JP3961969B2 - Vehicle periphery image processing system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle periphery image processing system configured to combine a past bird's-eye view image and a current bird's-eye view image to generate and display a combined bird's-eye view image.
[0002]
[Prior art]
Conventionally, the situation behind the vehicle is photographed by a rear camera installed at the rear of the vehicle, and a bird's-eye view (plan view seen from the sky) image is generated by coordinate conversion of the photographed image, and the generated bird's-eye view image Is displayed on a vehicle-mounted monitor together with a vehicle figure (see, for example, Patent Document 1).
[0003]
[Patent Document 1]
Japanese Patent Laid-Open No. 10-211849
[Problems to be solved by the invention]
By the way, in what was described in the above-mentioned patent document 1, since the situation behind the vehicle can be displayed as a bird's-eye view image, the user can easily recognize the positional relationship between the vehicle and, for example, a parking space (parking frame). Although it is possible, even the area outside the field of view of the current rear camera cannot be displayed on the in-vehicle monitor. Therefore, the applicant generates a synthesized bird's-eye view image by combining the past bird's-eye view image and the current bird's-eye view image in order to be able to display even the area outside the shooting field of view of the current rear camera on the in-vehicle monitor. The application to be displayed was filed as Japanese Patent Application No. 2001-394419.
[0005]
In Japanese Patent Application No. 2001-394419, a past bird's-eye view image and a current bird's-eye view image are synthesized and a combined bird's-eye view image is generated and displayed. Since the area captured by the rear camera in the past is combined and displayed, even the area outside the field of view of the current rear camera can be displayed on the vehicle-mounted monitor.
[0006]
However, since what is described in Japanese Patent Application No. 2001-394419 is not configured to distinguish between a past bird's-eye view image and a current bird's-eye view image, the past bird's-eye view image and the current bird's-eye view image are confused. Therefore, there is a problem that the current situation cannot be recognized by the user. There is also a problem in that the user cannot recognize a gradual change in the time lapse in past bird's-eye view images. In addition, although the user can recognize an area outside the imaging field of view of the current rear camera, there is also a problem that the user cannot recognize an area outside the imaging field of view of the past rear camera. Furthermore, there is a problem that the user cannot recognize the distance from the vehicle to the obstacle.
[0007]
The present invention has been made in view of the circumstances described above, and its purpose is to generate a combined bird's-eye view image by combining a past bird's-eye view image and a current bird's-eye view image, and display appropriate information. It is to provide a vehicle periphery image processing system capable of appropriately supporting the user's driving by providing the user.
[0010]
[Means for Solving the Problems]
According to the vehicle periphery image processing system described in claim 1 , when the imaging unit captures the periphery of the vehicle, the bird's-eye view image generation unit generates a bird's-eye view image by performing coordinate conversion on the image captured by the imaging unit. The storage means stores the bird's eye view image generated by the bird's eye view image generation means. Further, when the vehicle movement state detection unit detects the movement state of the vehicle, the bird's eye view image movement unit stores the past bird's eye view stored in the bird's eye view image storage unit based on the movement state of the vehicle detected by the vehicle movement state detection unit. The synthesized bird's-eye view image generating means converts the past bird's-eye view image rotated and / or translated by the bird's-eye view image moving means and the image taken by the photographing means by the coordinate conversion by the bird's-eye view image generating means. Are combined with the current bird's-eye view image generated in this manner to generate a combined bird's-eye view image.
[0011]
Then, when the composite bird's-eye view image is generated in this way, the display control means attaches a gradual change in the time lapse due to shading, gradation, mosaic, etc. to the past bird's-eye view image in the generated composite bird's-eye view image. The synthesized bird's-eye view image is displayed on the display means. This allows the user to appropriately recognize the gradual change of the time lapse in the past bird's-eye view image by attaching the gradual change of the time lapse due to the shade, gradation, mosaic, etc. to the past bird's-eye view image. It is possible to appropriately support the user's driving.
[0012]
According to the vehicle periphery image processing system described in claim 2 , when the photographing unit photographs the vehicle periphery, the bird's-eye view image generation unit performs coordinate conversion on the image photographed by the photographing unit to generate a bird's-eye view image, and The storage means stores the bird's eye view image generated by the bird's eye view image generation means. Further, when the vehicle movement state detection unit detects the movement state of the vehicle, the bird's eye view image movement unit stores the past bird's eye view stored in the bird's eye view image storage unit based on the movement state of the vehicle detected by the vehicle movement state detection unit. The synthesized bird's-eye view image generating means converts the past bird's-eye view image rotated and / or translated by the bird's-eye view image moving means and the image taken by the photographing means by the coordinate conversion by the bird's-eye view image generating means. Are combined with the current bird's-eye view image generated in this manner to generate a combined bird's-eye view image.
[0013]
When the composite bird's-eye view image is generated in this way, the display control means adds a predetermined color to the area outside the shooting field of view of the photographing means and is generated by the synthetic bird's-eye view image generating means. The displayed synthesized bird's-eye view image is displayed on the display means. As a result, by clarifying the area outside the imaging field of view of the past rear camera, it is possible to allow the user to appropriately recognize the area outside the imaging field of view of the past rear camera. It is possible to appropriately call attention to the outside area, and to appropriately support the user's driving.
[0014]
According to the vehicle periphery image processing system described in claim 3 , when the photographing unit photographs the vehicle periphery, the bird's-eye view image generation unit generates a bird's-eye view image by performing coordinate conversion on the image photographed by the photographing unit, The storage means stores the bird's eye view image generated by the bird's eye view image generation means. Further, when the vehicle movement state detection unit detects the movement state of the vehicle, the bird's eye view image movement unit stores the past bird's eye view stored in the bird's eye view image storage unit based on the movement state of the vehicle detected by the vehicle movement state detection unit. The synthesized bird's-eye view image generating means converts the past bird's-eye view image rotated and / or translated by the bird's-eye view image moving means and the image taken by the photographing means by the coordinate conversion by the bird's-eye view image generating means. Are combined with the current bird's-eye view image generated in this manner to generate a combined bird's-eye view image.
[0015]
Then, when the composite bird's-eye view image is generated in this way, the display control means draws a mark indicating the distance from the vehicle in the direction including at least the side of the vehicle and the rear of the vehicle on the generated composite bird's-eye view image and combines it. A bird's eye view image is displayed on the display means. Thus, by drawing a mark indicating the distance from the vehicle in a direction including at least the side of the vehicle and the rear of the vehicle, the user can appropriately recognize the distance from the vehicle to the obstacle and be careful about the obstacle. Can be promoted appropriately, and the user's driving can be appropriately supported.
According to the vehicle periphery image processing system of the fourth aspect, the display control means is based on the outer shape of the vehicle figure in a direction including at least the side of the vehicle and the rear of the vehicle in the synthesized bird's-eye view image generated by the synthesized bird's-eye view image generating means. As a result, a mark indicating the distance from the vehicle is drawn, and the synthesized bird's-eye view image is displayed on the display means. According to the vehicle periphery image processing system of the fifth aspect, the display control means is configured to determine the vehicle in the direction including at least the side of the vehicle and the rear of the vehicle in the synthesized bird's-eye view image generated by the synthesized bird's-eye view image generating means. A mark indicating the distance from the vehicle is drawn on the basis of the installation position of the sonar installed at the site, and the composite bird's-eye view image is displayed on the display means.
[0016]
According to the vehicle periphery image processing system described in claim 6 , when the photographing unit photographs the periphery of the vehicle, the bird's-eye view image generation unit generates a bird's-eye view image by performing coordinate conversion on the image photographed by the photographing unit, The storage means stores the bird's eye view image generated by the bird's eye view image generation means. Further, when the vehicle movement state detection unit detects the movement state of the vehicle, the bird's eye view image movement unit stores the past bird's eye view stored in the bird's eye view image storage unit based on the movement state of the vehicle detected by the vehicle movement state detection unit. The synthesized bird's-eye view image generating means converts the past bird's-eye view image rotated and / or translated by the bird's-eye view image moving means and the image taken by the photographing means by the coordinate conversion by the bird's-eye view image generating means. Are combined with the current bird's-eye view image generated in this manner to generate a combined bird's-eye view image.
[0017]
Then, when the composite bird's-eye view image is generated in this way, the display control means draws a frame on the generated composite bird's-eye view image along the outer shape of the vehicle figure, and displays the composite bird's-eye view image on the display means. Thus, by drawing a frame along the outline of the vehicle figure, it is possible to appropriately recognize the position of the vehicle and to prompt the user to pay attention to the obstacle, and to appropriately drive the user. Can help.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS. The first embodiment corresponds to claims 1 and 2 according to the present invention. First, FIG. 2 schematically shows the configuration of the vehicle periphery image processing system. The vehicle periphery image processing system 1 includes a rear camera 3 (photographing means referred to in the present invention) for photographing the situation behind the vehicle 2 and an in-vehicle monitor 5 (for example, on the dashboard) in the passenger compartment 4 (in the present invention). Display means) and an image processing unit 6 for performing image processing.
[0019]
FIG. 1 shows a functional block diagram of the vehicle periphery image processing system 1. The vehicle periphery image processing system 1 includes, as functional blocks, a CPU 7 (vehicle movement state detection means, bird's-eye view image movement means, synthetic bird's-eye view image generation means, display control means) that controls the operation of the entire system, and a rear camera. 3, a bird's eye view image generation circuit 8 (bird's eye view image generation means referred to in the present invention), a first image memory 9 (bird's eye view image storage means referred to in the present invention), a second image memory 10, and a display image memory 11, an in-vehicle monitor 5, a steering wheel angle signal input circuit 12, a vehicle speed signal input circuit 13, a yaw rate signal input circuit 14, an ultrasonic sensor signal input circuit 15, and a shift position signal input circuit 16. Has been.
[0020]
When an image is input from the rear camera 3, the bird's eye view image generation circuit 8 generates a bird's eye view image by performing coordinate conversion on the input image, and outputs the generated bird's eye view image to the first image memory 9. When the bird's eye view image is input from the bird's eye view image generation circuit 8, the first image memory 9 temporarily stores the input bird's eye view image as the current bird's eye view image.
[0021]
When the bird's-eye view image is transferred from the first image memory 9, the second image memory 10 stores the transferred bird's-eye view image as a past bird's-eye view image. The display image memory 11 displays a composite bird's-eye view image obtained by combining the current bird's-eye view image stored in the first image memory 9 and the past bird's-eye view image stored in the second image memory 10. Remember as. The in-vehicle monitor 5 displays the synthesized bird's-eye view image stored as the display image in the display image memory 11.
[0022]
The handle angle signal input circuit 12 causes the CPU 7 to input data related to the user's handle operation. The vehicle speed signal input circuit 13 causes the CPU 7 to input data related to the vehicle speed. The yaw rate signal input circuit 14 causes the CPU 7 to input data relating to the turning situation of the vehicle 2. The ultrasonic sensor signal input circuit 15 detects the presence / absence of an obstacle around the vehicle 2 and causes the CPU 7 to input data relating to the presence / absence of the obstacle and data relating to the distance between the obstacle and the vehicle 2. The shift position signal input circuit 16 causes the CPU 7 to input data related to the user's shift lever operation.
[0023]
In the above configuration, the CPU 7, the bird's eye view image generation circuit 8, the first image memory 9, the second image memory 10, the display image memory 11, the steering wheel angle signal input circuit 12, the vehicle speed signal input circuit 13, and the yaw rate signal. The input circuit 14, the ultrasonic sensor signal input circuit 15, and the shift position signal input circuit 16 can be configured as a single LSI by integrating all or part of them. Further, instead of including the bird's eye view image generation circuit 8 as a dedicated image processing circuit for generating the bird's eye view image, the CPU 7 can also generate the bird's eye view image by software. The in-vehicle monitor 5 can also be used as a display of the navigation device.
[0024]
Here, a procedure for the bird's eye view image generation circuit 8 to generate the bird's eye view image will be briefly described. As a precondition, the rear camera 3 has an autofocus function and its mounting height and mounting angle are set in advance. Further, it is assumed that the ground is a plane as a precondition for calculation. Here, the image captured by the rear camera 3 is decomposed into pixels, the distance to each pixel and the position in the width direction are calculated using the rear end of the vehicle 2 as a reference line, and the position coordinates after bird's-eye conversion of each pixel are calculated. calculate. Then, the pixels are rearranged based on the calculated position coordinates. Thereby, a bird's-eye view image can be generated from an image photographed by the rear camera 3.
[0025]
In addition, by performing bird's-eye view conversion in this manner, in the bird's-eye view image, it is assumed that there is a gap between the pixels or the pixels overlap, but the vehicle 2 is put in the garage. In some cases, it is assumed that the image displayed on the in-vehicle monitor 5 is somewhat thinned out, and the operability is higher than when the original image (raw image) taken by the rear camera 3 is displayed. It ’s good.
[0026]
Next, the effect | action of an above-described structure is demonstrated with reference to FIG. 3 and FIG. The CPU 7 initializes the first image memory 9, the second image memory 10, and the display image memory 11 and initializes various parameters (step S1). Next, the CPU 7 detects that the image captured by the rear camera 3 is coordinate-converted by the bird's eye view image generation circuit 8 to generate the bird's eye view image and the bird's eye view image is stored in the first image memory 9 (step S2). ), It is determined whether or not the bird's eye view image is stored in the second image memory 10 (step S3).
[0027]
Here, when the CPU 7 detects that the bird's-eye view image is stored in the second image memory 10 (“YES” in step S3), the data input from the steering wheel angle signal input circuit 12, the vehicle speed signal input It is determined whether or not the vehicle 2 is moving based on the data input from the circuit 13, the data input from the yaw rate signal input circuit 14, and the data input from the ultrasonic sensor signal input circuit 15 ( Step S4).
[0028]
When the CPU 7 detects that the vehicle 2 is moving ("YES" in step S4), the CPU 7 reads out the bird's-eye view image stored as the past bird's-eye view image from the second image memory 10 (step S5). Then, image processing for rotating or translating the read bird's-eye view image based on the movement state of the vehicle 2 is performed (step S6). At this time, if the vehicle 2 is moving in a curve, the CPU 7 performs image processing for rotating and moving the bird's eye view image stored in the second image memory 10, and the vehicle 2 moves straight ahead. If so, image processing for translating the bird's eye view image stored in the second image memory 10 is performed.
[0029]
Next, the CPU 7 reads the bird's-eye view image stored as the current bird's-eye view image from the first image memory 9 (step S7), and the past bird's-eye view image that has been read from the second image memory 10 and subjected to image processing. Are combined with the current bird's-eye view image read from the first image memory 9 to generate a synthesized bird's-eye view image (step S8).
[0030]
Now, when the synthesized bird's-eye view image is generated in this way, the CPU 7 colors the latest past bird's-eye view image in the generated synthesized bird's-eye view image (step S9). More specifically, the CPU 7 adds a reddish color to the latest past bird's-eye view image by applying an RGB color filter to the latest past bird's-eye view image by increasing the R value by a certain amount, for example. At this time, it is desirable that the color added to the latest past bird's-eye view image is a color that attracts the user's attention.
[0031]
Next, the CPU 7 determines whether or not there is an area outside the field of view of the rear camera 3 in the display area of the in-vehicle monitor 5 (step S10). If it is detected that there is a region outside the field of view (“YES” in step S10), the region outside the field of view of the rear camera 3 is colored (step S11). More specifically, the CPU 7 applies an RGB color filter to the region outside the photographing field of the rear camera 3 by, for example, increasing the B value by a certain amount, thereby giving a bluish color to the region outside the photographing field of the rear camera 3. wear. At this time, it is desirable that the color applied to the area outside the field of view of the rear camera 3 is also a color that attracts the user's attention.
[0032]
Then, the CPU 7 outputs the latest past bird's-eye view image and the synthesized bird's-eye view image colored in the area outside the photographing field of view of the rear camera 3 in this way to the display image memory 11 for display on the in-vehicle monitor 5. (Step S12), the synthesized bird's-eye view image is stored in the second image memory 10 as a past bird's-eye view image (Step S13), the process returns to Step S2, and the processes after Step S2 are repeated.
[0033]
Through the series of processes described above, the CPU 7 causes the current bird's-eye view image to be displayed in the display area behind the vehicle graphic 17 (the area indicated by “P” in FIG. 4) as shown in FIG. The past bird's-eye view image that has been colored is displayed in the display area (the area indicated by “Q1” and “Q2” in FIG. 4) on the side of the vehicle graphic 17 and the rear camera 3 with a bluish color is attached. A region outside the field of view is displayed in a predetermined display region (regions indicated by “R1” and “R2” in FIG. 4).
[0034]
In this case, since the CPU 7 adds a predetermined color to the latest past bird's-eye view image, the past bird's-eye view image is subjected to a gradual change in time due to shading by repeating the series of processes described above. It will also be displayed. That is, the CPU 7 displays a dark color for an area with a relatively large time passage in the past bird's-eye view image, and a light color for an area with a relatively small time passage in the past bird's-eye view image. (In FIG. 4, dark areas are shown with dense hatching, and light areas are shown with rough hatching).
[0035]
When the CPU 7 detects that the bird's-eye view image is not stored in the second image memory 10 (“NO” in step S3), the bird's-eye view stored as the current bird's-eye view image in the first image memory 9. The image is transferred to the second image memory 10 (step S14), the process returns to the above step S2, and the processes after step S2 are repeated.
[0036]
When the CPU 7 detects that the vehicle 2 is not moving (“NO” in step S4), the bird's-eye view image read from the second image memory 10 and subjected to image processing, and the first image are displayed. The bird's-eye view image stored as the current bird's-eye view image in the first image memory 9 is used as it is without being combined with the bird's-eye view image read from the memory 9 to generate a composite bird's-eye view image. Is displayed (step S15), the process returns to the above-described step S2, and the processes after step S2 are repeated.
[0037]
Further, when the CPU 7 detects that there is no area outside the shooting field of view of the rear camera 3 in the display area of the in-vehicle monitor 5 ("NO" in step S10), the CPU 7 is out of the shooting field of view of the rear camera 3. The synthetic bird's-eye view image in which only the latest past bird's-eye view image is colored is output to the display image memory 11 and displayed on the in-vehicle monitor 5 without coloring the region (step S12), and the synthesized bird's-eye view image is displayed. It is stored in the second image memory 10 as a past bird's-eye view image (step S13).
[0038]
By the way, the above has described the case of adding a gradual change in time lapse due to shading when coloring a bird's eye view image in the past, but even if a gradual change in time lapse due to gradation, mosaic, etc. good. Further, any one of the process of coloring the past bird's-eye view image and the process of coloring the area outside the field of view of the rear camera 3 may be selectively performed.
[0039]
As described above, according to the first embodiment, in the vehicle periphery image processing system 1, the past bird's-eye view image in the synthesized bird's-eye view image generated by combining the past bird's-eye view image and the current bird's-eye view image is colored. Since the composite bird's-eye view image is displayed with a mark, the current situation can be properly recognized by the user by clarifying the boundary between the past bird's-eye view image and the current bird's-eye view image. It is possible to appropriately call attention to the area where the bird's-eye view image is displayed, and to appropriately support the user's driving.
[0040]
In addition, since the past bird's-eye view image in the past bird's-eye view image in the region of the past bird's-eye view image is configured to display the past bird's-eye view image with a gradual change of the time lapse due to shading, gradation, mosaic, etc. The user can appropriately recognize the passage of time, and can appropriately support the user's driving.
[0041]
Further, since the composite bird's-eye view image is displayed by coloring a region outside the photographing field of the rear camera 5 in the display region of the in-vehicle monitor 5, the region outside the photographing field of the rear camera 5 is clarified. Thus, it is possible to make the user appropriately recognize a region outside the shooting field of view of the past rear camera 5, and to appropriately call attention to a region outside the shooting field of view of the past rear camera 5. Can help.
[0042]
(Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. The second embodiment corresponds to claims 3 to 5 according to the present invention. Here, the description of the same parts as those in the first embodiment will be omitted, and different parts will be described.
[0043]
In the second embodiment, the CPU 7 combines the bird's eye view image read from the second image memory 10 and subjected to image processing and the bird's eye view image read from the first image memory 9 to synthesize the bird's eye view image. (Step S8), a mark indicating the distance from the vehicle 2 is drawn on the generated synthesized bird's-eye view image (step S21). Then, the CPU 7 outputs the composite bird's-eye view image on which the mark indicating the distance from the vehicle 2 is drawn in this manner to the display image memory 11 and displays it on the in-vehicle monitor 5 (step S22).
[0044]
By the series of processes described above, the CPU 7 indicates the distance from the vehicle 2 with reference to the rear end of the vehicle graphic 17 as shown in FIG. If a mark (lines indicated by “A1” to “A4” in FIG. 6) is drawn, and the outer shape of the vehicle 2 is used as a reference, for example, the outer shape of the vehicle figure 17 is shown in FIG. As a reference, a mark indicating the distance from the vehicle 2 (lines indicated by “B1” to “B4” in FIG. 7) is drawn, and for example, a sonar installation position set at a predetermined part of the vehicle 2 is used as a reference. If so, as shown in FIG. 8, marks (“C1”, “C2”, “ D1 ”and“ D2 ”) are drawn, and the distance from these vehicles 2 And displays the synthesized bird's-eye view marker has been drawn showing.
[0045]
As described above, according to the second embodiment, the vehicle periphery image processing system 1 shows the distance from the vehicle 2 to the synthesized bird's-eye view image generated by combining the past bird's-eye view image and the current bird's-eye view image. Since the mark is drawn and the composite bird's-eye view image is displayed, drawing the mark indicating the distance from the vehicle 2 allows the user to appropriately recognize the distance from the vehicle 2 to the obstacle. Therefore, it is possible to appropriately call attention to the obstacle and to appropriately support the user's driving.
[0046]
(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIGS. This third embodiment corresponds to claim 6 in the present invention. Again, the description of the same parts as in the first embodiment will be omitted, and different parts will be described.
[0047]
In the third embodiment, the CPU 7 synthesizes the bird's eye view image read from the second image memory 10 and subjected to image processing and the bird's eye view image read from the first image memory 9 to synthesize the bird's eye view image. (Step S8), a frame is drawn on the generated synthesized bird's-eye view image so as to follow the outer shape of the vehicle figure 17 (step S31). Then, the CPU 7 causes the display image memory 11 to output the composite bird's-eye view image in which the frame is drawn so as to follow the outer shape of the vehicle figure 17 to be displayed on the in-vehicle monitor 5 (step S32).
[0048]
Through the series of processes described above, the CPU 7 draws a frame (indicated by “E” in FIG. 10) along the outer shape of the vehicle graphic 17 as shown in FIG. A synthetic bird's-eye view image in which a frame is drawn along is displayed.
[0049]
As described above, according to the third embodiment, in the vehicle peripheral image processing system 1, the outline of the vehicle graphic 17 is applied to the synthesized bird's-eye view image generated by combining the past bird's-eye view image and the current bird's-eye view image. In this way, the frame is drawn and the composite bird's-eye view image is displayed, so that by drawing the frame along the outer shape of the vehicle figure 17, the user can appropriately recognize the position of the vehicle 2. Therefore, it is possible to appropriately call attention to the obstacle and to appropriately support the user's driving.
[0050]
(Other examples)
The present invention is not limited to the embodiments described above, and can be modified or expanded as follows.
The structure which combined some of 1st Example, 2nd Example, and 3rd Example may be sufficient.
In the second embodiment, when the user selects a drawing mode, a process for drawing a mark indicating the distance from the vehicle 2 with the rear end of the vehicle graphic 17 as a reference, and from the vehicle 2 with the outer shape of the vehicle graphic 17 as a reference. A configuration in which a process of drawing a mark indicating the distance and a process of drawing a mark indicating the distance from the vehicle 2 on the basis of the installation position of the sonar may be selected.
[Brief description of the drawings]
FIG. 1 is a functional block diagram showing a first embodiment of the present invention. FIG. 2 is a diagram schematically showing the overall configuration of the system. FIG. 3 is a flowchart. FIG. 4 is a diagram showing an example of a display screen of an in-vehicle monitor. FIG. 5 is a flowchart showing a second embodiment of the present invention. FIG. 6 is a diagram corresponding to FIG. 4. FIG. 7 is a diagram corresponding to FIG. Flowchart [FIG. 10] FIG. 4 equivalent diagram [Explanation of symbols]
In the drawings, 1 is a vehicle peripheral image processing system, 2 is a vehicle, 3 is a rear camera (photographing means), 5 is an in-vehicle monitor (display means), 7 is a CPU (vehicle movement state detecting means, bird's eye view image moving means, and synthetic bird's eye view). Image generating means, display control means), 8 is a bird's eye view image generating circuit (bird's eye view image generating means), and 9 is a first image memory (bird's eye view image storage means).

Claims (6)

Photographing means for photographing the periphery of the vehicle;
A bird's-eye view image generation means for generating a bird's-eye view image by performing coordinate conversion on the image photographed by the photographing means;
A bird's eye view image storage means for storing the bird's eye view image generated by the bird's eye view image generation means;
Vehicle moving state detecting means for detecting the moving state of the vehicle;
A bird's eye view image moving means for rotating or translating a past bird's eye view image stored in the bird's eye view image storage means based on the movement state of the vehicle detected by the vehicle movement state detecting means;
A past bird's-eye view image that has been rotated or translated by the bird's-eye view image moving means and a current bird's-eye view image that is generated by coordinate-transforming the image taken by the photographing means by the bird's-eye view image generating means are synthesized. A vehicle periphery image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
Display control means for displaying the synthesized bird's-eye view image on the display means by adding a stepwise change of time due to lightness, gradation, mosaic, etc. to the past bird's-eye view image in the synthesized bird's-eye view image generated by the synthesized bird's-eye view image generating means A vehicle periphery image processing system comprising: Photographing means for photographing the periphery of the vehicle;
A bird's-eye view image generation means for generating a bird's-eye view image by performing coordinate conversion on the image photographed by the photographing means;
A bird's eye view image storage means for storing the bird's eye view image generated by the bird's eye view image generation means;
Vehicle moving state detecting means for detecting the moving state of the vehicle;
A bird's eye view image moving means for rotating or translating a past bird's eye view image stored in the bird's eye view image storage means based on the movement state of the vehicle detected by the vehicle movement state detecting means;
A past bird's-eye view image that has been rotated or translated by the bird's-eye view image moving means and a current bird's-eye view image that is generated by coordinate-transforming the image taken by the photographing means by the bird's-eye view image generating means are synthesized. A vehicle periphery image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
A display control means for displaying the synthetic bird's eye view image generated by the region outside the field of view of said imaging means in the display area with a predetermined color the composite bird's eye view image generating means of the display means on said display means The vehicle periphery image processing system characterized by the above. Photographing means for photographing the periphery of the vehicle;
A bird's-eye view image generation means for generating a bird's-eye view image by performing coordinate conversion on the image photographed by the photographing means;
A bird's eye view image storage means for storing the bird's eye view image generated by the bird's eye view image generation means;
Vehicle moving state detecting means for detecting the moving state of the vehicle;
A bird's eye view image moving means for rotating or translating a past bird's eye view image stored in the bird's eye view image storage means based on the movement state of the vehicle detected by the vehicle movement state detecting means;
A past bird's-eye view image that has been rotated or translated by the bird's-eye view image moving means and a current bird's-eye view image that is generated by coordinate-transforming the image taken by the photographing means by the bird's-eye view image generating means are synthesized. A vehicle periphery image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
Display control means for displaying the previous SL composite bird's eye view composite bird's eye view image by drawing a mark indicating a distance image generation unit composite bird's eye view image generated by the vehicle to the direction in which at least the side of the vehicle and the vehicle rearward Viewing means A vehicle periphery image processing system comprising: In the vehicle periphery image processing system according to claim 3,
The display control means draws a mark indicating a distance from the vehicle on the basis of the outer shape of the vehicle figure in a direction including at least the side of the vehicle and the rear of the vehicle in the synthesized bird's eye view image generated by the synthesized bird's eye view image generating means A vehicle periphery image processing system , wherein a bird's eye view image is displayed on the display means . In the vehicle periphery image processing system according to claim 3,
The display control means is based on the installation position of the sonar installed at a predetermined part of the vehicle in a direction including at least the side of the vehicle and the rear of the vehicle in the composite bird's-eye view image generated by the synthetic bird's-eye view image generation means. A vehicle periphery image processing system characterized in that a composite bird's-eye view image is displayed on the display means by drawing a mark indicating the distance of the vehicle. Photographing means for photographing the periphery of the vehicle;
A bird's-eye view image generation means for generating a bird's-eye view image by performing coordinate conversion on the image photographed by the photographing means;
A bird's eye view image storage means for storing the bird's eye view image generated by the bird's eye view image generation means;
Vehicle moving state detecting means for detecting the moving state of the vehicle;
  A bird's eye view image moving means for rotating or translating a past bird's eye view image stored in the bird's eye view image storage means based on the movement state of the vehicle detected by the vehicle movement state detecting means;
A past bird's-eye view image that has been rotated or translated by the bird's-eye view image moving means and a current bird's-eye view image that is generated by coordinate conversion of the image taken by the photographing means by the bird's-eye view image generating means are synthesized. A vehicle periphery image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
A vehicle surrounding image comprising display control means for drawing a frame on the synthetic bird's eye view image generated by the synthetic bird's eye view image generating means so as to follow the outer shape of the vehicle figure and displaying the composite bird's eye view image on the display means. Processing system.

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