JP6361415B2 - Image processing apparatus for vehicle - Google Patents

Description

  The present invention relates to a vehicle image processing apparatus that displays on a display device an image taken around a vehicle.

  A technique is known in which a situation around a vehicle is captured by an in-vehicle camera, a plurality of images captured by the in-vehicle camera are combined, and the combined image is displayed on a display device. Specifically, by combining the current image currently captured by the in-vehicle camera and the past image based on the past captured image to form a vehicle peripheral image, the vehicle peripheral portion that entered the blind spot is continuously displayed on the display device. It can be displayed (for example, Patent Document 1).

JP 2013-55410 A

  When synthesizing the current image and the past image, the past image is moved in accordance with the movement of the vehicle to perform the synthesis. That is, in order to combine the current image and the past image, it is necessary to acquire the amount of movement of the vehicle. As an amount related to the movement of the vehicle, the vehicle speed can be acquired based on the vehicle speed pulse.

  Here, since the vehicle speed pulse has no positive or negative information, the traveling direction of the vehicle cannot be determined based on the vehicle speed pulse. Thus, for example, a method of acquiring the traveling direction of the vehicle based on the vehicle shift position is conceivable. However, if the vehicle is inclined with the road surface gradient, it is conceivable that the vehicle moves backward despite the shift position being a drive, or moves forward although the shift position is reverse. In such a case, the actual movement direction of the vehicle is different from the movement direction of the past image in the image composition, and a deviation occurs in the composition of the current image and the past image.

  The present invention has been made in view of the above problems, and an object thereof is to provide a vehicular image processing apparatus capable of suitably combining a plurality of images photographed by a photographing unit.

  The present invention is applied to a vehicle including photographing means (11, 12) for photographing a predetermined range around the vehicle (C) and display means (14) for displaying a photographed image photographed by the photographing means. A vehicle image processing apparatus (13) mounted on the vehicle, wherein a first acquisition unit that acquires a vehicle speed based on a vehicle speed pulse as a running state at the time of shooting by the shooting unit, and the shot image is a past image And the past image stored in the storage unit and the current image captured by the imaging unit based on the running state acquired by the first acquisition unit and the storage unit (24) stored as A method of determining the traveling direction of the vehicle based on the acquired value of the image generating unit (23) that generates a display image to be displayed on the display unit and the second acquiring unit that acquires the actual traveling mode of the vehicle. A past means stored in the storage means based on the traveling direction determined by the direction determination means in addition to the traveling state acquired by the first acquisition means. The image is combined with the current image photographed by the photographing means.

  In the present invention, the traveling direction is determined based on the actual traveling mode of the vehicle. And it was set as the structure which implements image composition based on the advancing direction determined based on the actual advancing aspect in addition to the vehicle speed acquired based on a vehicle speed pulse. By adopting such a configuration, for example, even in a situation where the shift position is reverse despite being a drive, or in a situation where the shift position is reverse but being forward, The current image and the past image can be suitably combined.

1 is a configuration diagram of an image display system. The figure which shows a camera and its imaging | photography range. The figure which shows the method of perspective transformation. The flowchart showing an image composition process. The flowchart showing the determination process of the advancing direction based on an acceleration.

  Hereinafter, an embodiment in which an image processing unit as a vehicle image processing apparatus is applied to an image display system of a vehicle (automobile) will be described with reference to the drawings.

  As shown in FIG. 1, the present image display system is mounted on a vehicle, and includes a front camera 11 and a rear camera 12 as photographing means, and an image processing unit 13 into which photographing data of each of the cameras 11 and 12 are input. And an in-vehicle monitor 14 as display means for displaying a display image created by the image processing unit 13 based on the photographing data.

  The cameras 11 and 12 capture a predetermined range around the vehicle. Specifically, the front camera 11 and the rear camera 12 are respectively attached to the front side and the rear side of the vehicle, and a predetermined range in front of the vehicle is photographed by the front camera 11, and a predetermined range in the rear of the vehicle is captured by the rear camera 12. Taken. Each of these cameras 11 and 12 is a wide-angle camera capable of photographing in a wide-angle range. For example, the cameras 11 and 12 can photograph at a viewing angle of 180 degrees in the front and rear of the vehicle. Each of the cameras 11 and 12 is a digital imaging system camera that performs imaging using a CCD image sensor or a CMOS image sensor.

  More specifically, as shown in FIG. 2, in the vehicle C, for example, a front camera 11 is attached to the front side portion of the roof portion, and a rear camera 12 is attached to the rear side portion of the roof portion. The front camera 11 captures the front range R1, and the rear camera 12 captures the rear range R2. The front range R1 and the rear range R2 are arranged in the front-rear direction of the vehicle C.

  For this reason, when the vehicle C moves forward, the range shot as the front range R1 by the front camera 11 is shot as the rear range R2 by the rear camera 12 as the vehicle C moves forward. Further, when the vehicle C moves backward, the range shot as the rear range R2 by the rear camera 12 is shot as the front range R1 by the front camera 11 as the vehicle C moves backward. Note that both the front camera 11 and the rear camera 12 are arranged on the same line (on the center line X1) extending in the front-rear direction of the vehicle C, and photograph the front and rear of the vehicle with the center line X1 as the photographing center. .

  The front camera 11 cannot shoot the vehicle rear side, and the rear camera 12 cannot shoot the vehicle front side. Therefore, the left and right side portions of the vehicle C are in a range R3 (intermediate region) that is out of the field of view of both cameras 11 and 12. Moreover, each camera 11 and 12 has respectively image | photographed the vehicle front and the vehicle back in the downward direction rather than the horizontal direction, and can image | photograph the ground surface.

  Returning to the description of FIG. 1, the in-vehicle monitor 14 is provided at a position where the driver can visually recognize the vehicle while driving, for example, an instrument panel. Although the shape and size of the in-vehicle monitor 14 may be arbitrary, in the present embodiment, since the vehicle peripheral image is displayed on the in-vehicle monitor 14 in a range including both the front and rear regions around the host vehicle, A vertically long display area is set on the display screen. The vehicle monitor 14 can display information other than the vehicle periphery image. When the vehicle periphery image is not displayed on the vehicle monitor 14, the vehicle front image (for example, darkness in front of the vehicle) is displayed on the display screen. Various information other than the captured image, such as a navigation image based on the position of the vehicle C acquired by the GPS sensor 15 and the position of the vehicle C, may be displayed.

  The image processing unit 13 is an image processing device that creates a display image by combining the shooting data of the cameras 11 and 12 and displays the display image on the in-vehicle monitor 14. The image processing unit 13 includes a first conversion circuit 21 that inputs the shooting data of the front camera 11 and a second conversion circuit 22 that inputs the shooting data of the rear camera 12. Performs perspective transformation on the respective shooting data of the front camera 11 and the rear camera 12 to create a bird's-eye view image. The bird's-eye view image is a bird's-eye view image in a state in which the shooting range of each camera 11, 12 is looked down vertically from the sky position. A front bird's-eye image and a rear bird's-eye image are created by the conversion circuits 21 and 22, respectively.

  Each of the cameras 11 and 12 captures the front of the vehicle and the rear of the vehicle at every predetermined time. According to each of the conversion circuits 21 and 22, the bird's-eye image at the front of the vehicle and the bird's-eye image at the rear of the vehicle at each predetermined time. Can be obtained.

  Supplementary explanation will be given for the perspective transformation in each of the conversion circuits 21 and 22. As shown in FIG. 3, when the ground surface is photographed by the front camera 11 provided at a height h from the ground surface, the photographed image is photographed on the screen plane T at a predetermined focal length f from the camera position. An image is obtained. In this case, photographing the ground plane by the front camera 11 is equivalent to performing perspective transformation from the ground plane coordinates to the two-dimensional coordinates on the screen plane T. Therefore, in each conversion circuit 21, 22, the coordinates on the ground plane are changed from the coordinates on the screen plane T by performing the perspective conversion opposite to the perspective conversion on the captured images captured by the cameras 11, 12. Thus, a bird's-eye view image (planar image in the range of P in FIG. 3), which is an image on the ground surface, is created.

  The image data of the bird's-eye view image created by the conversion circuits 21 and 22 is input to the CPU 23. The image processing unit 13 creates a vehicle peripheral image based on the front bird's-eye image and the rear bird's-eye image. This vehicle peripheral image is created as a bird's-eye view image, similar to the image after conversion by the conversion circuits 21 and 22.

  In the image display system of the present embodiment, the range R3 outside the camera field of view is included in the vicinity (side of the vehicle) of the host vehicle, and therefore, the range R3 outside the camera field of view is taken by the front camera 11 (front bird's-eye view image). ) And any past image of the image captured by the rear camera 12 (rear bird's-eye view image). As a configuration for creating a vehicle peripheral image using a past image, the image processing unit 13 includes an image memory 24 as a storage unit that stores the past image. Further, the vehicle C includes a vehicle speed sensor 16 that detects the vehicle speed, and a yaw rate sensor 17 that detects a yaw rate (a change speed of the rotation angle in the turning direction).

  Detection signals from the vehicle speed sensor 16 and the yaw rate sensor 17 are sequentially input to the CPU 23. The image processing unit 13 as the first acquisition means calculates and acquires the vehicle speed and yaw rate that are the running state of the vehicle C based on the detection signals (vehicle speed pulse and yaw rate signal) of these sensors 16 and 17. In short, what is necessary is that the traveling state of the vehicle C at the time of photographing with the cameras 11 and 12 can be grasped, and the moving distance and rotation angle of the vehicle C or the position and orientation of the vehicle C may be calculated. Further, the image processing unit 13 associates the past image of the front bird's-eye image and the past image of the rear bird's-eye image with the traveling information (vehicle speed and yaw rate) of the vehicle C at the time of image capturing at predetermined time intervals. To remember.

  When the CPU 23 as the image creation means creates a vehicle peripheral image, if the vehicle C is moving forward, a photographed image (forward) taken in the past by the front camera 11 as an image in the range R3 outside the camera field of view. Past image) is read from the image memory 24. Then, a vehicle peripheral image is created from the current captured images (front current image and rear current image) by the cameras 11 and 12 and the past past image. If the vehicle C is moving backward, a captured image (rear past image) captured in the past by the rear camera 12 is read from the image memory 24 as an image in the range R3 outside the camera field of view. Then, a vehicle peripheral image is created from the current captured image (front current image and rear current image) by the cameras 11 and 12 and the rear past image.

  When creating the vehicle peripheral image, the image processing unit 13 arranges and connects the front current image, the rear current image, and the front past image (or the back past image) side by side in the vehicle front-rear direction on the same plane. At this time, based on the current traveling state (vehicle speed and yaw rate) of the vehicle C and the traveling state (vehicle speed and yaw rate) of the vehicle C when the past image is captured, the past image is translated and rotated (Euclidean). Conversion), and each image is synthesized as one image.

  As described above, in the synthesis of the current image and the past image, the past image is translated and rotated in accordance with the movement amount of the vehicle C from the time when the past image was taken to the present, and the current image and the past image are synthesized. . The vehicle speed sensor 16 used for calculating the amount of movement of the vehicle C is composed of a magnet provided in a gear shape with respect to the propeller shaft, drive shaft, etc. of the vehicle C and a magnetic sensor (pickup) for detecting a change in magnetic field. The rotation of the propeller shaft and drive shaft is output as a vehicle speed pulse. The vehicle speed pulse does not include information on the rotation direction of the propeller shaft or the drive shaft, that is, the traveling direction of the vehicle C. The value detected by the yaw rate sensor 17 also does not include information about the traveling direction of the vehicle C. That is, in order to calculate the movement amount of the vehicle C, it is necessary to acquire the traveling direction of the vehicle C using another input value different from the detection values of the vehicle speed sensor 16 and the yaw rate sensor 17.

  As a method of acquiring the traveling direction of the vehicle C, a method of determining based on the position (shift position) of the shift lever 19 of the vehicle C can be considered. Note that the transmission mechanism of the vehicle C in the present embodiment is an automatic transmission. However, if the vehicle C is inclined with the road surface gradient, it may be considered that the vehicle moves backward despite the shift position being a drive, or moves forward although the shift position is reverse. For this reason, in the method of acquiring the traveling direction of the vehicle C based on the shift position of the vehicle C, inconvenience may occur in image composition.

  Therefore, the image processing unit 13 as the second acquisition unit acquires the acceleration of the vehicle C detected by the acceleration sensor 18 (acceleration detection unit) in addition to the shift position. The acceleration sensor 18 uses the output value (gravity acceleration) when the vehicle is stopped as an offset, and when the vehicle C is accelerating forward, the vehicle C accelerates the offset + positive value (acceleration forward) backward. Output an offset + negative value (backward acceleration). Therefore, the image processing unit 13 acquires a value obtained by subtracting an offset (gravity acceleration) from the output value of the acceleration sensor 18 as the acceleration of the vehicle C. And the image processing unit 13 as a direction determination means determines the advancing direction of the vehicle C based on the acceleration which is the acquired value of the 2nd acquisition means. Then, image composition is performed based on the traveling direction. Here, the sampling cycle of the acceleration sensor 18 is 50 ms, which is about the same as the display image update cycle (33 ms).

  FIG. 4 is a flowchart showing the image composition processing in this embodiment. This process is periodically performed by the image processing unit 13.

  In step S01, it is determined whether or not a vehicle speed pulse is input from the vehicle speed sensor 16. If the vehicle speed pulse is not input (S01: NO), the process is terminated without performing image composition. If a vehicle speed pulse is input (S01: YES), whether or not the slope of the vehicle C (road slope) is a steep slope (−10% or less, or + 10% or more) greater than or equal to a predetermined slope in step S02. Determine. Here, the inclination of the vehicle C can be calculated based on the gravitational acceleration acquired as an offset (DC component) of the acceleration sensor 18 as the inclination detecting means.

  When the inclination of the vehicle C is a steep inclination greater than or equal to a predetermined inclination (S02: YES), it is determined in step S03 whether or not the vehicle speed acquired based on the vehicle speed pulse belongs to a predetermined range (10 km / h or less). . When the vehicle speed belongs to the predetermined range (S03: YES), in step S04, the variance of the acceleration detected by the acceleration sensor 18 is acquired, and it is determined whether the variance is equal to or less than a predetermined value.

  When the variance of acceleration is equal to or less than a predetermined value (S04: YES), that is, when the detected value of the acceleration sensor 18 is reliable, in step S05, the traveling direction is determined based on the acceleration. Details of the determination process of the traveling direction based on the acceleration will be described later.

  When the inclination of the vehicle C is not steep than a predetermined inclination (S02: NO), when the vehicle speed belongs outside the predetermined range (greater than 10 km / h) (S03: NO), or when the acceleration variance is greater than the predetermined value If larger (S04: NO), the traveling direction of the vehicle C is acquired based on the shift position in step S06. That is, when the shift position is drive, it is determined that the vehicle C is moving forward, and when it is reverse, it is determined that the vehicle C is moving backward.

  After step S05 and step S06, in step S07, image synthesis is performed based on the vehicle speed acquired from the vehicle speed sensor 16, the yaw rate acquired from the yaw rate sensor 17, and the traveling direction of the vehicle C acquired in step S05 or S06. Then, the process ends.

  FIG. 5 is a flowchart showing the determination of the traveling direction based on the detection value of the acceleration sensor 18.

  In step S11, it is determined whether or not a predetermined time has elapsed after the vehicle C starts. If the predetermined time has not elapsed since the vehicle C started (S11: NO), it is determined in step S12 whether or not the acceleration detected by the acceleration sensor 18 is a positive value. If the acceleration is a positive value (S12: YES), it is determined in step S13 that the vehicle C is moving forward. When the acceleration is a negative value (S12: NO), it is determined in step S14 that the vehicle C is moving backward. That is, in a situation where the vehicle starts from a stop state, it is determined that the vehicle C is moving forward when the acceleration is positive, and it is determined that the vehicle C is moving backward when the acceleration is negative.

  If the predetermined time has elapsed after the vehicle C has started, it is determined in step S15 whether or not the vehicle speed has increased. If the vehicle speed is increasing (S15: YES), it is determined in step S16 whether or not the acceleration is a positive value. When the acceleration is a positive value (S16: YES), it is determined in step S17 that the vehicle C is moving forward. If the acceleration is a negative value (S16: NO), it is determined in step S18 that the vehicle C is moving backward. If the vehicle speed is decreasing (S15: NO), it is determined in step S19 whether or not the acceleration is a positive value. If the acceleration is a positive value (S19: YES), it is determined in step S20 that the vehicle C is moving backward. If the acceleration is a negative value (S19: NO), it is determined in step S21 that the vehicle C is moving forward.

  For example, in a situation where the vehicle C continues to retreat on a steep slope in the climbing direction, the vehicle speed (absolute value of the vehicle speed) increases and the acceleration becomes a negative value. Here, a situation is conceivable in which the vehicle C continues to move backward and the vehicle speed (absolute value of the vehicle speed) decreases as the driver operates the brake pedal. In this situation, the vehicle speed decreases and the acceleration becomes a positive value. Similarly, in a situation where the vehicle C continues to advance on a steep slope in the downward direction, the vehicle speed (absolute value of the vehicle speed) increases and the acceleration becomes a positive value. Here, a situation is conceivable in which the vehicle C continues to move forward and the vehicle speed (absolute value of the vehicle speed) decreases as the driver operates the brake pedal. In this situation, the vehicle speed decreases and the acceleration becomes a negative value. According to the determination of the traveling direction in steps S15 to S21, the traveling direction can be correctly determined when the vehicle C continues to move forward or backward on the slope.

  The effects of this embodiment will be described below.

  The traveling direction is determined based on the actual traveling mode of the vehicle C. And it was set as the structure which implements an image composition using the advancing direction determined based on the actual advancing aspect in addition to the vehicle speed acquired based on a vehicle speed pulse. By adopting such a configuration, for example, even in a situation where the shift position is reverse despite being a drive, or in a situation where the shift position is reverse but being forward, The current image and the past image can be suitably combined.

  In the present embodiment, both the traveling direction determined based on the actual traveling mode and the traveling direction acquired based on the shift position are used. With this configuration, the current image and the past image can be combined more suitably.

  Specifically, when the dispersion of acceleration detected by the acceleration sensor 18 is large, that is, when the reliability of the detection value of the acceleration sensor 18 is low, the image synthesis is performed based on the traveling direction acquired based on the shift position. It was set as the structure which implements. With such a configuration, it is possible to perform image composition using a highly reliable determination result in the traveling direction.

  Further, when the inclination of the vehicle C (that is, the road gradient) is steep, it is considered that the situation where the vehicle C moves backward is likely to occur although the shift position is in the drive. Therefore, on the condition that the inclination of the vehicle C is a steep inclination greater than or equal to a predetermined inclination (for example, −10% or less and 10% or more), the actual traveling direction is determined by the image processing unit 13 as the direction determination unit. Based on this, image composition is performed. With such a configuration, image synthesis using the traveling direction acquired based on the acceleration sensor 18 is performed in a situation where the reliability of the traveling direction acquired based on the shift position is low. This makes it possible to perform more suitable image composition.

  In addition, when the vehicle speed is low, such as when starting on a slope, it is considered that a situation in which the vehicle C moves backward despite the shift position being in the drive is likely to occur. Therefore, on the condition that the vehicle speed is smaller than a predetermined value, the image composition is performed based on the traveling direction determined by the image processing unit 13 as the direction determining means. With such a configuration, image synthesis using the traveling direction acquired based on the acceleration sensor 18 is performed in a situation where the reliability of the traveling direction acquired based on the shift position is low. This makes it possible to perform more suitable image composition.

(Other embodiments)
The image processing unit 13 of the above embodiment is configured to determine the actual traveling direction of the vehicle C using the detection value of the acceleration sensor 18. By changing this, the image processing unit acquires the position of the vehicle C based on the GPS signal received from the GPS satellite by the GPS sensor 15 (FIG. 1) as the position acquisition means. And it is good also as a structure which determines the actual advancing direction of the vehicle C based on the change of the position of the vehicle C.

  Further, the image processing unit 13 determines the actual traveling direction of the vehicle C based on the self-position estimation based on the Kalman filter using the detection values of the GPS sensor 15, the vehicle speed sensor 16, the yaw rate sensor 17, and the acceleration sensor 18 as input values. It is good also as a structure to determine.

  For the position of the vehicle C based on the GPS signal and the position of the vehicle C based on the self-position estimation, when the variance of the position of the vehicle C acquired in a predetermined period is large, the traveling direction acquired based on the shift position is A configuration in which image composition is performed with priority is preferable.

  -Although it was set as the structure which performs the determination of the advancing direction by acceleration, when the inclination of the vehicle C is a steep inclination more than predetermined inclination, or when a vehicle speed belongs to the predetermined range, you may change this. Specifically, the determination of the traveling direction based on the acceleration may be performed regardless of the inclination of the vehicle C and the vehicle speed. Moreover, you may implement the determination of the advancing direction based on acceleration irrespective of dispersion | distribution of acceleration.

  -Although the transmission mechanism of the vehicle of the said embodiment was an automatic transmission, it changed this and a manual transmission may be sufficient.

  Instead of the traveling direction acquired based on the shift position, the driver's behavior and line of sight may be acquired by a camera, and the traveling direction of the vehicle C may be acquired based on the behavior and line of sight.

  -Instead of the structure of the said embodiment provided with two cameras as imaging | photography means on the front and back, the structure provided with one may be sufficient, and the structure provided with three or more may be sufficient.

  DESCRIPTION OF SYMBOLS 11 ... Front camera (photographing means), 12 ... Back camera (photographing means), 13 ... Image processing unit (Vehicle image processing device, 1st acquisition means, 2nd acquisition means, image creation means, direction determination means), 14 ... in-vehicle monitor (display means), 24 ... image memory (storage means), C ... vehicle.

Claims (7)

The present invention is applied to a vehicle provided with photographing means (11, 12) for photographing a predetermined range around the vehicle (C) and display means (14) for displaying a photographed image photographed by the photographing means, and is mounted on the vehicle. A vehicle image processing device (13),
A first acquisition unit that acquires a vehicle speed based on a vehicle speed pulse as a running state at the time of shooting by the shooting unit;
Storage means (24) for storing the photographed image as a past image;
Based on the running state acquired by the first acquisition unit, the past image stored in the storage unit and the current image captured by the imaging unit are combined to create a display image to be displayed on the display unit. Image creating means (23) to perform,
Direction determining means for determining a traveling direction of the vehicle based on an acquired value of a second acquiring means for acquiring an actual traveling mode of the vehicle;
With
The image creating means combines the past image and the current image based on the traveling direction determined by the direction determining means in addition to the traveling state acquired by the first acquiring means ,
The first acquisition means acquires the traveling direction of the vehicle as the traveling state based on a shift position of the vehicle in addition to the vehicle speed,
The image creation means, on the condition that the dispersion of the acquired values by the second acquisition means is larger than a predetermined value, the progress acquired by the first acquisition means without using the traveling direction determined by the direction determination means. An image processing apparatus for a vehicle , wherein the past image and the current image are synthesized using a direction . The second acquisition means acquires the inclination from an inclination detection means (18) for detecting the inclination of the vehicle,
The image creating means is a traveling direction determined by the direction determining means without using a traveling direction acquired based on the shift position of the vehicle on the condition that the inclination is a steep inclination equal to or greater than a predetermined inclination. using, image processing system as recited in claim 1, wherein the synthesis of said previous image and the current image. The present invention is applied to a vehicle provided with photographing means (11, 12) for photographing a predetermined range around the vehicle (C) and display means (14) for displaying a photographed image photographed by the photographing means, and is mounted on the vehicle. A vehicle image processing device (13),
A first acquisition unit that acquires a vehicle speed based on a vehicle speed pulse as a running state at the time of shooting by the shooting unit;
Storage means (24) for storing the photographed image as a past image;
Based on the running state acquired by the first acquisition unit, the past image stored in the storage unit and the current image captured by the imaging unit are combined to create a display image to be displayed on the display unit. Image creating means (23) to perform,
Direction determining means for determining a traveling direction of the vehicle based on an acquired value of a second acquiring means for acquiring an actual traveling mode of the vehicle;
With
The image creating means combines the past image and the current image based on the traveling direction determined by the direction determining means in addition to the traveling state acquired by the first acquiring means,
The first acquisition means acquires the traveling direction of the vehicle as the traveling state based on a shift position of the vehicle in addition to the vehicle speed,
The second acquisition means acquires the inclination from an inclination detection means (18) for detecting the inclination of the vehicle,
The image creating means is a traveling direction determined by the direction determining means without using a traveling direction acquired based on the shift position of the vehicle on the condition that the inclination is a steep inclination equal to or greater than a predetermined inclination. The vehicular image processing apparatus characterized in that the past image and the current image are synthesized using a computer. The image creating means uses the traveling direction determined by the direction determining means, without using the traveling direction acquired based on the shift position of the vehicle, on condition that the vehicle speed is smaller than a predetermined value. The vehicular image processing apparatus according to any one of claims 1 to 3 , wherein the past image and the current image are synthesized. The present invention is applied to a vehicle provided with photographing means (11, 12) for photographing a predetermined range around the vehicle (C) and display means (14) for displaying a photographed image photographed by the photographing means, and is mounted on the vehicle. A vehicle image processing device (13),
A first acquisition unit that acquires a vehicle speed based on a vehicle speed pulse as a running state at the time of shooting by the shooting unit;
Storage means (24) for storing the photographed image as a past image;
Based on the running state acquired by the first acquisition unit, the past image stored in the storage unit and the current image captured by the imaging unit are combined to create a display image to be displayed on the display unit. Image creating means (23) to perform,
Direction determining means for determining a traveling direction of the vehicle based on an acquired value of a second acquiring means for acquiring an actual traveling mode of the vehicle;
With
The image creating means combines the past image and the current image based on the traveling direction determined by the direction determining means in addition to the traveling state acquired by the first acquiring means,
The first acquisition means acquires the traveling direction of the vehicle as the traveling state based on a shift position of the vehicle in addition to the vehicle speed,
The image creating means uses the traveling direction determined by the direction determining means, without using the traveling direction acquired based on the shift position of the vehicle, on condition that the vehicle speed is smaller than a predetermined value. An image processing apparatus for a vehicle, wherein the past image and the current image are synthesized. The second acquisition means acquires the acceleration from an acceleration detection means (18) for detecting acceleration generated in the vehicle,
The vehicle image processing apparatus according to claim 1, wherein the direction determination unit determines a traveling direction of the vehicle based on the acceleration. The second acquisition means acquires the position from a position acquisition means (15) that receives a GPS signal from a GPS satellite and acquires the position of the vehicle,
The vehicle image processing apparatus according to claim 1, wherein the direction determination unit determines a traveling direction of the vehicle based on the change in the position.

Images