JP2019029865A - Display control device, display control system, display control method, and program - Google Patents

Abstract

To properly display a perspective video according to visibility around a vehicle during delivery.SOLUTION: The device comprises a video acquisition part 41 for acquiring vide data from plural cameras picking up a periphery of a vehicle, a perspective vide generation part 44 for applying view-point conversion processing and synthetic processing to the video data and generating the perspective video, a visibility information acquisition part 43 for acquiring first visibility information that is information indicating visibility around the vehicle when the vehicle moves backward and delivered inside, and second visibility information that is information indicating visibility around the vehicle when the vehicle moves forward from the inside state and delivered outside, a comparison part 45 for comparing the first visibility information and the second visibility information, so as to compare the visibility around the vehicle when the vehicle is delivered inside and outside, and a display control part 48 for displaying the perspective view on the display panel 31 during delivering outside, when the comparison part 45 determines that the visibility of the second visibility information when the vehicle is delivered outside is lower than that of the first visibility information.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 the visibility around the vehicle is lowered, it may be desirable to confirm the surrounding situation with an overhead view image in addition to visual confirmation or confirmation with a mirror. 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 the visibility around a vehicle 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 An overhead view video generation unit that performs viewpoint conversion processing and composition processing on the video data acquired by the unit to generate an overhead view video, and information indicating the visibility of the surroundings of the vehicle when the vehicle moves backward Visibility information, and a visibility information acquisition unit that acquires second visibility information that is information indicating visibility around the vehicle when the vehicle moves forward from the warehousing state and exits, and the first visibility Comparing the sex information with the second visibility information and comparing the visibility of the surroundings of the vehicle at the time of entry and exit of the vehicle, and the comparison unit when the vehicle exits Second visibility information A display control unit that, when it is determined that the visibility is lower than the first visibility information, causes the display unit to display the overhead view image generated by the overhead view image generation unit when leaving. And

  A display control system according to the present invention includes the above-described display control device, at least one of a plurality of photographing units for acquiring video data by the video data acquisition unit, and a display unit for displaying the overhead image by the display control unit. .

  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. An overhead view video generation step for generating an overhead view video, first visibility information which is information indicating visibility around the vehicle when the vehicle is retracted and stored, and the vehicle advances from the storage state. Comparing the first visibility information and the second visibility information with the visibility information obtaining step for obtaining the second visibility information, which is information indicating the visibility around the vehicle when leaving In the comparison step of comparing the visibility of the surroundings of the vehicle at the time of entry and exit of the vehicle, and the comparison step, the second visibility information when the vehicle exits is If visibility than one visibility information is determined to be decreased, and a display control step of displaying the overhead view image generated by the overhead view image generating step when unloading the display unit.

  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 visibility information that is information indicating visibility around the vehicle when the vehicle moves backward and enters; and the vehicle moves forward from the entry state and exits Comparing the first visibility information and the second visibility information with the visibility information obtaining step for obtaining the second visibility information, which is information indicating the visibility around the vehicle when The comparison step of comparing the visibility of the surroundings of the vehicle at the time of entering and leaving the vehicle, and the second visibility information when the vehicle leaves at the comparison step When it is determined that the visibility is lower than the visibility information, a display control step for displaying the overhead video generated in the overhead video generation step on the display unit when leaving the store is executed on a computer operating as a display control device Let

  Advantageous Effects of Invention 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 visibility around the vehicle 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 illustrating an example of a bird's-eye view image generated by the display control device of the display control system according to the first embodiment. FIG. 3 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. 4 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. 5 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the second embodiment. FIG. 6 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the third embodiment. FIG. 7 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the fourth embodiment. FIG. 8 is a block diagram illustrating a configuration example of a display control system according to the fifth embodiment. FIG. 9 is a diagram illustrating an example of a bird's-eye view image generated by the display control device of the display control system according to the fifth embodiment. FIG. 10 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the sixth embodiment. FIG. 11 is a diagram illustrating an example of a bird's-eye view image generated by the display control device of the display control system according to the seventh embodiment.

  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. The display control system 1 displays the bird's-eye view image 100 appropriately when, for example, the visibility around the vehicle at the time of delivery is lower than the visibility around the vehicle V1 at the time of entry. 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.

  The display control system 1 will be described with reference to FIG. The display control system 1 includes a front camera (shooting unit) 11, a rear camera (shooting unit) 12, a left side camera (shooting unit) 13, a right side camera (shooting unit) 14, an illuminance sensor 21, and a display. A panel (display unit) 31 and a display control device 40 are included.

  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 illuminance sensor 21 is arranged in front of the vehicle V1 or on the left and right sides, and measures the illuminance of the road surface in front of the vehicle V1. The illuminance sensor 21 outputs the measurement result to the visibility information acquisition unit 43 of the display control device 40.

  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 includes a video data acquisition unit 41, a host vehicle information acquisition unit 42, a visibility information acquisition unit 43, an overhead view video generation unit 44, a comparison unit 45, a display control unit 48, and an internal memory. A certain 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 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 visibility information acquisition unit 43 and the display control unit 48.

  The visibility information acquisition unit 43 uses the illuminance sensor 21 to display first visibility information that is information indicating visibility around the vehicle V1 when the vehicle V1 moves backward and enters the vehicle, and the vehicle V1 moves forward from the storage state. Then, the second visibility information, which is information indicating the visibility around the vehicle V1 when leaving the vehicle, is acquired. More specifically, the visibility information acquisition unit 43 acquires the illuminance information measured by the illuminance sensor 21 as the first visibility information when the vehicle V1 moves backward and enters the warehouse. The visibility information acquisition unit 43 stores the first visibility information at the time of warehousing in the storage unit 49. Moreover, the visibility information acquisition part 43 acquires the illumination intensity information measured with the illumination intensity sensor 21 as 2nd visibility information, when the vehicle V1 advances from a warehouse state and leaves. 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 visibility information acquisition unit 43 outputs the second visibility information at the time of delivery to the comparison unit 45.

  The first visibility information is illuminance information on the road surface in front of or right and left sides of the vehicle V1 when the vehicle V1 moves backward.

  The second visibility information is illuminance information on the road surface in front of or right and left sides of the vehicle V1 when the vehicle V1 moves forward from the entering state and exits. When the second visibility information is based on the illuminance sensor 21 disposed in front of the vehicle V1, the illuminance information when the headlamp of the vehicle V1 is not lit is used. When the second visibility information is based on the illuminance sensor 21 disposed on the left and right sides of the vehicle V1, the illuminance information before leaving the vehicle is used regardless of the state of the headlamp of the vehicle V1.

  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 bird's-eye view video generation unit 44 generates the bird's-eye view video 100 when it is determined that the second visibility information when the vehicle V1 leaves the vehicle is less visible than the first visibility information. In this embodiment, the overhead view video generation unit 44 generates the overhead view video 100 when the comparison unit 45 determines that the illuminance at the time of leaving is lower than the illuminance at the time of entry. More specifically, in this embodiment, the overhead view video generation unit 44 generates the overhead view video 100 when the comparison unit 45 determines that the illuminance at daytime is illuminance at daytime and the illuminance at night is illuminance at night. 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 image 100 will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of a bird's-eye view image 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 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 visibility information and the second visibility information, and compares the visibility around the vehicle V1 when the vehicle V1 enters and when the vehicle V1 exits. In the present embodiment, the comparison unit 45 compares the illuminance around the vehicle V1 at the time of entry with the illuminance around the vehicle V1 at the time of exit, and whether or not the illuminance at the time of delivery is lower than the illuminance at the time of entry. Determine whether. More specifically, the comparison unit 45 compares the illuminance around the vehicle V1 at the time of warehousing with the illuminance around the vehicle V1 at the time of warehousing. It is determined whether or not there is.

  In this embodiment, the illuminance in the daytime is 2000 lux or more, and the illuminance at night is 500 lux or less.

  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 second visibility information when the vehicle V1 leaves the vehicle is less visible than the first visibility information, the display control unit 48 generates the overhead view video generation unit 44. The overhead image 100 is displayed on the display panel 31. In the present embodiment, the display control unit 48 causes the display panel 31 to display the bird's-eye view video 100 when the comparison unit 45 determines that the illuminance at the time of delivery is lower than the illuminance at the time of entry. More specifically, the display control unit 48 causes the display panel 31 to display the bird's-eye view image 100 when the comparison unit 45 determines that the illuminance at daytime is illuminance at daytime and the illuminance at nighttime is illuminance at night.

  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. 3 and 4. FIG. 3 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. 4 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 S15.

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

  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 visibility 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 and compares the second visibility information with the visibility information acquisition unit 43 (step S23). More specifically, the display control device 40 acquires the second visibility information by the visibility information acquisition unit 43. The display control device 40 causes the comparison unit 45 to compare the first visibility information and the second visibility information. The display control device 40 determines whether or not there is a change in visibility around the vehicle V <b> 1 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.

  As a result of the comparison by the comparison unit 45, the display control device 40 determines whether or not the illuminance at daytime is the illuminance during the daytime and the illuminance at night is the illuminance at night (step S24). In this embodiment, the display control apparatus 40 complete | finishes a process, when it determines with the illuminance at the time of warehousing not being daytime illuminance, or when the leaving time is not illuminance at night (No in step S24). In this case, the overhead image 100 is not displayed. If the display control device 40 determines that the illuminance at daytime is illuminance at daytime and the illuminance at night is illuminance at night (Yes in step S24), the display control device 40 proceeds to step S25.

  The display control device 40 determines whether or not advancement has started (step S25). 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 the display control device 40 determines that the vehicle V1 is not moving forward (No in step S25), the display control device 40 executes the process of step S25 again. If the display control device 40 determines that the vehicle V1 has advanced (Yes in step S25), the display control device 40 proceeds to step S26.

  If it is determined in step S25 that the vehicle has started moving forward (Yes in step S25), the display control device 40 starts bird's-eye view video display (step S26). 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 S27.

  As an example of the timing at which the bird's-eye view image 100 is displayed on the display panel 31, step S25 is illustrated 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.

  The display control device 40 determines whether or not the end-point condition for the overhead video display is satisfied (step S27). 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 S27), and proceeds to step S28. If the display control device 40 determines that the condition for ending the overhead video display is not satisfied, the display control device 40 determines that the video display is not ended (No in step S27), and executes the process of step S27 again.

  If it is determined in step S27 that the end-point video display end condition is satisfied (Yes in step S27), the display control device 40 ends the overhead-view video display (step S28). The display control device 40 deletes the first visibility 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 illuminance is daytime at the time of warehousing and the illuminance at night is the illuminance at night, the overhead view video 100 generated by the overhead view video generating unit 44 is displayed. Display on the panel 31. Thus, this embodiment can display the bird's-eye view image 100 appropriately according to the change in the illuminance around the vehicle V1 when leaving. As a result, even if the illuminance at daytime is illuminance at daytime and the illuminance at nighttime is illuminance at night, and the visibility of the surroundings is lowered, the driver can check the vehicle V1 by the overhead image 100 in addition to the visual or mirror confirmation. Can be confirmed appropriately.

  According to the present embodiment, the overhead image 100 is displayed only when it is necessary to display the overhead image 100 according to the change in the illuminance around the vehicle V1 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. 5 is a flowchart illustrating an example of a process flow in the display control apparatus 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. The display control system 1 is different from the first embodiment in that the bird's-eye view video 100 is displayed when the illuminance at the time of entering and the illuminance at the time of leaving are equal to or greater than a predetermined illuminance.

  The overhead view video generation unit 44 generates the overhead view video 100 when the comparison unit 45 determines that the illuminance at the time of entry and the illuminance at the time of exit are equal to or greater than a predetermined illuminance.

  The comparison unit 45 compares the illuminance around the vehicle V1 at the time of warehousing and the illuminance around the vehicle V1 at the time of warehousing, and whether or not the illuminance at the time of warehousing and the illuminance at the time of leaving is a predetermined illuminance difference or more. Determine whether. For example, the illumination difference greater than or equal to a predetermined value is 5000 lux.

  When the comparison unit 45 determines that the illuminance at the time of entering and the illuminance at the time of leaving are a predetermined illuminance difference or more, the display control unit 48 causes the display panel 31 to display the overhead view video 100.

  Next, the flow of processing in the display control device 40 of the display control system 1 will be described with reference to FIG. The processes in steps S31 to S33 and steps S35 to S38 are the same as those in steps S21 to S23 and steps S25 to S28 in the flowchart shown in FIG.

  As a result of the comparison by the comparison unit 45, the display control device 40 determines whether or not the illuminance at the time of entry and the illuminance at the time of exit are equal to or greater than a predetermined illuminance (step S34). In this embodiment, the display control apparatus 40 complete | finishes a process, when it determines with the illumination intensity at the time of warehousing, and the illumination intensity at the time of delivery being a predetermined or more illumination difference (No in step S34). In this case, the overhead image 100 is not displayed. If the display control device 40 determines that the illuminance at the time of entry and the illuminance at the time of exit are equal to or greater than a predetermined illuminance difference (Yes in step S34), the display control device 40 proceeds to step S35. The illuminance difference equal to or greater than a predetermined value is a difference from a high illuminance state to a low illuminance state.

  As described above, in the present embodiment, when the comparison unit 45 determines that the illuminance at the time of entering and the illuminance at the time of leaving are equal to or greater than a predetermined illuminance, the overhead view video 100 generated by the overhead view video generating unit 44 is generated. It is displayed on the display panel 31. Thus, this embodiment can display the bird's-eye view image 100 appropriately when the illuminance at the time of entry and the illuminance at the time of exit are equal to or greater than a predetermined illuminance. Thereby, even if there is an illuminance difference of a predetermined level or more between the illuminance at the time of entry and the illuminance at the time of exit, and the visibility of the surroundings is lowered, The vicinity of the vehicle V1 can be appropriately confirmed.

[Third embodiment]
The 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 display control apparatus of the display control system according to the third embodiment. The display control system 1 is different from the first embodiment in that the bird's-eye view image 100 is displayed when the visibility is lowered due to precipitation at the time of delivery when compared with the time of entry.

  The visibility information acquisition part 43 acquires the 1st visibility information which is the information which shows the weather of the present position at the time of warehousing, and the 2nd visibility information which is the information which shows the weather of the present position at the time of warehousing. For example, the visibility information acquisition unit 43 determines the weather at the current position based on at least one of detection information from a precipitation sensor disposed in the vehicle V1, operation information of the wiper, and weather information acquired via a communication network. May be obtained. Alternatively, for example, the visibility information acquisition unit 43 may acquire the weather at the current position by performing image processing on the peripheral video data acquired by the video data acquisition unit 41.

  The overhead view video generation unit 44 generates the overhead view video 100 when the comparison unit 45 determines that the visibility is lower than that at the time of warehousing due to a change in weather. In this embodiment, when the comparison unit 45 determines that the visibility is lower due to precipitation at the time of warehousing than at the time of warehousing due to precipitation at the time of warehousing, the comparison unit 45 displays the overhead view video 100. Generate.

  The comparison unit 45 compares the weather at the current position at the time of warehousing with the weather at the current position at the time of warehousing, and determines whether or not the visibility is lower than that at the time of warehousing due to a change in weather. In the present embodiment, the comparison unit 45 compares the weather at the current position at the time of warehousing with the weather at the current position at the time of warehousing, and determines whether the visibility is lowered due to precipitation at the time of warehousing. .

  The display control unit 48 causes the display panel 31 to display the bird's-eye view video 100 when the comparison unit 45 determines that the visibility is lower than that at the time of warehousing due to a change in weather. In the present embodiment, the display control unit 48 causes the display panel 31 to display the bird's-eye view video 100 when the comparison unit 45 determines that the visibility is lower than that at the time of warehousing due to precipitation at the time of delivery.

  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 S41 through S43 and steps S45 through S48 are the same as steps S21 through S23 and steps S25 through S28 in the flowchart shown in FIG.

  As a result of the comparison by the comparison unit 45, the display control device 40 determines whether or not the visibility is lowered due to the precipitation at the time of delivery, compared to the time of entry (step S44). If the display control device 40 determines that the visibility is not lowered due to precipitation at the time of delivery (No in step S44), the process ends. In this case, the overhead image 100 is not displayed. When the display control device 40 determines that the visibility is lower than that at the time of warehousing due to precipitation at the time of delivery, the display control device 40 proceeds to step S45.

  As described above, according to the present embodiment, when the comparison unit 45 determines that the visibility is lowered due to precipitation at the time of delivery, the overhead view image 100 generated by the overhead view image generation unit 44 is displayed on the display panel 31. Display. Thus, this embodiment can display the bird's-eye view image 100 appropriately when the visibility is lowered due to precipitation at the time of delivery, as compared with the time of entry. Thereby, even if the visibility of the surroundings is reduced due to precipitation, the driver can appropriately check the periphery of the vehicle V1 by the bird's-eye view image 100 in addition to the visual check or the confirmation by the mirror.

[Fourth embodiment]
The display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 7 is a flowchart illustrating an example of a process flow in the display control apparatus of the display control system according to the fourth embodiment. The display control system 1 is different from the first embodiment in that the bird's-eye view image 100 is displayed when visibility is lowered due to freezing of the window glass at the time of delivery.

  The window glass includes at least one of the front and rear window glasses and the left and right window glasses of the vehicle V1. The windshield includes a windshield. The window glass indicates a portion that is visible through the outside of the vehicle V1.

  The visibility information acquisition part 43 is the 1st visibility information which is the information which shows the frozen state of the window glass of the vehicle V1 at the time of warehousing, and the information 2nd visibility which shows the frozen state of the window glass of the vehicle V1 at the time of warehousing Get information. For example, the visibility information acquisition unit 43 is based on at least one of the operation information of the defroster and the defogger arranged in the vehicle V1, the temperature information of the outside air measured with a thermometer, and the weather information acquired through the communication network. Information indicating the frozen state of the window glass may be acquired. Alternatively, for example, the visibility information acquisition unit 43 may perform image processing on the peripheral video data acquired by the video data acquisition unit 41 to acquire information indicating the frozen state of the window glass.

  The overhead image generation unit 44 generates the overhead image 100 when the comparison unit 45 determines that the visibility is lower than that at the time of entry due to freezing of the window glass at the time of delivery.

  The comparison unit 45 determines whether or not the visibility is lower than that at the time of entry due to the freezing of the window glass at the time of delivery.

  The display control unit 48 causes the display panel 31 to display the bird's-eye view video 100 when the comparison unit 45 determines that the visibility is lower than that at the time of warehousing due to freezing of the window glass at the time of delivery.

  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 S51 to S53 and steps S55 to S58 are the same as steps S21 to S23 and steps S25 to S28 in the flowchart shown in FIG.

  As a result of the comparison by the comparison unit 45, the display control device 40 determines whether or not the visibility is lower than that at the time of entry due to freezing of the window glass at the time of delivery (step S54). If the display control device 40 determines that the visibility is not lower than that at the time of warehousing due to freezing of the window glass at the time of delivery (No in step S54), the process is terminated. In this case, the overhead image 100 is not displayed. If the display control device 40 determines that the visibility is lower than that at the time of warehousing due to freezing of the window glass at the time of delivery (Yes in step S54), the process proceeds to step S55.

  As described above, in the present embodiment, when the comparison unit 45 determines that the visibility is lower than that at the time of entry due to freezing of the window glass at the time of delivery, the overhead view image 100 generated by the overhead view image generation unit 44 is displayed. Display on the panel 31. Thus, this embodiment can display the bird's-eye view image 100 appropriately when the visibility is lower than that at the time of entry due to freezing of the window glass at the time of delivery. As a result, even if the visibility of the surroundings is reduced due to the freezing of the window glass, the driver can appropriately confirm the periphery of the vehicle V1 by the overhead view image 100 in addition to the visual confirmation or the confirmation by the mirror.

  In particular, even if the defroster and the defogger are operated, it may be difficult to improve the visibility of the glass on the side of the rear seat depending on conditions such as operation time and temperature. According to the present embodiment, in such a case, the bird's-eye view video 100 is displayed, so that the vicinity of the vehicle V1 can be appropriately confirmed.

[Fifth embodiment]
The display control system 1A according to the present embodiment will be described with reference to FIGS. FIG. 8 is a block diagram illustrating a configuration example of a display control system according to the fifth embodiment. FIG. 9 is a diagram illustrating an example of a bird's-eye view image generated by the display control device of the display control system according to the fifth embodiment. The display control system 1A differs from the first embodiment in that the adjacent vehicle that is the detected obstacle is highlighted in the overhead image 100 to be generated.

  The display control system 1A further includes a sensor unit 50A.

  The sensor unit 50A includes a plurality of sensors installed around the vehicle V1. The sensor unit 50A can detect obstacles in all directions adjacent to the vehicle V1. In the present embodiment, the sensor unit 50A detects an adjacent vehicle existing in an adjacent parking section as an obstacle adjacent to the vehicle V1. In the present embodiment, the sensor unit 50A 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 an obstacle at the front center of the vehicle V1. 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 information as a detection result to the adjacent information acquisition unit 46A of the display control device 40A.

  The display control device 40A further includes an adjacent information acquisition unit 46A.

  The adjacent information acquisition unit 46A acquires obstacle information from the sensor unit 50A when the vehicle V1 moves forward from the storage state and exits. 46A of adjacent information acquisition parts memorize | store the obstacle information at the time of leaving in the memory | storage part 49A, and output it to the comparison part 45A.

  When the comparison unit 45A determines that the illuminance is lower than when entering the vehicle V1 when the vehicle V1 leaves the building processing unit 443A, the combining processing unit 443A generates the overhead view video 100 that emphasizes the detected adjacent vehicle. For example, the compositing processing unit 443A highlights the detected adjacent vehicle by coloring it or surrounding it with a thick line. Alternatively, the display control unit 48A receives the determination result by the comparison unit 45A and causes the synthesis processing unit 443A to generate the overhead view video 100 that emphasizes the detected adjacent vehicle.

  The display control unit 48A causes the display panel 31 to display a bird's-eye view image 100 that highlights the detected adjacent vehicle.

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

  As described above, according to the present embodiment, when the comparison unit 45A determines that the illuminance is lower than when the vehicle V1 leaves the vehicle, the bird's-eye view image 100 highlights the detected adjacent vehicle. Is displayed on the display panel 31. This embodiment can grasp | ascertain easily the adjacent vehicle detected when illumination intensity fell at the time of warehousing and at the time of warehousing. According to this embodiment, in the bird's-eye view image 100, it is easy to recognize an adjacent vehicle, so that even if the illuminance is low, it is possible to easily confirm the points that the driver should pay attention to when leaving the vehicle.

[Sixth embodiment]
A display control system 1A according to the present embodiment will be described with reference to FIG. FIG. 10 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the sixth embodiment. The basic configuration of the display control system 1A is the same as that of the display control system 1A of the fifth embodiment. The display control system 1A is different from the fifth embodiment in that a notification icon 120 for notifying the direction in which the detected adjacent vehicle exists is displayed in the overhead image 100 to be generated.

  When the comparison unit 45A determines that the illuminance is lower than when entering the vehicle V1 when the vehicle V1 leaves, the composition processing unit 443A displays the overhead view image that displays the notification icon 120 that indicates the direction in which the detected adjacent vehicle exists. 100 is generated. For example, the compositing processing unit 443A displays an arrow-shaped notification icon 120.

  48 A of display control parts display the bird's-eye view image 100 containing the alert | report icon 120 which shows the direction of the detected adjacent vehicle, when 45 A of comparison parts determine with the illumination intensity falling from the time of warehousing when the vehicle V1 leaves. Display on the panel 31.

  The overhead view image 100 will be described with reference to FIG. In the present embodiment, it is assumed that an adjacent vehicle on the right front outside the display range is detected. In the bird's-eye view video 100, a notification icon 120 indicating the direction in which the detected adjacent vehicle exists is displayed.

  As described above, according to the present embodiment, when the comparison unit 45A determines that the illuminance is lower than when the vehicle V1 leaves, the notification icon indicating the direction in which the detected adjacent vehicle is present. The overhead view video 100 displaying 120 is displayed on the display panel 31. In the present embodiment, even when the detected adjacent vehicle is not displayed in the bird's-eye view video 100, the direction in which the adjacent vehicle exists can be easily grasped. According to the present embodiment, it is easy to recognize the detected adjacent vehicle even if it is not displayed in the bird's-eye view video 100, so that it is possible to easily confirm the points that the driver should pay attention to when leaving.

[Seventh embodiment]
The display control system 1A according to the present embodiment will be described with reference to FIG. FIG. 11 is a diagram illustrating an example of an overhead video generated by the display control device of the display control system according to the seventh embodiment. The basic configuration of the display control system 1A is the same as that of the display control system 1A of the fifth embodiment. The display control system 1A 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 detected adjacent vehicle is included in the display range is displayed.

  The cut-out processing unit 442 performs the cut-out process in the cut-out range in which the detected adjacent vehicle is included in the display range from the peripheral video data subjected to the viewpoint conversion process. The detected adjacent vehicle only needs to be partially included in the display range of the overhead view video 100.

  48 A of display control parts display the bird's-eye view image 100 which changed the display range so that the adjacent vehicle detected may be included, when the comparison part 45A determines with the illumination intensity falling from the time of warehousing when the vehicle V1 leaves. Display on the panel 31.

  The overhead view video 100 will be described with reference to FIG. In the present embodiment, it is assumed that the right front adjacent vehicle Vc is detected. 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 detected adjacent vehicle Vc is displayed.

  As described above, according to the present embodiment, when the comparison unit 45A determines that the illuminance is lower than when entering the vehicle V1 when leaving the vehicle, the display range is displayed so that the detected adjacent vehicle is displayed. Is displayed on the display panel 31. According to the present embodiment, when it is determined that the illuminance is lower than at the time of entry when the vehicle V1 leaves, it is easy to recognize a point that has changed since the entry, so that the driver should be careful when leaving It can be easily confirmed.

  The constituent elements of the display control system 1 and the display control system 1A shown in the drawings are 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 configurations of the display control system 1 and the display control system 1A are 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.

  Although the visibility information acquisition part 43 demonstrated as what acquires 1st visibility information and 2nd visibility information from the illumination intensity sensor 21, it is not limited to this. The visibility information acquisition unit 43 performs image processing on the video data acquired by the video data acquisition unit 41, recognizes the illuminance around the vehicle V1, and acquires it as first visibility information and second visibility information. Also good.

  When the bird's-eye view image generation unit 44 determines that the illuminance is lower than when the vehicle V1 leaves the vehicle when the vehicle V1 leaves the vehicle, the visibility is increased based on video data obtained by photographing the surroundings of the vehicle V1 with an infrared camera (not shown). An enhanced overhead view video may be generated. Alternatively, when it is determined that the illuminance is lower than when the vehicle V1 leaves the vehicle V1 when the vehicle V1 leaves, the overhead view image generator 44 performs image processing on the video data acquired by the video data acquisition unit 41 to increase visibility. Alternatively, an overhead view image may be generated.

  In the third embodiment, the bird's-eye view image 100 is displayed when the visibility is lowered due to precipitation at the time of delivery, but when the visibility is lowered due to the occurrence of fog, the bird's-eye view image 100 is displayed. It may be displayed.

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

  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 V1 that the current position of the vehicle V1 is a parking lot, or the video data acquired by the video data acquisition unit 41 When image processing is performed and it is determined that the current position of the vehicle V1 is a parking lot, it may be determined that the vehicle V1 has entered.

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 Illuminance sensor 31 Display panel (display unit)
DESCRIPTION OF SYMBOLS 40 Display control apparatus 41 Image | video data acquisition part 42 Own vehicle information acquisition part 43 Visibility information acquisition part 44 Overhead view image generation part 45 Comparison part 48 Display control part 49 Memory | storage part

Claims (13)

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 visibility information that is information indicating visibility around the vehicle when the vehicle moves backward and enters the vehicle, and visibility around the vehicle when the vehicle moves forward from the storage state and exits the vehicle A visibility information acquisition unit that acquires second visibility information that is information indicating
A comparison unit that compares the first visibility information with the second visibility information, and compares the visibility of the surroundings of the vehicle at the time of entry and exit of the vehicle,
When the comparison unit determines that the second visibility information when the vehicle leaves the vehicle is less visible than the first visibility information, the overhead image generation unit generates when the vehicle leaves. A display control unit for displaying a bird's-eye view video on the display unit;
A display control apparatus comprising: The visibility information acquisition unit acquires illuminance information around the vehicle at the time of entry as the first visibility information, and illuminance information around the vehicle at the time of exit as the second visibility information,
The comparison unit compares the illuminance around the vehicle at the time of entry with the illuminance around the vehicle at the time of exit, and determines whether the illuminance at the time of exit is lower than the illuminance at the time of entry,
The display control unit, when the comparison unit determines that the illuminance at the time of leaving is lower than the illuminance at the time of warehousing, displays the overhead image on the display unit
The display control apparatus according to claim 1. The comparison unit compares the illuminance around the vehicle at the time of warehousing with the illuminance around the vehicle at the time of warehousing, and determines whether the illuminance is daytime illuminance and the illuminance is nighttime illuminance. And
If the display control unit determines that the illuminance at daytime is illuminance at daytime and the illuminance at night time is at night, the display control unit causes the display unit to display a bird's-eye view image.
The display control apparatus according to claim 2. The comparison unit compares the illuminance around the vehicle at the time of warehousing with the illuminance around the vehicle at the time of warehousing, and whether or not the illuminance at the time of warehousing and the illuminance at the time of leaving is a predetermined illuminance difference or not. Judgment,
The display control unit causes the display unit to display a bird's-eye view video when the comparison unit determines that the illuminance at the time of warehousing and the illuminance at the time of warehousing is a predetermined illuminance difference or more,
The display control apparatus according to claim 2. The visibility information acquisition unit acquires the illuminance of the road surface around the vehicle.
The display control apparatus as described in any one of Claim 2 to 4. The visibility information acquisition unit acquires information indicating the weather at the current position at the time of warehousing as the first visibility information, and information indicating the weather at the current position at the time of warehousing as the second visibility information,
The comparison unit compares the weather at the current position at the time of warehousing with the weather at the current position at the time of warehousing, and determines whether or not the visibility is lower than the time of warehousing due to precipitation at the time of warehousing,
The display control unit causes the display unit to display a bird's-eye view video when the comparison unit determines that the visibility is lowered due to precipitation when leaving,
The display control apparatus according to claim 1. The visibility information acquisition unit uses the information indicating the frozen state of the windshield of the vehicle at the time of entry as the first visibility information, and the information indicating the frozen state of the windshield of the vehicle at the time of delivery as the second visibility information. Get as
The comparison unit compares the information indicating the frozen state of the vehicle window glass at the time of entry with the information indicating the frozen state of the window glass of the vehicle at the time of delivery, and the visibility is determined by the freezing of the window glass at the time of delivery. To determine whether it is lower,
The display control unit causes the display unit to display a bird's-eye view video when the comparison unit determines that the visibility is lower than that at the time of warehousing due to freezing of the window glass at the time of warehousing.
The display control apparatus according to claim 1. An obstacle information acquisition unit for acquiring obstacle information detected by an obstacle detection unit for detecting an obstacle in the vicinity of the vehicle when leaving the vehicle;
Further comprising
When the display control unit determines that the second visibility information when the vehicle leaves the vehicle is less visible than the first visibility information, the obstacle information acquisition unit Display a bird's-eye view image highlighting obstacles detected by the
The display control apparatus according to any one of claims 1 to 7. An obstacle information acquisition unit for acquiring obstacle information detected by an obstacle detection unit for detecting an obstacle in the vicinity of the vehicle when leaving the vehicle;
Further comprising
When the display control unit determines that the second visibility information when the vehicle leaves the vehicle is less visible than the first visibility information, the obstacle information acquisition unit Display a bird's-eye view image including information indicating the direction of the obstacle detected by the
The display control apparatus according to any one of claims 1 to 7. An obstacle information acquisition unit for acquiring obstacle information detected by an obstacle detection unit for detecting an obstacle in the vicinity of the vehicle when leaving the vehicle;
Further comprising
When the display control unit determines that the second visibility information when the vehicle leaves the vehicle is less visible than the first visibility information, the obstacle information acquisition unit Display a bird's-eye view image with the display range changed to include obstacles detected by
The display control apparatus according to any one of claims 1 to 7. A display control device according to any one of claims 1 to 10,
A plurality of photographing units from which the video data obtaining unit obtains video data; and at least one of display units from which the display control unit displays a bird's-eye view video;
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 visibility information that is information indicating visibility around the vehicle when the vehicle moves backward and enters the vehicle, and visibility around the vehicle when the vehicle moves forward from the storage state and exits the vehicle Visibility information acquisition step of acquiring second visibility information that is information indicating
A comparison step of comparing the first visibility information with the second visibility information and comparing the visibility of the surroundings of the vehicle at the time of entry and exit of the vehicle;
When the comparison step determines that the second visibility information when the vehicle leaves the vehicle is less visible than the first visibility information, the overhead image generation step generates when the vehicle leaves. A display control step for displaying a bird's-eye view video on the display unit;
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 visibility information that is information indicating visibility around the vehicle when the vehicle moves backward and enters the vehicle, and visibility around the vehicle when the vehicle moves forward from the storage state and exits the vehicle Visibility information acquisition step of acquiring second visibility information that is information indicating
A comparison step of comparing the first visibility information with the second visibility information and comparing the visibility of the surroundings of the vehicle at the time of entry and exit of the vehicle;
When the comparison step determines that the second visibility information when the vehicle leaves the vehicle is less visible than the first visibility information, the overhead image generation step generates when the vehicle leaves. A display control step for displaying a bird's-eye view video on the display unit;
For causing a computer that operates as a display control device to execute.

Images