JP2022009331A - Periphery monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a periphery monitoring device that, in a case where a three-dimensional image obtained by viewing a point of gazing outside a vehicle from a virtual viewing point via a vehicle cabin is displayed, is able to easily specify the position around the vehicle from which the three-dimensional image is obtained.

SOLUTION: A periphery monitoring device according to an embodiment comprises, for example, on the basis of an image obtained by imaging periphery of a vehicle with an imaging section, a generating section for generating a first image that is a three- dimensional image obtained by viewing a point of gazing outside the vehicle from a virtual viewing point via a vehicle cabin, that includes a dead-angle image corresponding to an area outside the imaging range of an imaging section, and that is obtained by superposing, with respect to a position where a component of the vehicle is present, a secondary image of this component on the dead-angle image; and a display section that images a first image generated by a generating section.

SELECTED DRAWING: Figure 7

COPYRIGHT: (C)2022,JPO&INPIT

Description

An embodiment of the present invention relates to a peripheral monitoring device.

There is a peripheral monitoring device that displays a three-dimensional image of the surroundings of the vehicle as a virtual viewpoint image from the passenger compartment of the vehicle. At that time, the peripheral monitoring device sets the image corresponding to the bottom of the vehicle as an opaque image (for example, a black image) in the virtual viewpoint image.

Japanese Unexamined Patent Publication No. 2015-888942

By the way, in the peripheral monitoring device, since the parts inside the vehicle interior of the vehicle are hidden in the virtual viewpoint image, the driver of the vehicle can determine which position of the surroundings of the vehicle the virtual viewpoint image indicates. Hard to identify.

As an example, the peripheral monitoring device of the embodiment is a three-dimensional image obtained by capturing an image of the surroundings of a vehicle by an image pickup unit and looking at an external gaze point of the vehicle from a virtual viewpoint through the passenger compartment of the vehicle. A first image in which a blind spot image corresponding to a region outside the imaging range of the imaging unit is included, and a two-dimensional image of the component is superimposed on the position where the vehicle component exists in the blind spot image. It includes a generation unit that generates an image and a display unit that displays a first image generated by the generation unit. Therefore, as an example, when the first image of the gaze point outside the vehicle is displayed from the virtual viewpoint through the vehicle interior, it is possible to easily identify which position of the surroundings of the vehicle is the first image. Can be done.

Further, as an example of the peripheral monitoring device, the generation unit generates a first image including a three-dimensional contour of the frame of the vehicle. Therefore, as an example, it is possible to more easily identify which position of the first image is in the periphery of the vehicle.

Further, as an example of the peripheral monitoring device, the generation unit seamlessly moves the gazing point, regenerates the first image according to the movement of the gazing point, and when the gazing point is seamlessly moved, the vehicle's When the second three-dimensional image of the tire is included in the first image and the movement of the gazing point is instructed to stop, the display of the second image is terminated. Therefore, as an example, when the movement of the gazing point is stopped, the area of the first image that becomes a blind spot due to the second image can be reduced.

Further, as an example of the peripheral monitoring device, when the generation unit is instructed to stop the movement of the gazing point, the transparency of the second image is increased over a predetermined time after the instruction to stop the movement of the gazing point is instructed. After that, the display of the second image is finished. Therefore, as an example, it is possible to prevent the display of the second image from ending at the same time as the movement of the gazing point is stopped, making it difficult to identify the position of the peripheral image in the periphery of the vehicle.

Further, as an example of the peripheral monitoring device, the generation unit superimposes a tread pattern representing the front of the vehicle on the two-dimensional image of the tire of the vehicle among the two-dimensional images of the parts. Therefore, as an example, it is possible to more easily identify which position of the first image is in the periphery of the vehicle.

Further, as an example, in the peripheral monitoring device, the first image is an image in which a two-dimensional image of the component is superimposed on the position corresponding to the component in the vehicle interior of the vehicle in the blind spot image. Therefore, as an example, it is possible to easily identify which position of the first image is in the periphery of the vehicle.

FIG. 1 is a perspective view showing an example of a state in which a part of the passenger compartment of a vehicle equipped with the peripheral monitoring device according to the first embodiment is seen through. FIG. 2 is a plan view of an example of the vehicle according to the first embodiment. FIG. 3 is a block diagram showing an example of the functional configuration of the vehicle according to the first embodiment. FIG. 4 is a block diagram showing an example of the functional configuration of the ECU included in the vehicle according to the first embodiment. FIG. 5 is a flowchart showing an example of the flow of the display processing of the peripheral image by the vehicle according to the first embodiment. FIG. 6 is a diagram for explaining an example of a component image generation process by the vehicle according to the first embodiment. FIG. 7 is a diagram showing an example of a peripheral image displayed in the vehicle according to the first embodiment. FIG. 8 is a diagram showing an example of a peripheral image displayed in the vehicle according to the second embodiment. FIG. 9 is a diagram showing an example of a peripheral image displayed in the vehicle according to the second embodiment. FIG. 10 is a diagram showing an example of a peripheral image displayed in the vehicle according to the third embodiment.

Hereinafter, exemplary embodiments of the present invention will be disclosed. The configurations of the embodiments shown below, as well as the actions, results, and effects produced by such configurations, are examples. The present invention can be realized by a configuration other than the configurations disclosed in the following embodiments, and at least one of various effects based on the basic configuration and derivative effects can be obtained. ..

The vehicle equipped with the peripheral monitoring device (peripheral monitoring system) according to the present embodiment may be an automobile (internal engine automobile) having an internal combustion engine (engine) as a drive source, or an electric vehicle (motor) as a drive source. It may be a vehicle (electric vehicle, fuel cell vehicle, etc.) or a vehicle (hybrid vehicle) whose drive source is both of them. Further, the vehicle can be equipped with various transmissions, various devices (systems, parts, etc.) necessary for driving an internal combustion engine or an electric motor. In addition, the method, number, layout, and the like of the devices related to driving the wheels in the vehicle can be set in various ways.

(First Embodiment)
FIG. 1 is a perspective view showing an example of a state in which a part of the passenger compartment of a vehicle equipped with the peripheral monitoring device according to the first embodiment is seen through. As shown in FIG. 1, the vehicle 1 includes a vehicle body 2, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a speed change operation unit 7, and a monitoring device 11. The vehicle body 2 has a passenger compartment 2a on which an occupant rides. In the vehicle interior 2a, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a shift operation unit 7, and the like are provided so as to face the driver's seat 2b as a occupant. The steering unit 4 is, for example, a steering wheel protruding from the dashboard 24. The acceleration operation unit 5 is, for example, an accelerator pedal located under the driver's feet. The braking operation unit 6 is, for example, a brake pedal located under the driver's feet. The speed change operation unit 7 is, for example, a shift lever protruding from the center console.

The monitoring device 11 is provided, for example, at the center of the dashboard 24 in the vehicle width direction (that is, in the left-right direction). The monitoring device 11 may have a function such as a navigation system or an audio system. The monitor device 11 includes a display device 8, an audio output device 9, and an operation input unit 10. Further, the monitor device 11 may have various operation input units such as a switch, a dial, a joystick, and a push button.

The display device 8 is composed of an LCD (Liquid Crystal Display), an Electroluminescent Display (OLELD), or the like, and can display various images based on image data. The voice output device 9 is composed of a speaker or the like, and outputs various voices based on the voice data. The audio output device 9 may be provided at a different position in the vehicle interior 2a other than the monitor device 11.

The operation input unit 10 is composed of a touch panel or the like, and enables the occupant to input various information. Further, the operation input unit 10 is provided on the display screen of the display device 8 and can transmit the image displayed on the display device 8. As a result, the operation input unit 10 makes it possible for the occupant to visually recognize the image displayed on the display screen of the display device 8. The operation input unit 10 receives input of various information by the occupant by detecting the touch operation of the occupant on the display screen of the display device 8.

FIG. 2 is a plan view of an example of the vehicle according to the first embodiment. As shown in FIGS. 1 and 2, the vehicle 1 is a four-wheeled vehicle or the like, and has two left and right front wheels 3F and two left and right rear wheels 3R. All or part of the four wheels 3 can be steered.

The vehicle 1 is provided with, for example, four image pickup units 15a to 15d as a plurality of image pickup units 15. The image pickup unit 15 is a digital camera having an image pickup element such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The image pickup unit 15 can take an image of the surroundings of the vehicle 1 at a predetermined frame rate. Then, the image pickup unit 15 outputs the captured image obtained by imaging the surroundings of the vehicle 1. The image pickup unit 15 has a wide-angle lens or a fisheye lens, respectively, and can image a range of, for example, 140 ° to 220 ° in the horizontal direction. Further, the optical axis of the image pickup unit 15 may be set diagonally downward.

Specifically, the image pickup unit 15a is located, for example, at the rear end portion 2e of the vehicle body 2 and is provided on the lower wall portion of the rear window of the rear hatch door 2h. Then, the image pickup unit 15a can take an image of a region behind the vehicle 1 in the periphery of the vehicle 1. The image pickup unit 15b is located, for example, at the right end portion 2f of the vehicle body 2 and is provided on the right side door mirror 2g. Then, the image pickup unit 15b can take an image of a lateral region of the vehicle 1 in the periphery of the vehicle 1. The image pickup unit 15c is located, for example, on the front side of the vehicle body 2, that is, on the front end portion 2c of the vehicle 1 in the front-rear direction, and is provided on a front bumper, a front grill, or the like. Then, the image pickup unit 15c can take an image of a region in front of the vehicle 1 in the periphery of the vehicle 1. The image pickup unit 15d is located, for example, on the left side of the vehicle body 2, that is, on the left end portion 2d in the vehicle width direction, and is provided on the left side door mirror 2g. Then, the image pickup unit 15d can take an image of a region on the side of the vehicle 1 in the periphery of the vehicle 1.

FIG. 3 is a block diagram showing an example of the functional configuration of the vehicle according to the first embodiment. As shown in FIG. 3, the vehicle 1 includes a steering system 13, a brake system 18, a steering angle sensor 19, an accelerator sensor 20, a shift sensor 21, a wheel speed sensor 22, an in-vehicle network 23, and an ECU (Electronic). A control unit) 14 and the like are provided. The monitor device 11, the steering system 13, the brake system 18, the steering angle sensor 19, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the ECU 14 are electrically connected via the in-vehicle network 23 which is a telecommunication line. ing. The in-vehicle network 23 is configured by CAN (Controller Area Network) or the like.

The steering system 13 is an electric power steering system, an SBW (Steer By Wire) system, or the like. The steering system 13 has an actuator 13a and a torque sensor 13b. Then, the steering system 13 is electrically controlled by the ECU 14 or the like, operates the actuator 13a, and applies torque to the steering unit 4 to supplement the steering force to steer the wheels 3. The torque sensor 13b detects the torque given to the steering unit 4 by the driver, and transmits the detection result to the ECU 14.

The brake system 18 has an ABS (Anti-lock Brake System) that controls the lock of the brake of the vehicle 1, a sideslip prevention device (ESC: Electronic Stability Control) that suppresses the sideslip of the vehicle 1 at the time of cornering, and enhances the braking force. Includes an electric braking system that assists braking and BBW (Brake By Wire). The brake system 18 has an actuator 18a and a brake sensor 18b. The brake system 18 is electrically controlled by an ECU 14 or the like, and applies a braking force to the wheels 3 via the actuator 18a. The brake system 18 detects brake lock, wheel 3 idling, and signs of skidding from the difference in rotation between the left and right wheels 3, and controls to suppress brake locking, wheel 3 idling, and skidding. Execute. The brake sensor 18b is a displacement sensor that detects the position of the brake pedal as a movable part of the braking operation unit 6, and transmits the detection result of the position of the brake pedal to the ECU 14.

The steering angle sensor 19 is a sensor that detects the steering amount of the steering unit 4 such as the steering wheel. In the present embodiment, the steering angle sensor 19 is composed of a Hall element or the like, detects the rotation angle of the rotating portion of the steering unit 4 as a steering amount, and transmits the detection result to the ECU 14. The accelerator sensor 20 is a displacement sensor that detects the position of the accelerator pedal as a movable portion of the acceleration operation unit 5, and transmits the detection result to the ECU 14.

The shift sensor 21 is a sensor that detects the position of a movable part (bar, arm, button, etc.) of the speed change operation unit 7, and transmits the detection result to the ECU 14. The wheel speed sensor 22 has a Hall element or the like, and is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations of the wheel 3 per unit time, and transmits the detection result to the ECU 14.

The ECU 14 is a three-dimensional view of the external gazing point of the vehicle 1 from a virtual viewpoint through the vehicle interior 2a of the vehicle 1 based on the captured image obtained by imaging the surroundings of the vehicle 1 by the image pickup unit 15. An image is generated, and the generated image is displayed on the display device 8. The ECU 14 is composed of a computer or the like, and controls the overall control of the vehicle 1 by the cooperation of hardware and software. Specifically, the ECU 14 includes a CPU (Central Processing Unit) 14a, a ROM (Read Only Memory) 14b, a RAM (Random Access Memory) 14c, a display control unit 14d, a voice control unit 14e, and an SSD (Solid State Drive) 14f. To prepare for. The CPU 14a, ROM 14b, and RAM 14c may be provided in the same circuit board.

The CPU 14a reads a program stored in a non-volatile storage device such as a ROM 14b, and executes various arithmetic processes according to the program. For example, the CPU 14a executes image processing on the image to be displayed on the display device 8, calculation of the distance to an obstacle existing around the vehicle 1, and the like.

The ROM 14b stores various programs and parameters and the like necessary for executing the programs. The RAM 14c temporarily stores various data used in the calculation by the CPU 14a. Of the arithmetic processing in the ECU 14, the display control unit 14d mainly performs image processing on the captured image acquired from the imaging unit 15 and output to the CPU 14a, conversion of the image acquired from the CPU 14a into an image to be displayed on the display device 8, and the like. To execute. The voice control unit 14e mainly executes a voice process that is acquired from the CPU 14a and output to the voice output device 9 among the arithmetic processes in the ECU 14. The SSD 14f is a rewritable non-volatile storage unit, and continues to store data acquired from the CPU 14a even when the power of the ECU 14 is turned off.

FIG. 4 is a block diagram showing an example of the functional configuration of the ECU included in the vehicle according to the first embodiment. As shown in FIG. 4, the ECU 14 includes a peripheral image generation unit 401. For example, the ECU 14 realizes the function of the peripheral image generation unit 401 by executing a peripheral monitoring program stored in a storage medium such as ROM 14b or SSD 14f by a processor such as a CPU 14a mounted on a circuit board. .. A part or all of the peripheral image generation unit 401 may be configured by hardware such as a circuit.

The peripheral image generation unit 401 is a three-dimensional image obtained by viewing the external gazing point of the vehicle 1 from a virtual viewpoint through the vehicle interior 2a based on the captured image obtained by imaging the surroundings of the vehicle 1 by the image pickup unit 15. Generates a peripheral image that is. At that time, the peripheral image generation unit 401 converts the blind spot image corresponding to the region outside the imaging range of the imaging unit 15 (for example, the region corresponding to the bottom of the vehicle 1) into an opaque black image (hereinafter, black region) in the peripheral image. It is expressed by). In other words, the peripheral image generation unit 401 generates a peripheral image in which a blind spot image outside the imaging range of the imaging unit 15 is represented by a black region. In the present embodiment, the peripheral image generation unit 401 represents the blind spot image as an opaque black region, but is not limited to this, and is represented by, for example, an image of a preset color (for example, white). Is also good.

Further, the peripheral image generation unit 401 refers to a position where the parts of the vehicle 1 (for example, the parts in the vehicle compartment 2a of the vehicle 1, the tires of the vehicle 1, and the frame of the vehicle 1) exist in the black region included in the peripheral image. Then, a two-dimensional image of the component (hereinafter referred to as a component image) is superimposed. The peripheral image generation unit 401 causes the display device 8 to display the peripheral image on which the component image is superimposed via the display control unit 14d.

As a result, when a peripheral image of the external gaze point of the vehicle 1 is displayed from the virtual viewpoint via the vehicle interior 2a, it is possible to easily identify which position of the peripheral image is around the vehicle 1. can. Further, when a peripheral image of the external gaze point of the vehicle 1 is displayed from the virtual viewpoint via the vehicle interior 2a, the part image of the vehicle 1 can reduce the area around the vehicle 1 that becomes a blind spot. can. Further, by superimposing the component image on the black region included in the three-dimensional image of the external gaze point of the vehicle 1 viewed from the virtual viewpoint via the vehicle interior 2a, the black region can be effectively utilized. can.

Next, an example of the flow of the peripheral image display processing by the vehicle 1 according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing an example of the flow of the display processing of the peripheral image by the vehicle according to the first embodiment.

The peripheral image generation unit 401 determines whether or not the shift operation unit 7 is operated to shift the vehicle 1 into the parking range (step S501). When it is determined that the shift of the vehicle 1 has entered the parking range (step S501: Yes), the peripheral image generation unit 401 determines whether or not the camera button for instructing the display of the peripheral image is pressed (step S502). ). In the present embodiment, when the peripheral image generation unit 401 determines that the shift of the vehicle 1 has entered the parking range, the peripheral image generation unit 401 is located above the vehicle 1 based on an image obtained by imaging the surroundings of the vehicle 1 by the image pickup unit 15. Generates a bird's-eye view image of the surroundings of the vehicle 1 from. Then, the peripheral image generation unit 401 displays the screen including the generated bird's-eye view image and the camera button for instructing the display of the peripheral image on the display device 8. After that, the peripheral image generation unit 401 determines whether or not the press of the camera button is detected by the operation input unit 10.

When it is determined that the camera button is pressed (step S502: Yes), the peripheral image generation unit 401 generates a peripheral image based on the captured image obtained by imaging the surroundings of the vehicle 1 by the imaging unit 15 (step). S503). In the present embodiment, the peripheral image generation unit 401 generates a three-dimensional virtual projection surface representing the shape of the surroundings of the vehicle 1, and the image pickup unit 15 images the surroundings of the vehicle 1 with respect to the virtual projection surface. By projecting the obtained captured image, a three-dimensional image around the vehicle 1 is generated.

Specifically, the peripheral image generation unit 401 generates a virtual projection plane including the first plane and the second plane. Here, the first surface is a surface within a preset distance from the position of the vehicle 1 on the ground contact surface of the tire of the vehicle 1. For example, the first surface is an elliptical flat surface. The second surface is a surface continuous with the first surface, and is a surface that gradually rises from the ground contact surface as the distance from the position of the vehicle 1 increases with respect to the first surface. For example, the second surface is a surface that rises in an elliptical or parabolic shape from a position in contact with the first surface (the end of the first surface). That is, the peripheral image generation unit 401 generates a bowl-shaped or cylindrical virtual projection surface that surrounds the vehicle 1.

Next, the peripheral image generation unit 401 saw the external gaze point of the vehicle 1 from the virtual viewpoint (for example, the viewpoint of the driver seated in the seat 2b) through the passenger compartment 2a in the generated three-dimensional image. In some cases, an image that enters the human field of view is generated as a peripheral image. At that time, the peripheral image generation unit 401 represents the region corresponding to the bottom of the vehicle 1 as a black region in the peripheral image.

Further, the peripheral image generation unit 401 seamlessly moves the gazing point existing outside the vehicle 1. In the present embodiment, the peripheral image generation unit 401 seamlessly rotates the gazing point existing outside the vehicle 1 in the horizontal direction by 360 ° at a preset speed. Then, the peripheral image generation unit 401 regenerates the peripheral image according to the movement of the gazing point.

Next, the peripheral image generation unit 401 refers to a position where the parts of the vehicle 1 (for example, parts such as the dashboard 24, the steering wheel, and the seat in the vehicle interior 2a) exist in the black region included in the generated peripheral image. , A component image, which is a two-dimensional image of the component, is superimposed (step S504).

FIG. 6 is a diagram for explaining an example of a component image generation process by the vehicle according to the first embodiment. In the present embodiment, the peripheral image generation unit 401 generates a three-dimensional image of the parts of the vehicle 1 and a three-dimensional part image when the gazing point is viewed from a virtual viewpoint. Next, the peripheral image generation unit 401 generates an image obtained by projecting the generated three-dimensional component image onto a two-dimensional plane as a component image 601. At that time, the peripheral image generation unit 401 generates a tire image 602, which is a three-dimensional image of the tire of the vehicle 1 and a three-dimensional tire image viewed from a virtual viewpoint from a virtual viewpoint, projected onto a two-dimensional plane. A part image 601 including the generated tire image 602 may be generated. In the present embodiment, the peripheral image generation unit 401 uses a three-dimensional component image to generate a two-dimensional component image, but the present invention is not limited to this. For example, the peripheral image generation unit 401 stores a two-dimensional component image in advance in a storage medium or an external storage device of the ECU 14, and when displaying the peripheral image, the peripheral image generation unit 401 is used from the storage medium or the external storage device. , The two-dimensional component image is read out, and the read two-dimensional component image is superimposed on the peripheral image.

Returning to FIG. 5, the peripheral image generation unit 401 causes the display device 8 to display the peripheral image on which the component image is superimposed via the display control unit 14d (step S505). FIG. 7 is a diagram showing an example of a peripheral image displayed in the vehicle according to the first embodiment. As shown in FIG. 7, in the present embodiment, the peripheral image generation unit 401 has a component image with respect to a position in the vehicle interior 2a and a position where the tire of the vehicle 1 exists in the black region 702 included in the peripheral image 701. 601 is superimposed. Then, the peripheral image generation unit 401 causes the display device 8 to display the peripheral image 701 on which the component image 601 is superimposed. At that time, as shown in FIG. 7, the peripheral image generation unit 401 may display the bird's-eye view image 703 of the surroundings of the vehicle 1 from above the vehicle 1 on the display device 8 in addition to the peripheral image 701. ..

As described above, according to the vehicle 1 according to the first embodiment, when a three-dimensional image of the external gaze point of the vehicle 1 is displayed from a virtual viewpoint via the vehicle interior 2a, the three-dimensional image is displayed. However, it is possible to easily identify which position of the surroundings of the vehicle 1 is the three-dimensional image.

(Second embodiment)
This embodiment is an example of generating a peripheral image including a three-dimensional contour of a vehicle frame. In the following description, the description of the same configuration as that of the first embodiment will be omitted.

8 and 9 are views showing an example of a peripheral image displayed in the vehicle according to the second embodiment. In the present embodiment, the peripheral image generation unit 401 generates a peripheral image 802 including a three-dimensional contour 801 of the frame of the vehicle 1, as shown in FIG. As a result, since it is possible to specify which position of the peripheral image is the peripheral image of the periphery of the vehicle 1 from the three-dimensional contour 801 of the frame of the vehicle 1, it is possible to determine which position of the peripheral image is the peripheral image of the periphery of the vehicle 1. It can be identified more easily.

Further, in the present embodiment, as shown in FIG. 8, the peripheral image generation unit 401 displays the three-dimensional tire image 803, which is a three-dimensional image of the tire of the vehicle 1, when the gazing point is seamlessly moved. In the peripheral image 802, it is included in the position where the tire of the vehicle 1 exists. As a result, since it is possible to specify which position of the peripheral image is the peripheral image of the periphery of the vehicle 1 from the three-dimensional tire image 803 of the tire of the vehicle 1, it is possible to determine which position of the peripheral image is the peripheral image of the periphery of the vehicle 1. It can be identified more easily. At that time, as shown in FIG. 8, the peripheral image generation unit 401 includes the three-dimensional tire image 803 when the gazing point is viewed from the virtual viewpoint in the peripheral image 802.

After that, when the peripheral image generation unit 401 is instructed to stop the movement of the gazing point, the peripheral image generation unit 401 ends the display of the three-dimensional tire image 803 as shown in FIG. As a result, when the movement of the gazing point is stopped, the area of the surrounding image that becomes a blind spot by the three-dimensional tire image 803 can be reduced. In the present embodiment, as shown in FIG. 8, the peripheral image generation unit 401 displays the peripheral image 802 and the pause button 804 for instructing the stop of seamless movement of the gazing point on the display device 8. Then, when the peripheral image generation unit 401 detects that the pause button 804 has been touch-operated by the operation input unit 10, it determines that the stop of seamless movement of the gazing point has been instructed, and the three-dimensional tire. The display of the image 803 ends. In the present embodiment, when the peripheral image generation unit 401 detects that the pause button 804 is touch-operated, the seamless movement of the gazing point is stopped and the display of the three-dimensional tire image 803 is terminated. However, the present invention is not limited to this, and for example, when a touch operation on a preset area of the screen of the display device 8 is detected, the seamless movement of the gazing point is stopped and the three-dimensional tire image 803 is displayed. May be terminated.

At that time, the peripheral image generation unit 401 is instructed to stop the seamless movement of the gazing point, and at the same time, instead of ending the display of the three-dimensional tire image 803, the peripheral image generation unit 401 is instructed to stop the movement of the gazing point. Even if the transparency of the three-dimensional tire image 803 is increased over a period of time (for example, several seconds), the three-dimensional tire image 803 is hidden (that is, the display of the three-dimensional tire image 803 is finished). good. As a result, it is possible to prevent the display of the three-dimensional tire image 803 from ending at the same time as the movement of the gazing point is stopped, making it difficult to specify which position of the periphery of the vehicle 1 is the peripheral image.

As described above, according to the vehicle 1 according to the second embodiment, since the peripheral image of which position of the periphery of the vehicle 1 can be specified from the three-dimensional contour 801 of the frame of the vehicle 1, the vehicle can be identified. It is possible to more easily identify which position of the peripheral image is in the periphery of 1.

(Third embodiment)
This embodiment is an example of superimposing a component image including a tire image including a tread pattern representing the front of the vehicle 1 on a black region. In the following description, the description of the same configuration as that of the above-described embodiment will be omitted.

In the present embodiment, the peripheral image generation unit 401 generates a tire image including a tread pattern that makes it possible to identify the front of the vehicle 1. FIG. 10 is a diagram showing an example of a peripheral image displayed in the vehicle according to the third embodiment. In the present embodiment, as shown in FIG. 10, the peripheral image generation unit 401 generates a tire image 1002 including a tread pattern indicating the front of the vehicle 1. Then, the peripheral image generation unit 401 superimposes the generated tire image 1002 on the black region 702 of the peripheral image 1001.

As described above, according to the vehicle 1 according to the third embodiment, since it is possible to specify which position of the peripheral image of the surroundings of the vehicle 1 is from the tread pattern included in the tire image, the surroundings of the vehicle 1 can be specified. It is easier to identify which position of the peripheral image is the peripheral image.

1 ... Vehicle, 8 ... Display device, 14 ... ECU, 14a ... CPU, 14b ... ROM, 14c ... RAM, 14d ... Display control unit, 14f ... SSD, 15 ... Imaging unit, 401 ... Peripheral image generation unit.

Claims (6)

It is a three-dimensional image of a gaze point outside the vehicle from a virtual viewpoint through the passenger compartment of the vehicle based on an image obtained by imaging the surroundings of the vehicle by the image pickup unit, and is an image taken by the image pickup unit. A generator that includes a blind spot image corresponding to an area outside the range and generates a first image in which a two-dimensional image of the vehicle is superimposed on the position where the vehicle component exists in the blind spot image.
A display unit that displays the first image generated by the generation unit, and a display unit.
Peripheral monitoring device equipped with. The peripheral monitoring device according to claim 1, wherein the generation unit generates the first image including a three-dimensional contour of the frame of the vehicle. The generation unit seamlessly moves the gazing point, regenerates the first image in response to the movement of the gazing point, and when the gazing point is seamlessly moved, the three-dimensional aspect of the tire of the vehicle. The peripheral monitoring device according to claim 1 or 2, wherein the second image is included in the first image, and when the movement of the gazing point is instructed to stop, the display of the second image is terminated. When the generation unit is instructed to stop the movement of the gazing point, the generation unit increases the transparency of the second image for a predetermined time after the instruction to stop the movement of the gazing point is instructed, and then the second image. The peripheral monitoring device according to claim 3, wherein the display of the image is terminated. The peripheral monitoring device according to claim 3 or 4, wherein the generation unit superimposes a tread pattern representing the front of the vehicle on the two-dimensional image of the tire of the vehicle among the two-dimensional images of the parts. The first image is the image according to any one of claims 1 to 5, which is an image in which a two-dimensional image of the parts is superimposed on the position where the parts in the vehicle interior of the vehicle are present in the blind spot image. Peripheral monitoring device.

Images