of the processing flow in the display control apparatus of the display control system according to the first embodiment. FIG. 7 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the second embodiment. FIG. 8 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the third embodiment. FIG. 9 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the fourth embodiment. FIG. 10 is a diagram illustrating a parking section for explaining processing in the display control device of the display control system according to the fifth embodiment. FIG. 11 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the fifth embodiment. FIG. 12 is a diagram illustrating a parking section of a home parking lot. FIG. 13 is a diagram for explaining parking sections for parallel parking.

  Hereinafter, embodiments of a display control device 40, a display control system 1, a display control method, and a program according to the present invention will be described 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 a display control system according to the first embodiment. FIG. 2 is a diagram for explaining a parking section and shows a state at the time of warehousing. FIG. 3 is a diagram for explaining a parking section and shows a state at the time of delivery. The display control system 1 displays a bird's-eye view video appropriately according to changes in the surrounding situation at the time of delivery. The display control system 1 is mounted on the vehicle V1. In addition to what is mounted on the vehicle V1, the display control system 1 may be a portable device that can be used in the vehicle V1.

  In the present embodiment, the vehicle V1 is parked in the parking section P1. The parking area PA, the parking area PB, and the parking area PC are arranged side by side so as to face the parking area P1. The parking section PB faces the front face across the parking section P1 and the passage. The parking area PA is adjacent to the left of the parking area PB when viewed from the vehicle V1. The parking section PC is adjacent to the right of the parking section PB when viewed from the vehicle V1. The parking section PD is adjacent to the left of the parking section P1. The parking section PE is right next to the parking section P1.

  The display control system 1 will be described with reference to FIG. The display control system 1 includes a front camera (imaging unit) 11, a rear camera (imaging unit) 12, a left side camera (imaging unit) 13, a right side camera (imaging unit) 14, and a sensor unit (obstacle detection). Part) 21, a display panel (display part) 31, and a display control device 40.

  The front camera 11 is an overhead video camera. The front camera 11 is disposed in front of the vehicle V1 and photographs a periphery around the front of the vehicle V1. For example, the front camera 11 captures an imaging range of about 180 °. The shooting range includes a wider range in front of the vehicle V1 than the display range of the overhead view video 100. The front camera 11 outputs the captured video to the video data acquisition unit 41 of the display control device 40.

  The rear camera 12 is an overhead video camera. The rear camera 12 is disposed behind the vehicle V1 and photographs the periphery around the rear of the vehicle V1. For example, the rear camera 12 captures an imaging range of about 180 °. The shooting range includes a wider range behind the vehicle V1 than the display range of the overhead view video 100. The rear camera 12 outputs the captured video to the video data acquisition unit 41 of the display control device 40.

  The left side camera 13 is an overhead video camera. The left side camera 13 is disposed on the left side of the vehicle V1 and shoots the periphery around the left side of the vehicle V1. The left side camera 13 shoots a shooting range of about 180 °, for example. The shooting range includes a wider range on the left side of the vehicle V <b> 1 than the display range of the overhead view image 100. The left side camera 13 outputs the captured video to the video data acquisition unit 41 of the display control device 40.

  The right side camera 14 is an overhead video camera. The right side camera 14 is disposed on the right side of the vehicle V1 and captures the periphery around the right side of the vehicle V1. The right-side camera 14 captures an imaging range of about 180 °, for example. The shooting range includes a range wider on the right side of the vehicle V <b> 1 than the display range of the overhead view image 100. The right side camera 14 outputs the captured video to the video data acquisition unit 41 of the display control device 40.

  The front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14 photograph all directions of the vehicle V <b> 1.

  The sensor unit 21 includes a plurality of sensors installed around the vehicle V1. The sensor unit 21 can detect the position of an obstacle present in the vicinity of the vehicle V1. In the present embodiment, the sensor unit 21 is an obstacle present in the vicinity of the vehicle V1. The adjacent vehicle existing in the parking area PA or the parking area PE adjacent to the parking area P1 that is the parking area in which the vehicle V1 enters. The position of is detected. In the present embodiment, the sensor unit 21 includes a front center sensor, a front left sensor, a front right sensor, a rear center sensor, a rear left sensor, a rear right sensor, a left side sensor, and a right side sensor. Since each sensor is configured in the same manner, the front center sensor will be described, and description of the other sensors will be omitted.

  The front center sensor is disposed at the front center of the vehicle V1, and detects the position of the obstacle at the front center of the vehicle V1. In the present embodiment, the front center sensor detects the position of an adjacent vehicle existing in the parking section PB. The front center sensor is, for example, an infrared sensor, an ultrasonic sensor, a millimeter wave radar, or the like, and may be configured by a combination thereof. The front center sensor detects, for example, an adjacent vehicle having a distance of about 5 m from the vehicle V1. The front center sensor detects an adjacent vehicle in a range of, for example, about 40 ° with the center of the sensor as the center when viewed in the vertical direction. The detection range of the front center sensor may overlap with a part of the detection range of the front left sensor and the front right sensor. The front center sensor outputs obstacle position information indicating the position of the adjacent vehicle as a detection result to the adjacent information acquisition unit 43 of the display control device 40. Examples of the obstacle position information include the presence / absence of an adjacent vehicle in the detection range of the front center sensor, the distance to the adjacent vehicle, and the presence range of the adjacent vehicle in the horizontal direction.

  The distance to the adjacent vehicle is a distance from the vehicle V1 to the nearest part of the adjacent vehicle. The distance La to the adjacent vehicle Va is a distance from the left front end portion of the vehicle V1 to a portion closest to the vehicle V1 of the adjacent vehicle Va. The distance Lb to the adjacent vehicle Vb is a distance from the front end portion of the vehicle V1 to the portion of the adjacent vehicle Vb closest to the vehicle V1. The distance Lc to the adjacent vehicle Vc is a distance from the right front end portion of the vehicle V1 to the portion of the adjacent vehicle Vc closest to the vehicle V1. The distance Ld to the adjacent vehicle Vd is a distance from the left side surface of the vehicle V1 to the right side surface of the adjacent vehicle Vd. The distance Le to the adjacent vehicle Ve is a distance from the right side surface of the vehicle V1 to the left side surface of the adjacent vehicle Ve.

  Such a sensor unit 21 can detect the position of an adjacent vehicle in all directions of the vehicle V1. In the present embodiment, the position of at least one of the adjacent vehicles on the left and right sides, the left and right front, and the front of the vehicle V1 can be detected based on the detection result of the sensor unit 21. More specifically, the position of the adjacent vehicle existing in the parking area PA or the parking area PE can be detected based on the detection result of the sensor unit 21. More specifically, the detection result includes a sensor that detects an adjacent vehicle, a distance to the adjacent vehicle that is detected by the sensor, and a horizontal existence range of the adjacent vehicle that is detected by the sensor. A location is identified.

  The display panel 31 is, for example, a display device shared with other systems including a navigation system. The display panel 31 is a monitor for confirming the surroundings of the vehicle V1 at a necessary timing. If the display panel 31 can confirm the circumference | surroundings of the vehicle V1, it can take various forms. 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 31 is a display including, for example, a liquid crystal display (LCD) or an organic EL-Organic Electro-Luminescence (EL) display. The display panel 31 is disposed at a position that is easily visible to the driver. In the present embodiment, the display panel 31 is arranged on a dashboard, an instrument panel, a center console, etc. in front of the driver of the vehicle V1. The display panel 31 displays the bird's-eye view image 100 of the vehicle V <b> 1 based on the video signal output from the display control unit 48 of the display control device 40.

  The display control device 40 provides information for assisting parking. More specifically, the display control device 40 generates and displays the bird's-eye view image 100 at the time of entering and leaving.

  The display control device 40 is, for example, an arithmetic processing device (control unit) configured with a CPU (Central Processing Unit), a video processing processor, and the like. The display control device 40 loads the program stored in the storage unit 49 into the memory and executes instructions included in the program. The display control device 40 is a video data acquisition unit 41, a host vehicle information acquisition unit 42, an adjacent information acquisition unit 43, an overhead video generation unit 44, a comparison unit 45, a display control unit 48, and an internal memory. A storage unit 49 is included. The display control device 40 may be composed of one or a plurality of devices.

  The video data acquisition unit 41 acquires video data obtained by photographing the periphery of the vehicle V1. More specifically, the video data acquisition unit 41 acquires video data output from the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The video data acquisition unit 41 outputs the acquired video data to the adjacent information acquisition unit 43 and the overhead view video generation unit 44.

  The own vehicle information acquisition unit 42 senses vehicle information serving as a parking start display trigger or a parking end trigger, such as gear operation information of the vehicle V1, and a state of a CAN (Controller Area Network) or the vehicle V1. Obtain from sensors. The own vehicle information acquisition part 42 acquires the operation information of the steering operation performed at the time of the parking acquired from CAN, various sensors, etc. as vehicle information. The own vehicle information acquisition unit 42 outputs the acquired vehicle information to the adjacent information acquisition unit 43 and the display control unit 48.

  The adjacent information acquisition unit 43 acquires first obstacle position information when the vehicle V1 moves backward and enters, and second obstacle position information when the vehicle V1 moves forward from the entry state and exits. More specifically, the adjacent information acquisition unit 43 acquires the first obstacle position information from the sensor unit 21 when the vehicle V1 moves backward and enters the warehouse. The adjacent information acquisition unit 43 stores the first obstacle position information at the time of warehousing in the storage unit 49. Further, the adjacent information acquisition unit 43 acquires the second obstacle position information from the sensor unit 21 when the vehicle V1 moves forward from the storage state and exits. The determination that the vehicle V1 moves backward and enters the vehicle and the determination that the vehicle V1 moves forward and exits are made based on the gear operation information of the vehicle V1 acquired from the own vehicle information acquisition unit 42, the engine on / off information, and the like. The adjacent information acquisition unit 43 outputs the second obstacle position information at the time of delivery to the comparison unit 45.

  The first obstacle position information is position information of obstacles around the vehicle V1 when the vehicle V1 moves backward and enters the warehouse. In the present embodiment, the first obstacle position information is position information of an adjacent vehicle existing in the parking section PA or the parking section PE when the vehicle V1 moves backward and enters.

  The second obstacle position information is position information of obstacles around the vehicle V1 when the vehicle V1 moves forward from the entering state and exits. In the present embodiment, the second obstacle position information is position information of adjacent vehicles existing in the parking section PA or the parking section PE when the vehicle V1 moves forward from the entering state and exits.

  The fact that the vehicle V1 moves backward and enters the warehouse is, for example, that the shift position is “reverse” and the vehicle V1 travels backward and then the shift position is “parking” or “neutral”, or 5 It is detected when the speed has become zero for more than a second, or when the engine is stopped or the side brake or foot brake is operated. Or it may detect with arbitrary triggers, such as user operation, that vehicles V1 moved backward.

  When the vehicle V1 moves forward from the entering state and exits, for example, the shift position is “parking” or “neutral”, or the speed is zero for a time of 5 seconds or more, or the engine is stopped. Alternatively, it is detected when the engine is started, the shift position is set to “drive”, the side brake or the foot brake is released, etc., from the storage state such as the operation of the side brake or the foot brake. Or it may detect by arbitrary triggers, such as user operation, that vehicles V1 move forward from a warehouse state and leave.

  The overhead video generation unit 44 performs viewpoint conversion processing and synthesis processing on the peripheral video data acquired by the video data acquisition unit 41 to generate the overhead video 100. The overhead view video generation unit 44 generates the overhead view video 100 at the time of warehousing. The overhead view video generation unit 44 generates the overhead view video 100 when it is determined that the surrounding situation of the vehicle V1 has changed from the time of entry at the time of the previous advancement. In the present embodiment, the overhead view video generation unit 44 generates the overhead view video 100 when the comparison unit 45 determines that the position of the adjacent vehicle has changed in the direction approaching the vehicle V1 when the vehicle V1 leaves. To do. The overhead view video generation unit 44 outputs the generated overhead view video 100 to the display control unit 48. The bird's-eye view video generation unit 44 includes a viewpoint conversion processing unit 441, a cut-out processing unit 442, and a composition processing unit 443.

  The viewpoint conversion processing unit 441 performs viewpoint conversion processing on the surrounding video data acquired by the video data acquisition unit 41 so that the vehicle V1 is looked down from above. More specifically, the viewpoint conversion processing unit 441 generates a video on which the viewpoint conversion processing has been performed based on peripheral video data captured by the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The method of viewpoint conversion processing may be any known method and is not limited. The viewpoint conversion processing unit 441 outputs the peripheral video data that has undergone the viewpoint conversion processing to the clipping processing unit 442.

  The cut-out processing unit 442 performs a cut-out process for cutting out a predetermined range of video from the peripheral video data subjected to the viewpoint conversion process. Which range is the cut-out range is registered and stored in advance. The cutout processing unit 442 outputs the video data of the video that has undergone the cutout processing to the composition processing unit 443.

  The composition processing unit 443 performs composition processing for compositing the video data that has been subjected to the clipping processing. The composition processing unit 443 generates an overhead image 100 in which the vehicle icon 110 is displayed on the synthesized image.

  The overhead view video 100 will be described with reference to FIG. FIG. 4 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the first embodiment. The bird's-eye view image 100 displays a range of about 2 m from the vehicle V1. The bird's-eye view video 100 includes the adjacent vehicle Vd existing in the parking section PD and the adjacent vehicle Ve existing in the parking section PE in the display range. The bird's-eye view image 100 is located at the center surrounded by the front image 101, the rear image 102, the left side image 103, the right side image 104, the front image 101, the rear image 102, the left side image 103, and the right side image 104. Vehicle icon 110 to be included. The vehicle icon 110 indicates the position and orientation of the vehicle V1. The vehicle icon 110 is arranged in the center with the front-rear direction parallel to the front-rear direction of the bird's-eye view image 100.

  Returning to FIG. 1, the comparison unit 45 compares the first obstacle position information and the second obstacle position information, and whether or not the position of the obstacle of the vehicle V1 has changed when the vehicle V1 leaves. Compare In the present embodiment, the comparison unit 45 compares the first obstacle position information and the second obstacle position information, and the position of the adjacent vehicle changes in the direction approaching the vehicle V1 when the vehicle V1 leaves. Compare whether or not. More specifically, the comparison unit 45 compares the position of the adjacent vehicle in each adjacent parking section at the time of entry with the position of the adjacent vehicle in each adjacent parking section at the time of exit, and the distance from the vehicle V1 is shorter than that at the time of entry. When there is another adjacent vehicle, it is determined that the position of the adjacent vehicle is changing in the direction approaching the vehicle V1. The comparison unit 45 compares the position of the adjacent vehicle in each adjacent parking section at the time of warehousing with the position of the adjacent vehicle in each adjacent parking section at the time of warehousing, and the distance from the vehicle V1 is longer than at the time of warehousing, or When there is only an adjacent vehicle that has not changed, it is determined that the position of the adjacent vehicle has not changed in the direction approaching the vehicle V1. The comparison unit 45 determines that the position has not changed when the position has not changed even if the adjacent vehicles are switched between the time of entering and the time of leaving. The case where the position is not changed here may include, for example, a change of less than 5 cm in addition to the completely same position.

  The display control unit 48 causes the display panel 31 to display the overhead video 100 generated by the overhead video generation unit 44 at the time of warehousing. When the comparison unit 45 determines that the position of an adjacent obstacle has changed when the vehicle V1 leaves, the display control unit 48 displays the overhead image 100 generated by the overhead image generation unit 44 on the display panel 31. Display. In the present embodiment, when the display control unit 48 determines that the position of the adjacent vehicle has changed in the direction approaching the vehicle V1 when the vehicle V1 leaves, the display control unit 48 displays the overhead view video 100 on the display panel. 31 is displayed. More specifically, when the display unit 48 determines that there is an adjacent vehicle whose distance from the vehicle V1 is shorter than when the vehicle V1 enters when the vehicle V1 leaves the vehicle, the bird's-eye view when the vehicle V1 leaves. The video 100 is displayed on the display panel 31.

  The storage unit 49 is used for temporary storage of data in the display control device 40. The storage unit 49 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.

  Next, the flow of processing in the display control device 40 of the display control system 1 will be described with reference to FIGS. FIG. 5 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the first embodiment. FIG. 6 is a flowchart showing another example of the processing flow in the display control apparatus of the display control system according to the first embodiment.

  When the display control system 1 is activated, the display control device 40 acquires video data by the video data acquisition unit 41. The display control device 40 acquires vehicle information by the own vehicle information acquisition unit 42.

  First, the flow of processing at the time of warehousing will be described.

  The display control device 40 determines whether or not the backward movement is started (step S11). The display control device 40 determines the presence or absence of a reverse trigger based on the host vehicle information acquired by the host vehicle information acquisition unit 42. The reverse trigger is detected, for example, when the shift position is “reverse” or when the traveling direction of the vehicle V1 is backward. If the display control device 40 determines that the retreat is not started (No in step S11), the display control device 40 executes the process of step S11 again. If the display control device 40 determines that retreat has started (Yes in step S11), the display control device 40 proceeds to step S12.

  When it is determined that the backward movement is started in Step S11 (Yes in Step S11), the display control device 40 starts the overhead view video display (Step S12). More specifically, in the display control device 40, the overhead image 100 is generated by the overhead image generator 44, and the overhead image 100 is displayed on the display panel 31 by the display controller 48. The display control device 40 proceeds to step S13.

  The display control device 40 determines whether the warehousing is completed (step S13). More specifically, the display control device 40 determines that the shift position is “parking” or “neutral” based on the host vehicle information acquired by the host vehicle information acquisition unit 42, or a time of 5 seconds or more, When it is detected that the speed is zero, the engine is stopped, or the operation of the side brake or the foot brake is detected, it is determined that the warehousing is completed. If the display control device 40 determines that the warehousing has been completed, the display control device 40 determines to end the overhead view video display (Yes in step S13), and proceeds to step S14. If the display control device 40 determines that the warehousing has not been completed, the display control device 40 determines not to end the video display (No in step S13), and executes the process of step S13 again.

  If it is determined that the warehousing has been completed (Yes in step S13), the display control device 40 ends the overhead view video display (step S14). The display control device 40 proceeds to step 15.

  The display control device 40 acquires the first obstacle position information by the adjacent information acquisition unit 43 and stores it in the storage unit 49 (step S15). Then, the display control device 40 ends the process.

  With reference to FIG. 2, the 1st obstruction position information which shows the surrounding condition of the vehicle V1 at the time of warehousing is demonstrated. At the time of warehousing, the adjacent vehicle Va exists in the parking area PA, the adjacent vehicle Vb exists in the parking area PB, the adjacent vehicle Vc exists in the parking area PC, the adjacent vehicle Vd exists in the parking area PD, and the parking area PE There is an adjacent vehicle Ve. The position information of the adjacent vehicle Va or the adjacent vehicle Ve when the vehicle V1 is stored is detected by the sensor unit 21, and is acquired as the first obstacle position information by the adjacent information acquisition unit 43. The first obstacle position information is stored in the storage unit 49 in step S15.

  Next, the flow of processing at the time of delivery will be described.

  The display control device 40 determines whether or not there is a forward trigger (step S21). The display control device 40 determines whether or not there is a forward trigger based on the host vehicle information acquired by the host vehicle information acquisition unit 42. The forward trigger is detected, for example, when the engine is started, when the shift position is set to “drive” capable of moving forward, or when the side brake or foot brake is released. When it is determined that there is no forward trigger (No in step S21), the display control device 40 executes the process of step S21 again. If the display control device 40 determines that there is a forward trigger (Yes in step S21), the display control device 40 proceeds to step S22.

  When it is determined in step S21 that there is a forward trigger (Yes in step S21), the display control device 40 determines whether or not it is forward movement from warehousing (step S22). More specifically, the display control device 40 has a state immediately before detecting the forward trigger based on the host vehicle information acquired by the host vehicle information acquisition unit 42, for example, the shift position is “parking” or “neutral”. Or if it is determined that the speed was zero, the engine was stopped, or the side brake or foot brake was operated, for 5 seconds or more judge. Or the display control apparatus 40 may determine with it being advance from warehousing, when the 1st obstacle position information is memorize | stored in the memory | storage part 49. FIG. When it is determined that the display control device 40 is not moving forward from warehousing (No in step S22), the process of step S21 is executed again. If it is determined that the display control device 40 is advancing from warehousing (Yes in step S22), the display control device 40 proceeds to step S23.

  The display control device 40 acquires the second obstacle position information by the adjacent information acquisition unit 43, and causes the comparison unit 45 to compare the first obstacle position information and the second obstacle position information (step S23). The display control device 40 obtains a change in the surrounding situation of the vehicle V1 at the time of warehousing and at the time of warehousing by comparing with the comparison unit 45. The display control device 40 proceeds to step S24.

  With reference to FIG. 3, the 2nd obstruction position information which shows the surrounding condition of the vehicle V1 at the time of delivery is demonstrated. At the time of delivery, the positions of the adjacent vehicle Va in the parking section PA and the adjacent vehicle Ve in the parking section PE are changed. The distance La1 from the vehicle V1 of the adjacent vehicle Va at the time of delivery is shorter than the distance La from the vehicle V1 of the adjacent vehicle Va at the time of storage. The distance Le1 of the adjacent vehicle Ve from the vehicle V1 at the time of delivery is shorter than the distance Le from the vehicle V1 of the adjacent vehicle Ve at the time of entry. The positions of the adjacent vehicle Va and the adjacent vehicle Ve at the time of warehousing are indicated by broken lines. The position information of the adjacent vehicle Va to the adjacent vehicle Ve when the vehicle V1 leaves the vehicle is detected by the sensor unit 21, and is acquired as the second obstacle position information by the adjacent information acquisition unit 43. When the comparison unit 45 compares the first obstacle position information and the second obstacle position information, it can be seen that the positions of the adjacent vehicle Va and the adjacent vehicle Ve have changed.

  The display control device 40 determines whether or not the position of the adjacent vehicle has changed (step S24). When it is determined that the position of the adjacent vehicle has not changed as a result of the comparison by the comparison unit 45 (No in step S24), the display control device 40 ends the process. In this case, the overhead image 100 is not displayed. When it is determined that the position of the adjacent vehicle has changed as a result of the comparison by the comparison unit 45 (Yes in step S24), the display control device 40 proceeds to step S25.

  The display control device 40 determines whether or not the position of the adjacent vehicle has changed in the direction approaching the vehicle V1 (step S25). The display control device 40 compares the first obstacle position information and the second obstacle position information and determines that the position of the adjacent vehicle has not changed in the direction approaching the vehicle V1 (in step S25). No), the process ends. The display control device 40 compares the first obstacle position information and the second obstacle position information and determines that the position of the adjacent vehicle has changed in the direction approaching the vehicle V1 (Yes in step S25). The process proceeds to step S26.

  The display control device 40 determines whether or not advancement has started (step S26). For example, when it is detected that the speed is zero or more or the vehicle V1 travels forward based on the host vehicle information acquired by the host vehicle information acquisition unit 42, the display control device 40 moves forward. It is determined that it has started. When it is determined that the vehicle V1 is not moving forward (No in step S26), the display control device 40 executes the process of step S26 again. If the display control device 40 determines that the vehicle V1 has advanced (Yes in step S26), the display control device 40 proceeds to step S27.

  If it is determined in step S26 that the vehicle has started moving forward (Yes in step S26), the display control device 40 starts bird's-eye view video display (step S27). More specifically, in the display control device 40, the overhead image 100 is generated by the overhead image generator 44, and the overhead image 100 is displayed on the display panel 31 by the display controller 48. The display control device 40 proceeds to step S28.

  The timing for displaying the bird's-eye view image 100 on the display panel 31 is exemplified by step S27 as an example, but when the vehicle V1 starts the engine, when the shift position is set to “drive”, and when the vehicle V1 starts moving forward. For example, it is arbitrary if the timing is appropriate for confirming the surrounding situation when leaving the store.

  With reference to FIG. 4, the bird's-eye view image 100 displayed in step S27 will be described. The bird's-eye view video 100 includes the adjacent vehicle Vd existing in the parking section PD and the adjacent vehicle Ve existing in the parking section PE in the display range.

  The display control device 40 determines whether or not the end condition of the overhead view video display is satisfied (step S28). More specifically, the display control device 40 has, for example, traveled a predetermined distance or more from the position where the vehicle started to advance based on the host vehicle information acquired by the host vehicle information acquisition unit 42, or the vehicle speed has exceeded a predetermined speed. When this is detected, it is determined that the end condition for the overhead video display is satisfied. If the display control device 40 determines that the end-point image display end condition is satisfied, the display control device 40 determines to end the overhead-view image display (Yes in step S28), and proceeds to step S29. If the display control device 40 determines that the condition for ending the overhead video display is not satisfied, it determines that the video display is not ended (No in step S28), and executes the process of step S28 again.

  When it is determined in step S28 that the end condition for the overhead view video display is satisfied (Yes in step S28), the display control device 40 ends the overhead view video display (step S29). The display control device 40 deletes the first obstacle position information stored in the storage unit 49. Then, the display control device 40 ends the process.

  As described above, in the present embodiment, when the comparison unit 45 determines that the position of the adjacent vehicle has changed in the direction approaching the vehicle V1 when the vehicle V1 leaves, the overhead view image generation unit 44 generates the overhead image. The overhead image 100 to be displayed is displayed on the display panel 31. Thus, this embodiment can display the bird's-eye view image 100 appropriately according to changes in the surrounding situation at the time of delivery. According to the present embodiment, the bird's-eye view image 100 can be displayed when the position of the adjacent vehicle is changing in the direction closer to the vehicle V1 than when entering the vehicle when leaving. As a result, even if the position of the adjacent vehicle changes in the direction approaching the vehicle V1 and the operation at the time of leaving becomes difficult, the driver can check the vehicle V1 by the overhead view image 100 in addition to the visual or mirror confirmation. The surroundings can be confirmed appropriately.

  According to the present embodiment, the bird's-eye view video 100 is displayed only when the bird's-eye view image 100 needs to be displayed according to changes in the surrounding situation at the time of delivery. As described above, the present embodiment can prevent the overhead image from being displayed when the overhead image is displayed in a situation where there is no need to display the overhead image, or when it is desired to confirm the route by navigation. .

[Second Embodiment]
The 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 an overhead video generated by the display control device of the display control system according to the second embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the first embodiment. In the following description, the same constituent elements as those of the display control system 1 are denoted by the same reference numerals or corresponding reference numerals, and detailed description thereof is omitted. The display control system 1 differs from the first embodiment in that the adjacent vehicle whose position has changed is highlighted in the overhead view image 100 to be generated.

  When the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves, the composition processing unit 443 generates an overhead image 100 that emphasizes the adjacent vehicle whose position has changed. For example, the composition processing unit 443 highlights an adjacent vehicle whose position has changed by coloring it or surrounding it with a thick line.

  The display control unit 48 causes the display panel 31 to display the bird's-eye view image 100 highlighting the adjacent vehicle whose position is determined to be changed by the comparison unit 45.

  The overhead view video 100 will be described with reference to FIG. In the bird's-eye view image 100, the adjacent vehicle Ve whose position has changed is colored and highlighted.

  As described above, according to the present embodiment, when the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves the vehicle, the overhead view in which the adjacent vehicle whose position has changed is highlighted. The video 100 is displayed on the display panel 31. In the present embodiment, it is possible to easily grasp an adjacent vehicle whose position has changed between entering and leaving. According to the present embodiment, in the bird's-eye view video 100, it is easy to recognize a point that has changed since the time of warehousing, so it is possible to easily confirm a point that the driver should be aware of when leaving the garment.

[Third embodiment]
The 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 an overhead video generated by the display control device of the display control system according to the third embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the first embodiment. The display control system 1 is different from the first embodiment in that a notification icon 120 that notifies the direction in which the adjacent vehicle whose position has changed is displayed in the overhead view image 100 to be generated.

  When the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves, the synthesis processing unit 443 displays the notification icon 120 indicating the direction in which the adjacent vehicle whose position has changed exists. The overhead view video 100 is generated. For example, the composition processing unit 443 displays the notification icon 120 having an arrow shape.

  When the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves the vehicle, the display control unit 48 notifies the direction of the adjacent vehicle that has been determined to have changed. An overhead view image 100 including 120 is displayed on the display panel 31.

  The overhead view image 100 will be described with reference to FIG. In the present embodiment, it is assumed that the position of the adjacent vehicle Vc of the parking section PC has changed. In the bird's-eye view video 100, a notification icon 120 indicating the direction in which the adjacent vehicle Vc whose position has changed is displayed.

  As described above, according to the present embodiment, when the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves, it indicates the direction in which the adjacent vehicle whose position has changed exists. The overhead image 100 displaying the notification icon 120 is displayed on the display panel 31. In the present embodiment, even when an adjacent vehicle whose position has changed is not displayed in the bird's-eye view image 100, it is possible to easily grasp the direction in which the adjacent vehicle whose position has changed between when entering and leaving the vehicle. According to this embodiment, even if it is not displayed on the bird's-eye view video 100, it is easy to recognize a point that has changed since the time of warehousing.

[Fourth embodiment]
The 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 an overhead video generated by the display control device of the display control system according to the fourth embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the first embodiment. The display control system 1 is different from the first embodiment in that, in the overhead view image 100 to be generated, the overhead view image 100 in which the display range is changed so that the adjacent vehicle whose position has changed is included in the display range.

  The cut-out processing unit 442 performs cut-out processing in the cut-out range in which the adjacent vehicle whose position has changed is included in the display range from the peripheral video data subjected to the viewpoint conversion processing. The increased number of adjacent vehicles only needs to be partially included in the display range of the bird's-eye view video 100.

  When the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves the vehicle, the display control unit 48 includes a display range that includes the adjacent vehicle that has been determined to have changed. Is displayed on the display panel 31.

  The overhead view video 100 will be described with reference to FIG. In the present embodiment, it is assumed that the position of the adjacent vehicle Vc of the parking section PC has changed. In the bird's-eye view image 100, the bird's-eye view image 100 with the display range widened forward is displayed so that the adjacent vehicle Vc whose position has changed is displayed.

  As described above, according to the present embodiment, when the comparison unit 45 determines that the position of the adjacent vehicle has changed when the vehicle V1 leaves, the adjacent vehicle whose position has changed is displayed. The overhead video 100 with the display range changed is displayed on the display panel 31. In the present embodiment, since the adjacent vehicle whose position has changed is displayed in the bird's-eye view image 100, it is possible to easily grasp the adjacent vehicle whose position has changed between when entering and leaving. According to this embodiment, since it is easy to recognize a point that has changed since the time of warehousing, it is possible to easily confirm a point that the driver should pay attention to when leaving the garment.

[Fifth embodiment]
The display control system 1 according to the present embodiment will be described with reference to FIGS. 10 and 11. FIG. 10 is a diagram illustrating a parking section for explaining processing in the display control device of the display control system according to the fifth embodiment. FIG. 11 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the fifth embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the first embodiment. The display control system 1 is different from the first embodiment in that the bird's-eye view image is displayed when the position of the adjacent vehicle changes in the vehicle exit direction at the time of delivery.

  When the comparison unit 45 determines that the position of the adjacent vehicle has changed in the exit direction of the vehicle V1 when the vehicle V1 leaves, the overhead view image generation unit 44 generates the overhead view image 100.

  Changing in the exit direction of the vehicle V1 means that the position of the adjacent vehicle changes in front of each parking section. In the parking section shown in FIG. 10, the positions of the adjacent vehicle Va and the adjacent vehicle Ve are changed in the forward direction, in other words, the positions are changed in the direction of leaving the vehicle V1. The front end portion of the adjacent vehicle Va at the time of delivery moves to the front of the distance Da from the front end portion of the adjacent vehicle Va at the time of entry. The front end portion of the adjacent vehicle Ve at the time of unloading has moved forward by a distance De from the front end portion of the adjacent vehicle Ve at the time of storage. The positions of the adjacent vehicle Va and the adjacent vehicle Ve at the time of warehousing are indicated by broken lines.

  The comparison unit 45 compares the first obstacle position information and the second obstacle position information, and compares whether or not the position of the adjacent vehicle has changed in the exit direction of the vehicle V1 when the vehicle V1 leaves. . More specifically, the comparison unit 45 compares the position of the adjacent vehicle in each adjacent parking section at the time of entry with the position of the adjacent vehicle in each adjacent parking section at the time of exit, and there is an adjacent vehicle whose position has changed forward. It is determined that the position of the adjacent vehicle is changing in the direction of leaving the vehicle V1. The comparison unit 45 compares the position of the adjacent vehicle in each adjacent parking section at the time of entry with the position of the adjacent vehicle in each adjacent parking section at the time of exit, and the position has changed backward or has not changed. When only the adjacent vehicle exists, it is determined that the position of the adjacent vehicle has not changed in the exit direction of the vehicle V1. The comparison unit 45 determines that the position has not changed when the position has not changed even if the adjacent vehicles are switched between the time of entering and the time of leaving.

  When the comparison unit 45 determines that the position of the adjacent vehicle has changed in the exit direction of the vehicle V1 when the vehicle V1 leaves, the display control unit 48 displays the overhead view image 100 on the display panel 31. More specifically, if the display control unit 48 determines that the position of the adjacent vehicle at the time of leaving the vehicle is changing in the direction of leaving the vehicle V1 with respect to the position of the adjacent vehicle at the time of entering, the display control unit 48 Sometimes the overhead image 100 is displayed on the display panel 31.

  Next, the flow of processing in the display control device 40 of the display control system 1 will be described with reference to FIG. Steps S31 to S34 and steps S36 to S39 are the same as steps S21 to S24 and steps S26 to S29 in the flowchart shown in FIG.

  The display control device 40 determines whether or not the position of the adjacent vehicle has changed in the leaving direction (step S35). The display control device 40 compares the first obstacle position information and the second obstacle position information and determines that the position of the adjacent vehicle has not changed in the exit direction of the vehicle V1 (No in step S35). ), The process is terminated. When the display control device 40 compares the first obstacle position information and the second obstacle position information and determines that the position of the adjacent vehicle has changed in the exit direction of the vehicle V1 (Yes in step S35), Proceed to step S36.

  As described above, in the present embodiment, when the comparison unit 45 determines that the position of the adjacent vehicle has changed in the direction in which the vehicle V1 leaves when the vehicle V1 leaves, the overhead view image generation unit 44 generates. The overhead image 100 is displayed on the display panel 31. Thus, this embodiment can display the bird's-eye view image 100 appropriately according to changes in the surrounding situation at the time of delivery. According to the present embodiment, the bird's-eye view video 100 can be displayed when the position of the adjacent vehicle is changed in the exit direction of the vehicle V1 at the time of delivery than at the time of entry. As a result, even if the position of the adjacent vehicle changes in the exit direction of the vehicle V1 and the operation at the time of exit becomes difficult, the driver can check the surroundings of the vehicle V1 by the overhead view image 100 in addition to the visual or mirror confirmation. Can be confirmed properly.

  Each component of the illustrated 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 display control system 1 is realized by, for example, a program loaded into 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.

  The case where the parking section P1 is a home parking lot will be described with reference to FIG. FIG. 12 is a diagram illustrating a parking section of a home parking lot. The parking section P1 is a space for parking one vehicle V1. The sensor unit 21 detects the position of an obstacle such as a bicycle B that exists in the parking section P1 as the position of the obstacle adjacent to the vehicle V1. The adjacent information acquisition unit 43 acquires the position information of the obstacle in the parking section P1 when the vehicle V1 moves backward and enters as the first obstacle position information, and the vehicle V1 moves forward from the entry state and exits. The position information of the obstacle in the parking section P1 is acquired as the second obstacle position information. When the comparison unit 45 determines that the position of the obstacle in the parking section P1 has changed when the vehicle V1 leaves, the display control unit 48 causes the display panel 31 to display the overhead view video 100. Thus, this embodiment is not limited to adjacent vehicles in adjacent parking sections, and can display an overhead image when the position of an obstacle around the vehicle changes.

  A case where the parking section P1 is a parallel parking section will be described with reference to FIG. FIG. 13 is a diagram for explaining parking sections for parallel parking. The parking section PF is adjacent to the rear side of the parking section P1. The parking section PG is adjacent to the front side of the parking section P1. The position of the adjacent vehicle Vf has changed in the direction away from the vehicle V1 at the time of unloading than at the time of unloading. The position of the adjacent vehicle Vg is changed in the direction closer to the vehicle V1 than when the vehicle is stored when leaving. The sensor unit 21 detects an adjacent vehicle existing in the parking section PF and the parking section PG as an obstacle adjacent to the vehicle V1. When it is determined that the parking section P1 is a parallel parking section based on map information of a navigation system (not shown), it is preferable to exclude the side of the vehicle V1 from the obstacle detection range by the sensor unit 21. By removing the side of the vehicle V1 from the obstacle detection range, erroneous detection of a vehicle traveling on a roadway adjacent to the parallel parking section is avoided. In the present embodiment, the display control unit 48 displays the bird's-eye view image 100 when the comparison unit 45 determines that the position of the adjacent vehicle has changed in the parking section PF or the parking section PG when the vehicle V1 leaves. Display on the panel 31. Thus, this embodiment can display a bird's-eye view image when an adjacent vehicle in an appropriate direction is detected in accordance with the form of the parking section P1 and the position of the adjacent vehicle changes.

  Although the adjacent information acquisition part 43 demonstrated as what acquires 1st obstacle position information and 2nd obstacle position information from the sensor unit 21, it is not limited to this. The adjacent information acquisition unit 43 performs image processing on the video data acquired by the video data acquisition unit 41, recognizes obstacles around the vehicle V1 from the subject, and detects the first obstacle position information and the second obstacle. It may be acquired as position information.

  The first obstacle position information has been described as being acquired when the vehicle V1 moves backward and enters, but is not limited thereto. As the first obstacle position information, information on obstacles around the vehicle V1 at the time of completion of warehousing may be obtained based on information obtained during the parking operation in which the vehicle V1 moves backward.

  Furthermore, for example, when it is determined from the map information of the navigation system (not shown) and the current position information of the vehicle that the current position of the vehicle is a parking lot, or the image data is acquired by the image data acquisition unit 41. When the process is performed and it is determined that the current position of the vehicle is a parking lot, it may be determined that the vehicle V1 has entered.

  When it is possible to determine the predicted traveling direction that is the direction in which the vehicle V1 moves out of the parking section P1 when leaving the vehicle, the display control unit 48 looks down when the position of the adjacent vehicle located on the predicted traveling direction side of the vehicle V1 changes. An image may be displayed. When the surrounding situation of the vehicle V1 at the time of delivery is the situation shown in FIG. 3 and the predicted traveling direction of the vehicle V1 is the right direction, the adjacent vehicle of the parking section PB, the parking section PC, and the parking section PE on the predicted traveling direction side. When the position of changes, the overhead view video is displayed. The predicted traveling direction may be acquired from an arrow or sign indicating the traveling direction in the parking lot detected by performing image processing on the video data acquired by the video data acquiring unit 41, or navigation information.

1 Display control system 11 Front camera (shooting unit)
12 Rear camera (shooting unit)
13 Left-side camera (shooting unit)
14 Right-side camera (shooting unit)
21 Sensor unit (obstacle detection unit)
31 Display panel (display section)
DESCRIPTION OF SYMBOLS 40 Display control apparatus 41 Image | video data acquisition part 42 Own vehicle information acquisition part 43 Adjacent information acquisition part 44 Overhead view image generation part 45 Comparison part 48 Display control part 49 Memory | storage part

Claims (12)

A video data acquisition unit that acquires video data from a plurality of imaging units that shoot around the vehicle;
A bird's-eye view video generation unit that generates a bird's-eye view video by performing viewpoint conversion processing and synthesis processing on the video data acquired by the video data acquisition unit;
First obstacle position information including position information of obstacles around the vehicle when the vehicle moves backward and enters the vehicle, and obstacles around the vehicle when the vehicle moves forward from the warehousing state An adjacent information acquisition unit for acquiring second obstacle position information including the position information of the object;
A comparison unit that compares the first obstacle position information and the second obstacle position information, and compares changes in the position of the obstacle at the time of entry and exit of the vehicle;
If the comparison unit determines that the position of the obstacle has changed when the vehicle leaves, a display control unit that causes the display unit to display an overhead view image generated by the overhead view image generation unit when leaving the vehicle. When,
A display control apparatus comprising: The adjacent information acquisition unit acquires, as first obstacle position information, information including position information of an adjacent vehicle adjacent to the vehicle when the vehicle moves backward and enters the vehicle, and the vehicle moves forward from the storage state. Obtaining information including position information of adjacent vehicles adjacent to the vehicle when leaving as second obstacle position information,
The comparison unit compares the first obstacle position information and the second obstacle position information, and compares whether the position of an adjacent vehicle has changed when the vehicle leaves,
The display control unit causes the display unit to display the overhead view video generated by the overhead view video generation unit when the comparison unit determines that the position of the adjacent vehicle has changed when the vehicle leaves.
The display control apparatus according to claim 1. The comparison unit compares the first obstacle position information and the second obstacle position information, and whether or not the position of an adjacent vehicle at the time of delivery of the vehicle changes in a direction approaching the vehicle. Compare
The display control unit, when the comparison unit determines that the position of the adjacent vehicle at the time of delivery is changing in a direction approaching the vehicle with respect to the position of the adjacent vehicle at the time of entry, the overhead view video at the time of delivery The overhead view video generated by the generation unit is displayed on the display unit.
The display control apparatus according to claim 2. The adjacent information acquisition unit acquires, as the first obstacle position information and the second obstacle position information, information indicating the position of at least one of the left and right sides, the left and right fronts, and the front of the vehicle,
The display control apparatus according to claim 2 or 3. The comparison unit compares the first obstacle position information and the second obstacle position information to determine whether the position of an adjacent vehicle at the time of departure of the vehicle changes in the exit direction of the vehicle. Compare and
When the comparison unit determines that the position of the adjacent vehicle at the time of leaving is changed in the direction of leaving the vehicle with respect to the position of the adjacent vehicle at the time of entering, the display control unit generates the overhead view video at the time of leaving The overhead view video generated by the part is displayed on the display part.
The display control apparatus according to claim 2. The adjacent information acquisition unit acquires, as the first obstacle position information and the second obstacle position information, information indicating a position of a vehicle on the left and right sides of the vehicle.
The display control apparatus according to claim 5. When the comparison unit determines that the position of the obstacle has changed when the vehicle leaves, the display control unit highlights the obstacle that has been determined to have changed. ,
The display control apparatus as described in any one of Claim 1 to 6.   The display control unit, when the comparison unit determines that the position of the obstacle has changed when the vehicle leaves, indicates information on the direction of the obstacle that has been determined to have changed. The display control apparatus according to any one of claims 1 to 6, wherein a bird's-eye view image including the image is displayed on the display unit.   When the comparison unit determines that the position of the obstacle has changed when the vehicle leaves the vehicle, the display control unit displays the obstacle that has been determined to have changed. The display control apparatus according to any one of claims 1 to 6, wherein an overhead video with a changed range is displayed on the display unit. A display control device according to any one of claims 1 to 9,
A plurality of photographing units for acquiring video data by the video data acquiring unit; an obstacle detecting unit for acquiring the first obstacle position information and the second obstacle position information; and the display control unit. At least one of display units for displaying a bird's-eye view image;
A display control system comprising: A video data acquisition step of acquiring video data from a plurality of imaging units that shoot around the vehicle;
A bird's-eye view video generation step for generating a bird's-eye view video by performing viewpoint conversion processing and synthesis processing on the video data acquired in the video data acquisition step;
First obstacle position information including position information of obstacles around the vehicle when the vehicle moves backward and enters the vehicle, and obstacles around the vehicle when the vehicle moves forward from the warehousing state An adjacent information acquisition step of acquiring second obstacle position information including the position information of the object;
A comparison step of comparing the first obstacle position information and the second obstacle position information to compare changes in the position of the obstacle at the time of entry and exit of the vehicle;
In the comparison step, when it is determined that the position of the obstacle has changed when the vehicle leaves, a display control step of displaying on the display unit the overhead view image generated by the overhead view image generation step when leaving the vehicle. When,
A display control method comprising: A video data acquisition step of acquiring video data from a plurality of imaging units that shoot around the vehicle;
A bird's-eye view video generation step for generating a bird's-eye view video by performing viewpoint conversion processing and synthesis processing on the video data acquired in the video data acquisition step;
First obstacle position information including position information of obstacles around the vehicle when the vehicle moves backward and enters the vehicle, and obstacles around the vehicle when the vehicle moves forward from the warehousing state An adjacent information acquisition step of acquiring second obstacle position information including the position information of the object;
A comparison step of comparing the first obstacle position information and the second obstacle position information to compare changes in the position of the obstacle at the time of entry and exit of the vehicle;
In the comparison step, when it is determined that the position of the obstacle has changed when the vehicle leaves, a display control step of displaying on the display unit the overhead view image generated by the overhead view image generation step when leaving the vehicle. When,
For causing a computer that operates as a display control device to execute.

Images