JP2021170823A - Overhead view image generation apparatus, overhead view image display system, overhead view image generation method, and program - Google Patents

Abstract

To enable information by which a driver of a mobile body deals with an obstacle to be provided.SOLUTION: An overhead view image generation apparatus includes: an obstacle detecting unit for detecting an obstacle in a moving direction of a moving body; a contact determination unit for determining possibility of contact between the obstacle and the moving body and a predicted contact position on the moving body; an overhead view image generation unit for generating an overhead view image of the moving body and its surroundings and an overhead view image showing the contact predicted position on the basis of an image captured by an imaging apparatus attached to the moving body; and an output unit for outputting the overhead view image.SELECTED DRAWING: Figure 1

Description

The present invention relates to a bird's-eye view image generation device, a bird's-eye view image display system, a bird's-eye view image generation method, and a program.

Several techniques have been proposed in relation to driving assistance using an in-vehicle camera.
For example, the vehicle peripheral monitoring device described in Patent Document 1 generates a bird's-eye view image of the vehicle peripheral area looking down from above and displays it in a bird's-eye view image display area of a monitor divided and managed into a plurality of divided areas. When an obstacle is detected, the vehicle peripheral monitoring device highlights the frame-shaped portion on the outer periphery of the divided region in which the detected obstacle exists.

Further, the vehicle start support device described in Patent Document 2 sets a monitoring area in which the driver needs to pay attention based on the parking type and the surrounding conditions of the vehicle when the parked vehicle transmits. Then, the vehicle start support device detects a moving object approaching the vehicle inside the monitoring area and provides the driver with information about the monitoring area. Further, the vehicle start support device ends the information provision when it is determined that the start operation is completed.
Further, the parking support device described in Patent Document 3 takes an image with a nose view camera attached to the vehicle, and when a moving object is detected in the image, notifies the driver of the information to that effect.

International Publication No. 2011/118260 Japanese Unexamined Patent Publication No. 2015-079421 Japanese Unexamined Patent Publication No. 2005-132170

The method of notifying the driver of the detection result of the obstacle or the area where the driver of the moving object needs to pay attention is how to deal with the obstacle when the driver recognizes the obstacle. You may not know what to do. It is preferable that the driver of the moving body can provide information for dealing with obstacles.

An object of the present invention is to provide a bird's-eye view image generation device, a bird's-eye view image display system, a bird's-eye view image generation method, and a program capable of solving the above-mentioned problems.

According to the first aspect of the present invention, the bird's-eye view image generation device has an obstacle detection unit that detects an obstacle in the moving direction of the moving body, a contact possibility between the obstacle and the moving body, and the moving body. Based on the image taken by the contact determination unit for determining the contact prediction position in the moving body and the photographing device attached to the moving body, a bird's-eye view image of the moving body and its surroundings and the contact prediction position are shown. It includes a bird's-eye view image generation unit that generates a bird's-eye view image, and an output unit that outputs the bird's-eye view image.

According to the second aspect of the present invention, the bird's-eye view image display system includes a photographing device attached to a moving body, a bird's-eye view image generating device, and a display device, and the bird's-eye view image generating device moves the moving body. Based on an obstacle detection unit that detects an obstacle in the direction, a contact determination unit that determines the contact possibility between the obstacle and the moving body, and a contact prediction position in the moving body, and an image taken by the photographing device. A bird's-eye view image generation unit that generates a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position are provided, and the display device is generated by the bird's-eye view image generation unit. Display a bird's-eye view image.

According to the third aspect of the present invention, the bird's-eye view image generation method detects an obstacle in the moving direction of the moving body, and determines the contact possibility between the obstacle and the moving body and the predicted contact position in the moving body. Based on the image taken by the photographing device attached to the moving body, a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position are generated, and the bird's-eye view image is generated. Includes printing.

According to a fourth aspect of the present invention, the program causes a computer to detect an obstacle in the moving direction of the moving body, and determines the contact possibility between the obstacle and the moving body and the predicted contact position in the moving body. Based on the image taken by the photographing device attached to the moving body, a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position are generated, and the bird's-eye view image is generated. It is a program to output.

According to the present invention, the driver of a mobile body can provide information for dealing with an obstacle.

It is a schematic block diagram which shows the functional structure of the bird's-eye view image generation system which concerns on embodiment of this invention. It is a figure which shows the example of the photographing range of the photographing apparatus which concerns on the same embodiment. It is a figure which shows the 1st example of the bird's-eye view image generated by the bird's-eye view image generation part which concerns on the same embodiment. It is a figure which shows the 2nd example of the bird's-eye view image generated by the bird's-eye view image generation part which concerns on the same embodiment. It is a figure which shows the 3rd example of the bird's-eye view image generated by the bird's-eye view image generation part which concerns on the same embodiment. It is a flowchart which shows an example of the processing procedure which the bird's-eye view image generation apparatus which concerns on the same embodiment generates a bird's-eye view image and outputs it to a display apparatus. It is a figure which shows the example of the minimum structure of the bird's-eye view image generation apparatus which concerns on this invention. It is a figure which shows the example of the minimum structure of the bird's-eye view image generation system which concerns on this invention.

Hereinafter, embodiments of the present invention will be described, but the following embodiments do not limit the inventions claimed. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.
FIG. 1 is a schematic block diagram showing a functional configuration of a bird's-eye view image generation system according to an embodiment of the present invention. As shown in FIG. 1, the bird's-eye view image generation system 1 includes a photographing device 100, a bird's-eye view image generation device 200, a display device 300, and an input device 400. The bird's-eye view image generation device 200 includes an interface unit 210, a storage unit 280, and a control unit 290. The control unit 290 includes an obstacle detection unit 291, a contact determination unit 292, and a bird's-eye view image generation unit 293.

The bird's-eye view image generation system 1 is mounted on the vehicle 900, detects the possibility of damage to the vehicle 900 due to contact with an obstacle, and notifies the driver of the vehicle 900.
Contact here is used as a general term for contacts of various degrees. Hereinafter, a relatively weak degree of contact that causes scratches on the vehicle 900 will be referred to as rubbing. Further, a relatively strong degree of contact in which the vehicle 900 is deformed such as a dent or a crack is referred to as a collision.

The bird's-eye view image generation system 1 displays the damage predicted to the vehicle 900 at the contact predicted position in the bird's-eye view image looking down on the vehicle 900 and its surroundings from above. The contact prediction position referred to here is a position where contact with an obstacle is predicted for the vehicle 900.
The driver of the vehicle 900 can easily grasp which part of the vehicle 900 and how much contact is predicted by referring to the bird's-eye view image displayed by the bird's-eye view image generation system 1.

By grasping the position and degree of contact in the vehicle 900, the driver can deal with contact with obstacles such as the necessity of deceleration, the necessity of steering wheel operation, and which direction to turn to the left or right when operating the steering wheel. It can be used as reference information for determining countermeasures. In this respect, the bird's-eye view image generation system 1 can provide information for the driver of the vehicle 900 to deal with obstacles.
The vehicle 900 corresponds to the example of a moving body. However, the scope of application of the bird's-eye view image generation system 1 is not limited to vehicles, and can be various moving objects that may cause an accident. For example, the bird's-eye view image generation system 1 may be applied to a ship.

The photographing device 100 is attached to the vehicle 900 and captures an image of the surroundings of the vehicle 900. FIG. 2 is a diagram showing an example of a photographing range of the photographing apparatus 100. In the example of FIG. 2, one imaging device 100 is attached to each of the front, right, rear, and left of the vehicle 900.
The front imaging device 100 photographs areas A111, A121, and A124.
The imaging device 100 on the right photographs regions A112, A121, and A122.
The rear imaging device 100 photographs areas A113, A122, and A123.
The left imaging device 100 photographs areas A114, A123, and A124.
In this way, the photographing device 100 photographs the entire circumference of the vehicle 900, so that the bird's-eye view image generation device 200 can generate a bird's-eye view image of the vehicle 900 and the entire circumference of the vehicle 900 as viewed from above.

The bird's-eye view image generation device 200 generates a bird's-eye view image of the vehicle 900 and its surroundings from above based on the image taken by the photographing device 100. When contact between the vehicle 900 and an obstacle is predicted, the bird's-eye view image generator 200 synthesizes an image showing damage due to the contact with the bird's-eye view image of the vehicle 900.
The bird's-eye view image generator 200 is configured by using a computer such as a microcomputer.

The interface unit 210 functions as a communication interface with another device, and inputs / outputs data to / from the other device. In particular, the interface unit 210 acquires a photographed image from the photographing apparatus 100 as image data. Further, when the input device 400 receives a user operation (for example, an operation by the driver), the interface unit 210 acquires a signal indicating the user operation.
Further, the interface unit 210 corresponds to the example of the output unit, and outputs an image to be displayed on the display device 300 such as a bird's-eye view image generated by the bird's-eye view image generation unit 293 as image data to the display device 300.

The storage unit 280 stores various data. The storage unit 280 is configured by using a storage device included in the bird's-eye view image generation device 200.
The control unit 290 controls each unit of the bird's-eye view image generation device 200 to perform various processes. The control unit 290 is configured by a CPU (Central Processing Unit) included in the bird's-eye view image generation device 200 reading a program from the storage unit 280 and executing the program.

The obstacle detection unit 291 detects an obstacle in the moving direction of the vehicle 900. The method by which the obstacle detection unit 291 detects an obstacle is not limited to a specific method. For example, the obstacle detection unit 291 may detect an obstacle by analyzing an image taken by the photographing device 100. Alternatively, the bird's-eye view image generation system 1 may include a sensor for detecting obstacles such as a radar, and the obstacle detection unit 291 may use this sensor to detect an obstacle.
Further, the obstacle detection unit 291 may detect an obstacle in a direction other than the moving direction of the vehicle 900.

The contact determination unit 292 determines the possibility of contact between the obstacle detected by the obstacle detection unit 291 and the vehicle 900 and the predicted contact position in the vehicle 900.
For example, the contact determination unit 292 determines the trajectory of the obstacle when both the vehicle 900 and the obstacle maintain the current movement based on the history of the relative position of the obstacle detected by the obstacle detection unit 291 with respect to the vehicle 900. , Predict by the trajectory of the position relative to the vehicle 900. For a stationary obstacle, the contact determination unit 292 predicts the trajectory of the obstacle when the obstacle continues to be stationary.

Then, the contact determination unit 292 determines whether or not at least a part of the vehicle 900 and at least a part of the obstacle may overlap. When it is determined that there is a case of overlapping, the contact determination unit 292 determines that there is a possibility of contact, and detects a portion of the vehicle 900 side that overlaps with the obstacle portion as a contact prediction position.
On the other hand, when it is determined that the vehicle 900 and the obstacle do not overlap with each other, the contact determination unit 292 determines that there is no possibility of contact and there is no predicted contact position.

When it is determined that there is a possibility of contact between the vehicle 900 and an obstacle, the contact determination unit 292 further determines the mode of damage to the vehicle 900 at the predicted contact position. For example, the contact determination unit 292 estimates each of the size, mass, softness, relative speed with respect to the vehicle 900, and the traveling direction of the obstacle, substitutes the estimation result into a predetermined evaluation formula, and substitutes the evaluation value into a predetermined evaluation formula. calculate. The contact determination unit 292 compares the obtained evaluation value with a predetermined threshold value, and selects, for example, rubbing or collision as the degree of collision. Alternatively, the contact determination unit 292 may determine one of the three or more stages of collision, such as rubbing as the degree of collision and selecting either a relatively light collision or a relatively severe collision. good.

The size of the obstacle is estimated by the contact determination unit 292 from, for example, the size of the image of the obstacle in the image captured by the photographing device 100 and the estimated distance between the vehicle 900 and the obstacle. The distance between the vehicle 900 and the obstacle may be calculated by the contact determination unit 292 from the degree of change in the size of the image of the obstacle in the history of the image taken by the photographing device 100. Alternatively, the bird's-eye view image generation system 1 may include a sensor for distance measurement such as a radar or a stereo camera.

Regarding the mass and softness of the obstacle, for example, the storage unit 280 stores in advance data in which the feature in the image of the obstacle is associated with the density and softness of the obstacle. Then, the contact determination unit 292 reads out the features of the obstacle from the image taken by the photographing device 100, and reads out the density and softness corresponding to the read out features from the storage unit 280. The contact determination unit 292 calculates the estimated mass by multiplying the estimated size of the obstacle by the density.
Regarding the relative speed and traveling direction of the obstacle with respect to the vehicle 900, the contact determination unit 292 determines, for example, the time change of the distance between the vehicle 900 and the obstacle and the position of the image of the obstacle in the image taken by the photographing device 100. Estimate based on.

Further, the contact determination unit 292 determines the mode of damage in the vehicle 900 according to the selected degree of collision. In the above example, the contact determination unit 292 determines the mode of damage in response to rubbing and collision as scratch and deformation, respectively. In this way, the contact determination unit 292 determines the hardness of the obstacle, and determines the mode of damage in the vehicle 900 based on the determined hardness.
When the obstacle detection unit 291 detects a plurality of obstacles, the contact determination unit 292 indicates the contact possibility, the contact prediction position in the vehicle 900, and the damage mode of the vehicle 900 in the contact prediction position for each obstacle. To judge.

The bird's-eye view image generation unit 293 generates a bird's-eye view image of the vehicle 900 and its surroundings and a bird's-eye view image showing a predicted contact position based on the image taken by the photographing device 100. For example, the bird's-eye view image generation unit 293 generates a bird's-eye view image of the surroundings of the vehicle 900 based on the image taken by the photographing device 100, and synthesizes the icon of the vehicle 900 stored in advance by the storage unit 280. As a result, the bird's-eye view image generation unit 293 generates a bird's-eye view image of the vehicle 900 and its surroundings looking down from above.
Further, the storage unit 280 stores images of scratches and deformations as image data for each position of the vehicle 900. Then, the bird's-eye view image generation unit 293 reads out an image corresponding to the mode of damage determined by the contact determination unit 292 from the storage unit 280, and synthesizes the read-out image at the contact prediction position in the bird's-eye view image.

FIG. 3 is a diagram showing a first example of a bird's-eye view image generated by the bird's-eye view image generation unit 293. FIG. 3 shows an example of a bird's-eye view image when the contact determination unit 292 determines that the mode of damage is deformation. In the example of FIG. 3, the vehicle 900 is moving backward straight, and if the vehicle 900 is moved backward as it is, the right rear portion of the vehicle 900 collides with a support column installed in the parking lot. Therefore, the bird's-eye view image generation unit 293 reads out the image of the deformation of the vehicle 900 on the right rear side from the storage unit 280 and synthesizes it at the position on the right rear side of the vehicle 900 in the bird's-eye view image.

FIG. 4 is a diagram showing a second example of the bird's-eye view image generated by the bird's-eye view image generation unit 293. FIG. 4 shows an example of a bird's-eye view image when the contact determination unit 292 determines that the aspect of damage is a scratch. In the example of FIG. 4, the vehicle 900 moves forward straight toward the left side of the roadway, and if the vehicle moves forward as it is, the left front of the vehicle 900 rubs against the implant. Therefore, the bird's-eye view image generation unit 293 reads out the image of the scratch on the left front side of the vehicle 900 from the storage unit 280 and synthesizes it at the position on the left front side of the vehicle 900 in the bird's-eye view image.

The bird's-eye view image generation unit 293 may generate a bird's-eye view image that displays the obstacle in different display modes depending on whether the obstacle is stationary or moving.
FIG. 5 is a diagram showing a third example of the bird's-eye view image generated by the bird's-eye view image generation unit 293. In the example of FIG. 4, a pillar which is a stationary obstacle and a cat which is a moving obstacle are shown in the bird's-eye view image. The bird's-eye view image generation unit 293 highlights (displays with high brightness) the image of the cat among these obstacles. Further, the bird's-eye view image generation unit 293 synthesizes an arrow indicating the traveling direction of the cat with the bird's-eye view image.
However, the method by which the bird's-eye view image generation unit 293 highlights an obstacle is not limited to a specific method. Further, the bird's-eye view image generation unit 293 may highlight a stationary obstacle, such as highlighting a moving obstacle and a stationary obstacle in different modes.

The display device 300 includes a display screen such as a liquid crystal panel or an LED (light emitting diode) panel, and displays various images under the control of the bird's-eye view image generation device 200. In particular, the display device 300 displays the bird's-eye view image generated by the bird's-eye view image generation unit 293.
The input device 400 includes, for example, an input device such as a touch sensor provided on the display screen of the display device 300 and constitutes a touch panel, and receives a user operation (for example, an operation by a driver). The input device 400 outputs a signal indicating the received user operation to the bird's-eye view image generator 200.

Next, the operation of the bird's-eye view image generation device 200 will be described with reference to FIGS. 6 and 7.
FIG. 6 is a flowchart showing an example of a processing procedure in which the bird's-eye view image generation device 200 generates a bird's-eye view image and outputs it to the display device 300.
(Step S101)
The interface unit 210 acquires an image of the surroundings of the vehicle 900 taken by the photographing device 100 as image data. After step S101, the process proceeds to step S102.

(Step S102)
The bird's-eye view image generation unit 293 generates a bird's-eye view image looking down on the vehicle 900 and its surroundings from above based on the image taken by the photographing device 100. After step S102, the process proceeds to step S103.
(Step S103)
The obstacle detection unit 291 detects an obstacle shown in the bird's-eye view image. After step S103, the process proceeds to step S104.

(Step S104)
The contact determination unit 292 determines the contact between the vehicle 900 and an obstacle. Specifically, the contact determination unit 292 determines whether or not there is a possibility of contact between the vehicle 900 and an obstacle. Further, when determining that there is a possibility of contact, the contact determination unit 292 determines the contact prediction position in the vehicle 900 and the mode of damage to the vehicle 900 at the contact prediction position. After step S104, the process proceeds to step S105.

(Step S105)
The control unit 290 transitions according to the determination result of the presence or absence of contact possibility in step S104. If it is determined that there is a possibility of contact, the process proceeds to step S111. On the other hand, if it is determined that there is no possibility of contact, the process proceeds to step S121.
(Step S111)
The bird's-eye view image generation unit 293 adds the display of the contact prediction position to the bird's-eye view image generated in step S102. Specifically, the bird's-eye view image generation unit 293 reads out from the storage unit 280 an image according to the contact prediction position and the damage mode determined by the contact determination unit 292 in step S104. Then, the bird's-eye view image generation unit 293 synthesizes the read image with the contact prediction position in the bird's-eye view image.
After step S111, the process proceeds to step S121.

(Step S121)
The contact determination unit 292 detects the movement of an obstacle in the bird's-eye view image. After step S121, the process proceeds to step S122.
(Step S122)
The bird's-eye view image generation unit 293 changes the display mode of the obstacle that the contact determination unit 292 determines to be moving in step S121 among the obstacles reflected in the bird's-eye view image. With this change, the bird's-eye view image generation unit 293 highlights moving obstacles. After step S122, the process proceeds to step S123.

(Step S123)
The interface unit 210 outputs a bird's-eye view image as image data to the display device 300 under the control of the control unit 290. The display device 300 displays a bird's-eye view image according to this image data.
After step S123, the process returns to step S101.

As described above, the obstacle detection unit 291 detects an obstacle in the moving direction of the vehicle 900. The contact determination unit 292 determines the possibility of contact between the obstacle and the vehicle 900 and the predicted contact position in the vehicle 900. The bird's-eye view image generation unit 293 generates a bird's-eye view image of the vehicle 900 and its surroundings and a bird's-eye view image showing a predicted contact position based on the image taken by the photographing device 100. The interface unit 210 outputs a bird's-eye view image.

As a result, the driver of the vehicle 900 can easily grasp which part of the vehicle 900 is expected to come into contact with reference to the bird's-eye view image.
By grasping the position of contact in the vehicle 900, the driver can use it as reference information for determining countermeasures against contact with obstacles, such as which direction to turn to the left or right when operating the steering wheel. Can be done. In this respect, the bird's-eye view image generator 200 can provide information for the driver of the vehicle 900 to deal with obstacles.

In addition, the contact determination unit 292 determines the mode of damage to the vehicle 900 at the predicted contact position. The bird's-eye view image generation unit 293 generates a bird's-eye view image of the vehicle 900 and its surroundings based on the image taken by the photographing device 100, and synthesizes an image showing the mode of damage at the contact prediction position in the generated bird's-eye view image.
As a result, the driver of the vehicle 900 can easily grasp which part of the vehicle 900 and how much contact is expected by referring to the bird's-eye view image.

By grasping the degree of contact in addition to the position of contact in the vehicle 900, the driver can determine whether deceleration is necessary, whether steering wheel operation is necessary, and which direction to turn to the left or right when operating the steering wheel. It can be used as reference information for deciding how to deal with contact with. In this respect, the bird's-eye view image generation system 1 can provide information for the driver of the vehicle 900 to deal with obstacles.

Further, the contact determination unit 292 determines the hardness of the obstacle, and determines the mode of damage based on the determined hardness.
As a result, the contact determination unit 292 can determine the mode of damage with higher accuracy by reflecting the hardness of the obstacle.

Further, the contact determination unit 292 determines the hardness of the obstacle based on the image captured by the imaging device 100.
As a result, the bird's-eye view image generation device 200 does not need to separately provide a sensor for determining the hardness of an obstacle.

Further, the bird's-eye view image generation unit 293 generates a bird's-eye view image that displays the obstacle in different display modes depending on whether the obstacle is stationary or moving.
As a result, the bird's-eye view image generation device 200 can highlight the moving obstacle on the display device 300.
Here, the driver of the vehicle 900 needs to continuously grasp the position of the moving obstacle in order to avoid contact between the moving obstacle and the vehicle 900. The bird's-eye view image generation device 200 highlights a moving obstacle on the display device 300 to alert the driver to continuously grasp the position of the moving obstacle. can.

Next, the minimum configuration of the present invention will be described with reference to FIGS. 7 and 8.
FIG. 7 is a diagram showing an example of the minimum configuration of the bird's-eye view image generator according to the present invention. The bird's-eye view image generation device 10 shown in FIG. 7 includes an obstacle detection unit 11, a contact determination unit 12, a bird's-eye view image generation unit 13, and an output unit 14.
With such a configuration, the obstacle detection unit 11 detects an obstacle in the moving direction of the moving body. The contact determination unit 12 determines the possibility of contact between the obstacle and the moving body and the predicted contact position on the moving body. The bird's-eye view image generation unit 13 generates a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing a predicted contact position based on the image taken by the photographing device attached to the moving body. The output unit 14 outputs a bird's-eye view image.

As a result, the driver of the moving body can easily grasp which part of the moving body is expected to come into contact with the obstacle by referring to the bird's-eye view image.
By grasping the position of contact on the moving body, the driver can use it as reference information for determining countermeasures against contact with obstacles, such as which direction to turn to the left or right when operating the steering wheel. Can be done. In this respect, the bird's-eye view image generation device 10 can provide information for the driver of the moving body to deal with obstacles.

FIG. 8 is a diagram showing an example of the minimum configuration of the bird's-eye view image generation system according to the present invention. The bird's-eye view image generation system 20 shown in FIG. 8 includes a photographing device 21, a bird's-eye view image generation device 22, and a display device 26. The bird's-eye view image generation device 22 includes an obstacle detection unit 23, a contact determination unit 24, and a bird's-eye view image generation unit 25.
With such a configuration, the obstacle detection unit 23 detects an obstacle in the moving direction of the moving body. The contact determination unit 24 determines the possibility of contact between the obstacle and the moving body and the predicted contact position on the moving body. The bird's-eye view image generation unit 25 generates a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing a predicted contact position based on the image taken by the photographing device attached to the moving body. The display device 26 displays the bird's-eye view image generated by the bird's-eye view image generation unit 25.

As a result, the driver of the moving body can easily grasp which part of the moving body is expected to come into contact with the obstacle by referring to the bird's-eye view image.
By grasping the position of contact on the moving body, the driver can use it as reference information for determining countermeasures against contact with obstacles, such as which direction to turn to the left or right when operating the steering wheel. Can be done. In this respect, the bird's-eye view image generation system 20 can provide information for the driver of the moving body to deal with obstacles.

A program for realizing all or part of the functions of the control unit 290 is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read by the computer system and executed to execute each unit. May be processed. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, the above-mentioned program may be a program for realizing a part of the above-mentioned functions, and may be a program for realizing the above-mentioned functions in combination with a program already recorded in the computer system.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

1,20 Bird's-eye view image generation system 10, 22, 200 Bird's-eye view image generator 11, 23, 291 Obstacle detection unit 12, 24, 292 Contact judgment unit 13, 25, 293 Bird's-eye view image generation unit 14 Output unit 21, 100 Imaging device 26, 300 Display 210 Interface 280 Storage 290 Control 400 Input device

According to the first aspect of the present invention, the bird's-eye view image generation device is attached to an obstacle detection unit that detects an obstacle in the moving direction of the moving body and to the moving body when the obstacle is moving. A bird's-eye view image generation unit that generates a bird's-eye view image of the moving body and its surroundings in a manner indicating the traveling direction of the obstacle based on the image taken by the photographing device, and an output unit that outputs the generated bird's-eye view image. And.

According to the second aspect of the present invention, the bird's-eye view image display system includes a photographing device attached to a moving body, a bird's-eye view image generating device, and a display device, and the bird's-eye view image generating device moves the moving body. Based on the obstacle detection unit that detects obstacles in the direction and the image taken by the photographing device when the obstacle is moving , the progress of the obstacle is obtained from a bird's-eye view image of the moving body and its surroundings. and an overhead image generating unit for generating in a manner that indicates the direction to display the generated overhead image.

According to the third aspect of the present invention, in the bird's-eye view image generation method, an obstacle in the moving direction of the moving body is detected, and when the obstacle is moving, a photographing device attached to the moving body is used. This includes generating a bird's-eye view image of the moving body and its surroundings based on the captured image in a manner indicating the traveling direction of the obstacle, and outputting the generated bird's-eye view image.

According to a fourth aspect of the present invention, the program causes a computer to detect an obstacle in the moving direction of the moving body, and when the obstacle is moving, an imaging device attached to the moving body is used. This is a program for generating a bird's-eye view image of the moving body and its surroundings based on the captured image in a manner indicating the traveling direction of the obstacle, and outputting the generated bird's-eye view image.

Claims (8)

An obstacle detection unit that detects obstacles in the moving direction of the moving body,
A contact determination unit that determines the possibility of contact between the obstacle and the moving body and the predicted contact position of the moving body, and
A bird's-eye view image generation unit that generates a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position based on the image taken by the photographing device attached to the moving body.
An output unit that outputs the bird's-eye view image and
A bird's-eye view image generator equipped with. The contact determination unit determines the mode of damage to the moving body at the predicted contact position, and determines the mode of damage to the moving body.
The bird's-eye view image generation unit generates a bird's-eye view image of the moving body and its surroundings based on an image taken by a photographing device attached to the moving body, and damages the contact predicted position in the generated bird's-eye view image. Synthesize images showing aspects of
The bird's-eye view image generator according to claim 1. The contact determination unit determines the hardness of the obstacle, and determines the mode of damage based on the determined hardness.
The bird's-eye view image generator according to claim 2. The contact determination unit determines the hardness of the obstacle based on the image captured by the imaging device.
The bird's-eye view image generator according to claim 3. The bird's-eye view image generation unit generates the bird's-eye view image that displays the obstacle in different display modes depending on whether the obstacle is stationary or moving.
The bird's-eye view image generator according to any one of claims 1 to 4. It is equipped with a photographing device attached to a moving body, a bird's-eye view image generation device, and a display device.
The bird's-eye view image generator is
An obstacle detection unit that detects obstacles in the moving direction of the moving body,
A contact determination unit that determines the possibility of contact between the obstacle and the moving body and the predicted contact position of the moving body, and
A bird's-eye view image generation unit that generates a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position based on the image taken by the photographing device.
With
The display device displays a bird's-eye view image generated by the bird's-eye view image generation unit.
Bird's-eye view image display system. Detects obstacles in the moving direction of the moving body,
The possibility of contact between the obstacle and the moving body and the predicted contact position on the moving body are determined.
Based on the image taken by the photographing device attached to the moving body, a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position are generated.
Output the bird's-eye view image,
A bird's-eye view image generation method including that. On the computer
Detects obstacles in the moving direction of the moving body,
The possibility of contact between the obstacle and the moving body and the predicted contact position on the moving body are determined.
Based on the image taken by the photographing device attached to the moving body, a bird's-eye view image of the moving body and its surroundings and a bird's-eye view image showing the predicted contact position are generated.
Output the bird's-eye view image,
Program for.

Images