JP6413477B2 - Image display control device and image display system - Google Patents

Description

  Embodiments described herein relate generally to an image display control device and an image display system.

  2. Description of the Related Art Conventionally, there is known an image processing apparatus for a vehicle that creates and displays an image in which a pillar is transparent through a line of sight from the inside of the vehicle.

JP 2003-196645 A

  In this type of apparatus, for example, it is meaningful if a display form that makes it easier to recognize the positional relationship between the vehicle body and the outside of the vehicle is obtained.

The image display control device of the embodiment includes a mirror image creation unit that creates a mirror image showing at least the rear of the vehicle based on an image captured by an imaging unit provided on a vehicle body, and the mirror image created by the mirror image creation unit. An image superimposing unit that superimposes a vehicle body image showing at least a part of the vehicle body, a display control unit that controls the display device so that an image in which the mirror image and the vehicle body image are superimposed by the image superimposing unit is displayed; And at least one of brightness and color of the vehicle body image is adjusted corresponding to the mirror image, and the vehicle body image corresponds to a lower part of the vehicle and includes a plurality of lines along the vehicle front-rear direction and a plurality of vehicles. Includes a line along the width direction . Therefore, according to the present embodiment, for example, the discriminability of the vehicle body image is easily improved by adjusting at least one of the luminance and the color of the vehicle body image corresponding to the mirror image. Further, by including a line corresponding to the lower part of the vehicle, the distinguishability of the lower part of the vehicle such as the floor surface is more likely to be improved.

In the image display control device, for example, the lines along the plurality of vehicle front-rear directions include a line passing through a specific position in the vehicle width direction, and the lines along the plurality of vehicle width directions include the vehicle front-rear direction. Includes a line that passes through a specific location . Therefore, for example, it is easy to recognize the position of the vehicle body in the vehicle width direction and the position of the vehicle body in the vehicle front-rear direction.

In the image display control device, for example, an area outside the line of the frame corresponding to the window of the body image is filled in a state of transmitting the outside image, and is an area above the boundary line of the outside image. The luminance of the vehicle body image at is lower than the luminance of the vehicle body image in a region below the boundary line . Thus, for example, identification of the car body image is likely more increased.

Further, in the image display control device, for example, the boundary line, Ru boundary der the ground and the sky. Thus, for example, identification of the car body image is likely more increased.

The image display control system according to the embodiment includes, for example, an imaging unit that captures at least the rear of a vehicle provided on the vehicle body, a display device, and an image display control device. An image that superimposes a mirror image creation unit that creates a mirror image showing at least the rear of the vehicle based on an image captured by the imaging unit, and a vehicle body image that shows at least a part of the vehicle body created by the mirror image creation unit A superimposing unit; and a display control unit that controls a display device so that an image in which the mirror image and the vehicle body image are superimposed by the image superimposing unit is displayed, and at least one of luminance and color of the vehicle body image Is set corresponding to the characteristic of the mirror image , and the vehicle body image includes a plurality of lines along the vehicle front-rear direction and a plurality of lines along the vehicle width direction corresponding to the lower part of the vehicle . Therefore, according to the present embodiment, for example, the discriminability of the vehicle body image is easily improved by adjusting at least one of the luminance and the color of the vehicle body image corresponding to the mirror image. Further, by including a line corresponding to the lower part of the vehicle, the distinguishability of the lower part of the vehicle such as the floor surface is more likely to be improved.

FIG. 1 is an exemplary schematic configuration diagram of an image display system according to an embodiment. FIG. 2 is a diagram illustrating an example of an image displayed on the display device of the image display system according to the embodiment. FIG. 3 is a plan view of an example of an imaging range by the imaging unit of the image display system according to the embodiment. FIG. 4 is a side view of an example of an imaging range by the imaging unit of the image display system of the embodiment. FIG. 5 is a plan view of another example of the imaging range by the imaging unit of the image display system of the embodiment. FIG. 6 is a side view of another example of the imaging range by the imaging unit of the image display system of the embodiment. FIG. 7 is an exemplary explanatory diagram of the entire area and the display range of the outside image obtained by the image display system of the embodiment. FIG. 8 is a diagram showing an example of a display range in an outside image obtained by the image display system of the embodiment. FIG. 9 is a diagram illustrating an example of a vehicle body image displayed on the display device of the image display system according to the embodiment. FIG. 10 is an exemplary block diagram of a control unit included in the image display system of the embodiment. FIG. 11 is an exemplary flowchart of a processing procedure of the image display system according to the embodiment. FIG. 12 is an exemplary conceptual diagram including the position of the vehicle at the time of parking and an image (output image) displayed on the display device of the image display system according to the embodiment at the position. It is a figure in the state before reaching | attaining. FIG. 13 is a diagram showing an example of an image displayed on the display device of the image display system of the embodiment, and is a diagram in a state where the vehicle is running on a road. FIG. 14 is a diagram illustrating an example of a vehicle body image of the image display system according to the embodiment. FIG. 15 is a diagram illustrating another example of the vehicle body image of the image display system according to the embodiment.

  Hereinafter, exemplary embodiments and modifications of the present invention will be disclosed. The configurations of the embodiments and modified examples described below, and the operations, results, and effects brought about by the configurations are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments and modifications. Further, according to the present invention, it is possible to obtain at least one of various effects and derivative effects obtained by the configuration.

  In addition, the same components are included in the embodiments and examples disclosed below. In the following, common reference numerals are given to similar components, and redundant description is omitted.

<Embodiment>
As shown in FIG. 1, the image display system 100 equipped in the vehicle 1 includes an ECU 11 (electronic control unit) that controls an image displayed on a display unit 10 a as a display device. The ECU 11 is an example of a display control unit or an image display control device. The display unit 10a is provided in place of, for example, a rear view mirror (not shown) provided at the front and upper part of the vehicle interior. Based on the image captured by the imaging unit 12, the display unit 10a displays an image resembling a mirror image reflected in a room mirror provided at the front and upper part of the vehicle interior as illustrated in FIG. The A passenger such as a driver can use the display unit 10a as a room mirror or instead of a room mirror. The room mirror can also be referred to as a rearview mirror.

  In the case of the vehicle 1 provided with the rearview mirror, the display unit 10a of the housing 10 can be attached to the rearview mirror by, for example, an attachment or an attachment so as to cover the mirror surface of the rearview mirror. On the display unit 10a, an image that is opposite to the left and right of the image captured by the imaging unit 12 provided outside the vehicle, that is, outside the passenger compartment is displayed. The display unit 10a can be configured as, for example, an LCD (liquid crystal display), an OELD (organic electro-luminescent display), a projector device, or the like. ECU11 may be accommodated in the housing | casing 10 of the display part 10a, and may be accommodated in the housing | casing provided in the place different from the display part 10a. Note that a half mirror (not shown) may be provided on the front side, that is, the rear side of the display unit 10a. In this case, in a state where the image display system 100 is not used and no image is displayed on the display unit 10a, the half mirror can be used as a room mirror. Further, the housing 10 may be provided with an imaging unit 12I as shown in FIGS.

  As illustrated in FIG. 2, the output image Im as an image displayed on the display unit 10a includes a vehicle exterior image Imo indicated by a solid line and a vehicle body image Imi indicated by a broken line. The vehicle outside image Imo can be generated from images acquired by one or a plurality of imaging units 12. The imaging unit 12 is a digital camera that incorporates an imaging device such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 12 can output image data, that is, moving image data at a predetermined frame rate. In the example of FIGS. 3 to 6, the imaging unit 12 includes an imaging unit 12 </ b> R that captures the rear of the vehicle body, that is, the rear outside the vehicle compartment, and an imaging unit 12 </ b> S that images the side of the vehicle body, that is, the lateral side outside the vehicle interior. It can be done. The imaging units 12R and 12S may capture images including both the rear and side of the vehicle body. The imaging unit 12 may be a wide angle lens or a fisheye lens. The ECU 11 can synthesize images acquired by the plurality of imaging units 12 by a known technique to obtain a series of outside-vehicle images Imo as illustrated in FIG. The vehicle outside image Imo may be a panoramic image. In the present embodiment, a plurality of imaging units 12 provide a relatively wide range on the rear and side of the vehicle 1 so that the vehicle outside image Imo at each position in a relatively wide range can be displayed on the display unit 10a. Imaged. Then, as shown in FIG. 8, a part of the wide range is used, that is, displayed in the composite image as the output image Im. In the example of FIGS. 3 and 4, the imaging units 12 that image the outside of the vehicle are provided on each of the left and right sides of the vehicle 1 and are provided on the rear end 1 b of the vehicle 1. Specifically, the imaging unit 12S that images the side and the rear outside the vehicle compartment is provided in the door mirror, and the imaging unit 12R that images the rear and the side outside the vehicle cabin is provided in the rear hatch. 5 and 6, the imaging unit 12 that images the outside of the vehicle is provided at the left end and the right end of the rear end portion 1 b of the vehicle 1 and at the rear end portion 1 b of the vehicle 1. In addition, the imaging ranges of the plurality of imaging units 12 are vertically different. Specifically, the imaging units 12S that capture the sides and the rear outside the passenger compartment are provided at the upper portions of the left and right corners on the rear side of the vehicle body, respectively, and the imaging units 12R that capture the rear and the sides outside the passenger compartment are The rear bumper is provided. The outside image Imo may be an image captured by one imaging unit 12 or an image based on a part thereof. The outside image Imo is an example of a mirror image. In FIG. 2 and the like, for the sake of convenience, the outside image Imo is indicated by a solid line and the vehicle body image Imi is indicated by a broken line for the sake of convenience. The actual outside image Imo is not limited to a solid line, and the vehicle body image Imi is not limited to a broken line. Further, the imaging unit 12 may be provided in the vehicle interior.

  2 and 9, the vehicle body image Imi includes a contour line Lo or an edge as a display element drawn in a three-dimensional frame shape showing the structure of the vehicle body. The vehicle body components indicated by the contour line Lo are, for example, corners, edges, windows, pillars, doors, floors, ceilings, trims, wheels, axles, differential gears, and the like of the vehicle body. The vehicle body image Imi is not limited to the vehicle body shape as long as the occupant can roughly recognize the position and shape of the vehicle 1. The vehicle body image Imi may be a schematic one. The region between the contour lines Lo may be colored in a state where the vehicle outside image Imo is transmitted.

  2 and 9, the vehicle body image Imi is a line drawing (line diagram). A line as a display element included in a line drawing can have various display modes. Examples of display modes include type, surface density, width, thickness, density, transparency, color, and pattern. The types include, for example, a solid line, a broken line, a one-dot chain line, a two-dot chain line, a broken line, a jagged line, and a wavy line. The surface density is a density per unit area of the screen or image. For example, in the case of the same thickness, the surface density of the solid line is larger than the surface density of the broken line. In addition, the line drawing can include a plurality of lines having locally different display modes. In addition, the line drawing may partially include dots, symbols, characters, figures, and the like. The display mode of these line drawings can be set or changed according to the vehicle state such as the traveling state or the operation state.

  As illustrated in FIG. 2, the vehicle body image Imi is displayed together with the vehicle outside image Imo on the display unit 10 a, so that the occupant can recognize the relative position between the vehicle 1 and the object B outside the vehicle, the vehicle 1 and the object B It is easy to recognize the distance, the direction of the object B, the size of the object B, and the like. Further, as shown in FIGS. 2 and 9, the vehicle body image Imi includes a portion Pw indicating an end portion of the vehicle body in the vehicle width direction, a portion Pr indicating the rear end portion of the vehicle body, and a portion Pb indicating the lower portion of the vehicle body. Can be included. Further, in the vehicle body image Imi, a portion Pbw indicating an end portion in the vehicle width direction at the lower portion of the vehicle body, a portion Pbr indicating a rear end portion in the vehicle longitudinal direction at the lower portion of the vehicle body, and a rear portion in the vehicle longitudinal direction at the side portion of the vehicle body. A portion Psr indicating an end portion or the like may be included. The vehicle body image Imi is created so that at least the lower part of the vehicle body can be recognized two-dimensionally, that is, two-dimensionally. Therefore, the occupant can easily recognize, for example, the planar size, shape, and part of the vehicle body. For example, the occupant can easily recognize the size and height of the object B outside the passenger compartment, the positional relationship of the object B in the horizontal direction, and the like with reference to the vehicle body image Imi.

  The vehicle body image Imi is stored in advance in a nonvolatile storage unit. The storage unit can store vehicle body images Imi for a plurality of vehicle types. In this case, for example, the vehicle body image Imi selected according to the vehicle type of the vehicle 1, the user's preference, or the like can be used as the composite image. The storage unit may be, for example, the SSD 11d shown in FIG. In addition, the ECU 11 can transform the vehicle body image Imi based on an input instruction or operation or the like at the operation input unit 10b in a setting operation such as calibration. Specifically, for example, the vehicle body image Imi is deformed such that the vehicle body image Imi is stretched left and right as it goes upward, is stretched up and down, and the vertical and horizontal positions are changed. Is changed. In this case, the changed body image Imi is stored in the storage unit, and the changed body image Imi is used as the composite image. In addition, as the vehicle body image Imi, an indoor image captured by the imaging unit 12I, an image in which the indoor image is changed, or the like may be used.

  The ECU 11 can set or change the transmission ratio α of the vehicle body image Imi, that is, the composition ratio with the vehicle exterior image Imo. In a relatively simple example, for each point in a state where the vehicle exterior image Imo and the vehicle body image Imi are aligned with each other, the vehicle body image Imi has a luminance of x1, the vehicle exterior image Imo has a luminance of x2, and the transmittance is α (0 When ≦ α ≦ 1), the luminance x of the superimposed composite image at each point can be x = (1−α) × x1 + α × x2. The transmittance α can be set to an arbitrary value.

  Further, the ECU 11 can change the display range Ad of the output image Im as the composite image and the outside image Imo according to the situation of the vehicle 1. The ECU 11 can use detection results of various sensors, instruction signals, and the like as signals or data serving as triggers for changing the display range Ad. The detection results include, for example, the non-contact measuring device 13 shown in FIG. 1, the steering angle sensor 14 for the front wheels, the steering angle sensor 15a of the rear wheel steering system 15, the GPS 16 (global positioning system), the wheel speed sensor 17, the brake This is a detection result of the brake sensor 18a of the system 18, the accelerator sensor 19, the torque sensor 20a of the front wheel steering system 20, the shift sensor 21, and the like. The instruction signal is, for example, an instruction signal acquired from the direction indicator 22 or the operation input unit 24b. The instruction signal can also be referred to as a control signal, a switching signal, an operation signal, an input signal, instruction data, or the like.

  Further, the ECU 11 determines the output image Im and the outside image Imo according to the detection result by the object detection unit 111 shown in FIG. 10, the position of the vehicle 1 by the vehicle position acquisition unit 113, the detection result by the background detection unit 114, and the like. The display range Ad, the transparency α, the color (hue), the luminance, the saturation, and the like of the vehicle body image Imi can be set or changed. When the vehicle body image Imi is a line drawing, the ECU 11 may set or change the thickness of the outline Lo of the vehicle body image Imi, the presence or absence of a shadow, and the like.

  As shown in FIG. 1, the electrical components included in the image display system 100 are connected electrically or communicably via, for example, an in-vehicle network 23. The electrical components include, for example, the non-contact measuring device 13, the steering angle sensor 14, the steering angle sensor 15a, the GPS 16, the wheel speed sensor 17, the brake sensor 18a, the accelerator sensor 19, the torque sensor 20a, the shift sensor 21, and the direction indicator 22. The operation input unit 24b. The in-vehicle network 23 is, for example, a CAN (controller area network). Each electrical component may be electrically or communicably connected via other than CAN.

  The non-contact measuring device 13 is, for example, a sonar or radar that emits ultrasonic waves or radio waves and captures the reflected waves. The ECU 11 can measure the presence / absence of the object B as an obstacle and the distance to the object B as shown in FIG. 2 positioned around the vehicle 1 based on the detection result of the non-contact measuring device 13. That is, the non-contact measuring device 13 is an example of a distance measuring unit and an object detecting unit.

  The steering angle sensor 14 is a sensor that detects a steering amount of a steering wheel (not shown) as a steering unit, and is configured using, for example, a Hall element. The rudder angle sensor 15a is a sensor that detects the steering amount of the rear wheel 2R, and is configured using, for example, a hall element. Note that the steering amount is detected as, for example, a rotation angle.

  The wheel speed sensor 17 is a sensor that detects the amount of rotation of the wheel 2 (2F, 2R) and the number of rotations per unit time, and is configured using, for example, a Hall element. The ECU 11 can calculate the amount of movement of the vehicle 1 based on the data acquired from the wheel speed sensor 17. The wheel speed sensor 17 may be provided in the brake system 18.

  The brake system 18 includes an anti-lock brake system (ABS) that suppresses the locking of the brake, a skid prevention device (ESC: electronic stability control) that suppresses the skidding of the vehicle 1 during cornering, and an electric brake system that increases the braking force. BBW (brake by wire). The brake system 18 applies a braking force to the wheels 2 via an actuator (not shown), and decelerates the vehicle 1. The brake sensor 18a is, for example, a sensor that detects an operation amount of a brake pedal.

  The accelerator sensor 19 is a sensor that detects an operation amount of an accelerator pedal. The torque sensor 20a detects torque that the driver gives to the steering unit. The shift sensor 21 is, for example, a sensor that detects the position of the movable part of the speed change operation part, and is configured using a displacement sensor or the like. The movable part is, for example, a lever, an arm, a button, or the like. Note that the configuration, arrangement, electrical connection form, and the like of the various sensors and actuators described above are examples, and can be variously set or changed. The direction indicator 22 outputs a signal for instructing to turn on, turn off, blink, etc. the direction indication light.

  The display unit 10a can be covered with a transparent operation input unit 10b. The operation input unit 10b is, for example, a touch panel. A passenger or the like can visually recognize an image displayed on the display screen of the display unit 10a via the operation input unit 10b. Further, the occupant or the like operates variously in the image display system 100 by touching, pushing, or moving the operation input unit 10b with a finger or the like at a position corresponding to the image displayed on the display screen of the display unit 10a. The operation input can be executed.

  Further, a display unit 24a different from the display unit 10a and an audio output device 24c are provided in the vehicle. The display unit 24a is, for example, an LCD or an OELD. The audio output device 24c is, for example, a speaker. Further, the display unit 24a is covered with a transparent operation input unit 24b. The operation input unit 24b is, for example, a touch panel. A passenger or the like can visually recognize an image displayed on the display screen of the display unit 24a via the operation input unit 24b. In addition, an occupant or the like can perform an operation input by operating the operation input unit 24b with a finger or the like at a position corresponding to an image displayed on the display screen of the display unit 24a. Can do. And these display part 24a, operation input part 24b, audio | voice output apparatus 24c, etc. can be provided in the monitor apparatus 24 located in the vehicle width direction of a dashboard, ie, the center part of the left-right direction, for example. The monitor device 24 can include an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button, for example. The monitor device 24 can also be used as a navigation system or an audio system. The ECU 11 can cause the display unit 24a of the monitor device 24 to display an image similar to that of the display unit 10a.

  The ECU 11 includes, for example, a CPU 11a (central processing unit), a ROM 11b (read only memory), a RAM 11c (random access memory), an SSD 11d (solid state drive), a display control unit 11e, an audio control unit 11f, and the like. The SSD 11d may be a flash memory. The CPU 11a can execute various calculations. The CPU 11a can read a program installed and stored in a nonvolatile storage device such as the ROM 11b or the SSD 11d, and execute arithmetic processing according to the program. The RAM 11c temporarily stores various types of data used in computations by the CPU 11a. The SSD 11d is a rewritable nonvolatile storage unit, and can store data even when the ECU 11 is powered off. The display control unit 11e mainly performs image processing using image data obtained by the imaging unit 12, image processing of image data displayed by the display units 10a and 24a, etc. Run. Image processing is, for example, composition. In addition, the voice control unit 11f mainly executes processing of voice data output from the voice output device 24c among the arithmetic processing in the ECU 11. Note that the CPU 11a, the ROM 11b, the RAM 11c, and the like can be integrated in the same package. Further, the ECU 11 may have a configuration in which another logical operation processor such as a DSP (digital signal processor) or a logic circuit is used instead of the CPU 11a. Further, an HDD (hard disk drive) may be provided instead of the SSD 11d, and the SSD 11d and the HDD may be provided separately from the ECU 11.

  In the present embodiment, for example, the output image Im corresponding to the mirror image of the room mirror is displayed on the display unit 10a by the image processing of the ECU 11. In this case, functions, coefficients, constants, data, etc. for performing coordinate transformation from the vehicle exterior image Imo to the output image Im corresponding to the mapping of the room mirror are the mapping of the room mirror of a plurality of markers actually arranged outside the vehicle or inside the vehicle. The position can be obtained by actually acquiring the position in the inside, performing calibration by imaging, or performing geometric calculation. The function may be a conversion formula, a conversion matrix, or the like. The output image Im is, for example, an image similar to a mapping of a room mirror, a registered image, a suitable image, or the like. In addition, the position, size, shape, etc., of the body image Imi are actually acquired in the mapping of the room mirror of multiple markers that are actually placed outside or inside the vehicle, or calibration by imaging is performed. Or by performing a geometric operation.

  In the present embodiment, for example, the ECU 11 functions as at least a part of the image display control device by cooperation of hardware and software (program). That is, in this embodiment, for example, as shown in FIG. 10, the ECU 11 displays the vehicle outside image creation unit 110 and the object detection unit in addition to the display control unit 11 e and the voice control unit 11 f also shown in FIG. 1. 111, an image creation unit 112, a vehicle position acquisition unit 113, a background detection unit 114, a display mode change unit 115, a display range determination unit 116, an additional image creation unit 117, and the like. The program can include, for example, modules corresponding to the blocks shown in FIG. Further, the image processing can be executed by the CPU 11a in addition to the display control unit 11e. The vehicle exterior image creation unit 110 is an example of a mirror image creation unit, and the image creation unit 112 is an example of an image superimposing unit.

  For example, the outside image creation unit 110 connects a plurality of (for example, three) images captured by the imaging unit 12 outside the vehicle by synthesizing their boundary portions, and creates a series of outside images Imo. At this time, the vehicle exterior image creation unit 110 creates a vehicle exterior image Imo that resembles the mirror image of the room mirror by the line of sight of the occupant by performing coordinate conversion or the like on the image captured by the imaging unit 12 or the synthesized image. Regarding the alignment, the coordinates of the outside-vehicle image Imo obtained from the imaging unit 12 are converted into coordinates corresponding to the vehicle body image Imi based on experimental results obtained in advance. Further, the size of the image Imb of the object B in the vehicle outside image Imo can be corrected using the measurement result of the distance to the object B by the non-contact measuring device 13. It should be noted that the vehicle outside image Imo only needs to have little or no discomfort for the occupant to view, and does not have to be perfectly aligned with the mirror image when the room mirror is provided.

  For example, the object detection unit 111 detects the object B outside the vehicle by performing image processing on the vehicle outside image Imo created by the vehicle outside image creation unit 110. The object B is, for example, a vehicle, an object, a person, or the like. When detecting the object B, for example, pattern matching or the like can be used. In addition, the object detection unit 111 can detect the object B outside the vehicle from the data obtained from the non-contact measurement device 13, and the image processing result of the image Imo outside the vehicle and the non-contact measurement device 13 obtained. The object B outside the vehicle can be detected from the data. Further, the object detection unit 111 may acquire the distance from the vehicle 1 to the object B from the result of image processing of the vehicle outside image Imo or the data obtained from the non-contact measurement device 13.

  The image creation unit 112 creates an output image Im including a composite image in which the vehicle body image Imi and the vehicle exterior image Imo are superimposed on at least the display range Ad displayed on the display unit 10a. Note that the image creating unit 112 may further synthesize an indoor image based on the imaging unit 12I (see FIGS. 3 to 6 and the like) that captures the interior of the vehicle interior. In this case, for example, an indoor image in which a window portion is cut out by image processing can be superimposed as a transmission image.

  The vehicle position acquisition unit 113 includes, for example, data from the GPS 16, detection results of the non-contact measurement device 13, wheel speed detected by the wheel speed sensor 17, rudder angle detected by the rudder angle sensors 14 and 15 a, imaging unit The position of the vehicle 1 can be acquired from the image processing result of the vehicle outside image Imo acquired by 12.

  The background detection unit 114 detects the characteristics of the background image, for example, by performing image processing on the vehicle outside image Imo created by the vehicle outside image creation unit 110 serving as the background of the vehicle body image Imi. The characteristics of the detected image are, for example, the color, brightness, and saturation of the image. The background detection unit 114 can acquire image characteristics of a partial region of the outside-vehicle image Imo. For example, the background detection unit 114 can acquire image attributes of a region overlapping with the vehicle body image Imi and a region adjacent thereto. Further, the background detection unit 114 can acquire image characteristics for each part, for example, for each preset section. Note that the background detection unit 114 may detect an average value or a total value of image characteristics for the entire outside-vehicle image Imo.

  The display mode changing unit 115 includes, for example, the non-contact measuring device 13, the steering angle sensors 14, 15a, the GPS 16, the wheel speed sensor 17, the brake sensor 18a, the accelerator sensor 19, the torque sensor 20a, the shift sensor 21, and the direction indicator 22. Information indicating the vehicle state such as the detection result acquired from the signal, the data, the instruction signal of the operation input unit 24b, the detection result of the object detection unit 111, the position of the vehicle 1 acquired by the vehicle position acquisition unit 113, Depending on the detection result of the background detection unit 114, the display mode of at least one of the vehicle body image Imi and the vehicle exterior image Imo can be changed. For example, the display mode changing unit 115 can change the transmittance α, the color, the luminance, the saturation, and the like of the vehicle body image Imi. In addition, when the synthesized image includes an indoor image, the display mode changing unit 115 can change the transparency of the indoor image.

  The display range determination unit 116 includes, for example, the non-contact measurement device 13, the steering angle sensors 14 and 15 a, the GPS 16, the wheel speed sensor 17, the brake sensor 18 a, the accelerator sensor 19, the torque sensor 20 a, the shift sensor 21, and the direction indicator 22. Display range Ad according to the detection result acquired from the signal, the data, the instruction signal of the operation input unit 24b, the detection result of the object detection unit 111, the position of the vehicle 1 acquired by the vehicle position acquisition unit 113, and the like. Can be changed.

  The additional image creation unit 117 can add the additional image Ima to the output image Im, for example. The additional image Ima is an artificial image such as an emphasis display of an object detected by the object detection unit 111 or a display of a line such as a lane or a parking frame. The highlighting is, for example, a frame or a fill.

  For example, the image display system 100 according to the present embodiment can execute processing in a procedure as shown in FIG. First, the ECU 11 is obtained from the non-contact measuring device 13, the steering angle sensors 14, 15a, the GPS 16, the wheel speed sensor 17, the brake sensor 18a, the accelerator sensor 19, the torque sensor 20a, the shift sensor 21, the direction indicator 22, and the like. Obtain detection results, signals, data, instruction signals such as operation input unit 24b, detection results of object detection unit 111, position of vehicle 1 acquired by vehicle position acquisition unit 113, detection results of background detection unit 114, etc. Then, it is compared with each reference value to determine whether or not a condition for changing the display range Ad is satisfied (S1). When the condition for changing the display range Ad is satisfied, the ECU 11 functions as the display range determining unit 116, and changes the display range Ad to a position or a width according to the condition (S2). Next, the ECU 11 is acquired from the non-contact measuring device 13, the steering angle sensors 14, 15a, the GPS 16, the wheel speed sensor 17, the brake sensor 18a, the accelerator sensor 19, the torque sensor 20a, the shift sensor 21, the direction indicator 22, and the like. Detection result, signal, data, instruction signal of operation input unit 24b, detection result of object detection unit 111, position of vehicle 1 acquired by vehicle position acquisition unit 113, detection result of background detection unit 114, etc. Then, it is compared with each reference value to determine whether or not a condition for changing the display mode is satisfied (S3). When the condition for changing the display mode is satisfied, the ECU 11 functions as the display mode changing unit 115 and changes the display mode according to the condition (S4). An example of S4 will be described later. The ECU 11 functions as the vehicle exterior image creation unit 110, the object detection unit 111, and the like, and also functions as the image creation unit 112, and creates an output image Im corresponding to the set (changed) display mode and display range Ad. (S5). In S5, an output image Im including the additional image Ima can be created. Then, the display control unit 11e controls the display unit 10a so that the created output image Im is displayed (S6).

  In the present embodiment, as shown in FIGS. 2 and 9, the vehicle body image Imi includes a plurality of lines Ll along the vehicle longitudinal direction and a plurality of lines Lw along the vehicle width direction corresponding to the lower part of the vehicle 1. , A line Lcl along the vehicle longitudinal direction passing through the specific position in the vehicle width direction, and a line Lsw along the vehicle width direction passing through the specific position in the vehicle longitudinal direction, for example, the position of the rear pillar or the rear wheel, are included. . The lines Ll and Lw are arranged in a frame shape or a lattice shape, and a display area Ab corresponding to the lower part of the vehicle body is formed. Further, the display mode of the lines Lcl and Lsw is different from the display mode of the other lines Ll and Lw. Specifically, the widths (thicknesses) of the lines Lcl and Lsw are larger than the widths of the lines Ll and Lw, and the luminances of the lines Lcl and Lsw are higher than the luminances of the lines Ll and Lw. In addition, the vehicle body image Imi includes a line Lv (part Psr) along the vehicle vertical direction at the side portion or the rear portion of the vehicle body. Further, the vehicle body image Imi includes lines Ll and Lw as display elements whose intervals become narrower toward the rear of the vehicle. Each feature makes it easier for the occupant to recognize the position of the floor of the vehicle body, for example. The occupant can easily recognize, for example, the position of the vehicle body in the vehicle longitudinal direction and the position of the vehicle body in the vehicle width direction. In addition, since the occupant can recognize the position in the vehicle front-rear direction and the position in the vehicle width direction at a height corresponding to the lower part of the vehicle body, for example, as compared with the case where the lines Lcl and Lsw are provided at other height positions. The position of the object B in the vehicle front-rear direction or the vehicle width direction can be easily recognized with higher accuracy. The occupant can easily recognize the position of the vehicle body in the vertical direction of the vehicle, for example. Therefore, the occupant can easily recognize, for example, the position relative to the object B, the size of the object B, and the like with higher accuracy or more easily. Lines Ll, Lw, Lcl, Lsw, and Lv are examples of display elements. The display area Ab is an example of an area. The lines Ll, Lw, Lcl, Lsw, Lv and the display area Ab are examples of scales. The line Lv does not need to extend in the vertical direction, and may be inclined with respect to the vertical direction. A plurality of lines Lv may be arranged along the other lines Ll and Lw at intervals like a scale.

  FIG. 12 shows an output image Im when, for example, the vehicle 1 turns to the left and parks backward to the expected arrival position. As illustrated in FIG. 12, the additional image creating unit 117 adds a frame-like highlighting Imf1 surrounding the detected image B to the image Imb of the detected object B, and adds it to the image Iml of the frame line L on the road surface. In addition, a band-like emphasis display Imf2 that overlaps with the image Iml is added, an image Imf3 that indicates an expected arrival position that is separated by a predetermined distance from the current position is added, and further, movement that is predicted from the expected arrival position, the steering angle, and the like A linear image Imf4 indicating the route is added. The images Imf3 and Imf4 correspond to the display area Ab corresponding to the lower part of the vehicle body. For example, the side edges of the images Imf3 and Imf4 can be drawn so as to coincide with the side edges of the display area Ab at the predicted arrival position. According to the present embodiment, for example, the driver can more easily recognize the surroundings of the vehicle 1, the situation outside the vehicle in the traveling direction, the parking target position P, the predicted arrival position, the movement route, and the like. Further, according to the present embodiment, for example, the occupant can easily grasp the expected movement path of the vehicle 1 based on the vehicle body image Imi including the display area Ab and the images Imf3 and Imf4 corresponding to the display area Ab.

  FIG. 13 shows, for example, an output image Im in a road running state before the vehicle 1 changes lanes to the right side in the traveling direction, that is, the left lane in FIG. As illustrated in FIG. 13, the display mode changing unit 115 changes the color, brightness, saturation, and the like of the vehicle body image Imi for each place according to the vehicle outside image Imo as the background. Specifically, the display mode changing unit 115 sets the color of the vehicle body image Imi to, for example, black in a portion overlapping the sky area above the horizon in the outside image Imo, and below the horizon in the outside image Imo. In a portion overlapping the road surface area, the color of the outside image Imi is set to, for example, white. In addition, in FIG. 13, it represents with the broken line and the white line. In this way, by setting the color, luminance, saturation, and the like of the vehicle body image Imi according to the background, that is, the vehicle exterior image Imo, the distinguishability of the vehicle body image Imi is likely to increase. Further, the display mode changing unit 115 can be referred to as a display mode adjusting unit, a display mode setting unit, and a display mode determining unit.

  The display mode changing unit 115 determines the characteristics of the vehicle body image Imi, that is, the color, brightness, and saturation depending on the characteristics of the outside image Imo as the background of the vehicle body image Imi, that is, the color, brightness, and saturation. Can be adjusted. For example, the luminance of the vehicle body image Imi is set so that the difference from the luminance of the vehicle exterior image Imo is equal to or greater than a predetermined value. Thereby, for example, when the vehicle outside image Imo is dark, the vehicle body image Imi becomes bright, and when the vehicle outside image Imo is bright, the vehicle body image Imi becomes dark. Further, the portion of the vehicle body image Imi that overlaps the dark region of the vehicle exterior image Imo becomes bright, and the portion of the vehicle body image Imi that overlaps the bright region of the vehicle exterior image Imo becomes dark. That is, the contrast as the brightness difference between the vehicle exterior image Imo and the vehicle body image Imi is set higher than a predetermined value. Therefore, the discriminability of the vehicle body image Imi is likely to increase.

  Further, for example, the color (hue) of the vehicle exterior image Imo and the color (hue) of the vehicle body image Imi may be set to colors opposite to the hue circle, that is, complementary colors. As a result, a difference is generated between the hue of the vehicle outside image Imo and the hue of the vehicle body image Imi. Therefore, the discriminability of the vehicle body image Imi is likely to increase. Instead of a combination of complementary colors, for example, a combination of colors on the opposite side of the hue circle such as a combination of colors in the vicinity of two complementary colors may be used. In addition, when the outside image Imo includes a bright light blue or white area such as the sky, a portion overlapping the area of the outside image Imi may be black.

  For example, the color saturation of the vehicle body image Imi may be set so that the difference from the color saturation of the vehicle exterior image Imo is equal to or greater than a predetermined value. Thereby, the vehicle outside image Imo and the vehicle body image Imi may be more easily distinguished than when the saturation difference is low. Therefore, the discriminability of the vehicle body image Imi is likely to increase. In addition to the adjustment of color, brightness, saturation, etc., the thickness of the line, line type, presence / absence of shadow, etc. may be adjusted.

  The display mode changing unit 115 can acquire the characteristics of the vehicle body image Imi corresponding to the characteristics of the outside-vehicle image Imo based on a map, information, or the like as information stored in the SSD 11d as a storage unit. Further, the display mode changing unit 115 can acquire the characteristics of the vehicle body image Imi corresponding to the characteristics of the vehicle exterior image Imo from the function indicating the relationship between the characteristics of the vehicle exterior image Imo and the characteristics of the vehicle body image Imi. Further, the display mode changing unit 115 may improve the discrimination between the vehicle exterior image Imo and the vehicle body image Imi by at least one of color, brightness, and saturation, and at least one of color, brightness, and saturation. The discriminability between the vehicle exterior image Imo and the vehicle body image Imi may be enhanced by the combination of the two. Further, the outside image Imo changes with time. Therefore, for example, the display mode changing unit 115 can determine the characteristics of the vehicle body image Imi each time the vehicle outside image Imo is updated, or can determine the characteristics of the vehicle body image Imi at predetermined time intervals. Alternatively, when a sensor for detecting the brightness of the background, such as a luminance sensor (not shown) or an illuminance sensor, is provided, the display mode changing unit 115 determines the characteristics of the vehicle body image Imi based on the detection result of the sensor. May be. In this case, the display mode changing unit 115 of the ECU 11 may select, for example, the vehicle body image Imi corresponding to the detection result from the plurality of stored vehicle body images Imi. In this case, the arithmetic processing is easily simplified. In the present embodiment, it can also be said that a brightness sensor is configured by the imaging unit 12 and the background detection unit 114.

  FIG. 14 illustrates a vehicle body image Imi having different characteristics for each of the areas A1 to A3. In the example of FIG. 14, the luminance of the line Lo1 of the vehicle body image Imi in the region A1 is the highest, the luminance of the line Lo2 of the vehicle body image Imi of the region A2 is lower than the luminance of the line Lo1, and the line Lo3 of the vehicle body image Imi of the region A3. Is set lower than the luminance of the line Lo2. As in this example, the characteristics of the vehicle body image Imi can be changed in three or more stages. Further, the characteristics of the vehicle body image Imi may change gradually. In this case, gradation is generated in the vehicle body image Imi.

  FIG. 15 illustrates a vehicle body image Imi configured as a transmission image instead of a line drawing. In the example of FIG. 15, the vehicle body image Imi is filled in a region outside the frame line Low corresponding to the window in a state of transmitting the vehicle outside image Imo (not shown in FIG. 15) with a transmittance α. The luminance of the vehicle body image Imi in the region A4 above the boundary line PL of the outside image is lower than the luminance of the vehicle body image Imi in the region A5 below the boundary line PL. Even in such an example, the discriminability of the vehicle body image Imi is likely to increase. The boundary line PL is, for example, a boundary line between an inclined ground and the sky. Further, the vehicle body image Imi may be at least partially free of contour lines.

  As described above, in the present embodiment, at least one of the luminance and the color of the vehicle body image Imi is adjusted corresponding to the vehicle outside image Imo (mirror image). Therefore, according to the present embodiment, for example, the discriminability of the vehicle body image Imi is likely to be improved by adjusting at least one of the brightness and the color of the vehicle body image Imi corresponding to the vehicle exterior image Imo.

  In the present embodiment, at least one of the luminance and the color of the vehicle body image Imi differs depending on the location of the vehicle body image Imi. That is, at least one of luminance and color is adjusted for each location of the vehicle body image Imi corresponding to the vehicle exterior image Imo (mirror image). Therefore, for example, the discriminability of the vehicle body image Imi is likely to increase.

  In the present embodiment, at least one of the luminance and the color of the vehicle body image Imi changes according to the change in the vehicle outside image Imo. Therefore, for example, at least one of the luminance and the color of the vehicle body image Imi is adjusted according to the time-dependent change of the vehicle exterior image Imo (mirror image), and thus the discriminability of the vehicle body image Imi is more likely to increase.

  In the present embodiment, the brightness of the vehicle body image Imi is set so that the difference from the brightness of the vehicle exterior image Imo is equal to or greater than a predetermined value. Therefore, for example, the discriminability of the vehicle body image Imi is more likely to increase due to the difference between the luminance of the vehicle exterior image Imo (mirror image) and the luminance of the vehicle body image Imi.

  In the present embodiment, the color of the vehicle body image Imi is set to a complementary color of the color of the portion where the vehicle body image Imi of the vehicle exterior image Imo overlaps. Therefore, for example, the discriminability of the vehicle body image Imi is more likely to increase due to the difference between the hue of the vehicle exterior image Imo (mirror image) and the hue of the vehicle body image Imi.

  As mentioned above, although embodiment of this invention was illustrated, the said embodiment is an example and is not intending limiting the range of invention. The embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the scope of the invention. In addition, the configuration and shape of each example can be partially exchanged. In addition, specifications (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) of each configuration and shape, etc. are changed as appropriate. can do.

  The display unit 10a may be a device that displays an image on a front window, a screen in a vehicle, or the like, or may be a display panel provided on a dashboard or a center console in the vehicle. The display panel may be provided in a cockpit module, an instrument panel, a fascia, or the like.

  In addition, the signals obtained with the driving operation of the driver perform driving operations such as a steering wheel, a shift switch, a brake pedal, a clutch pedal, and an accelerator pedal other than the direction indicator 22 and the shift lever described above. It may be a signal obtained with an operation on the operation unit. In addition, the adjustment or change of the display mode for the operation of the operation unit can be variously set. For example, the display mode can be changed (adjusted) according to the operation of the brake pedal, that is, for example, the color or brightness can be changed, or the display range Ad can be enlarged.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle (vehicle body), 10a ... Display part (display apparatus), 11 ... ECU (image display control apparatus), 11e ... Display control part, 12, 12R, 12S ... Imaging part, 100 ... Image display system, 110 ... Outside a vehicle Image creation unit (mirror image creation unit), 112... Image creation unit (image superimposition unit), Imi... Car body image, Imo.

Claims (8)

A mirror image creation unit that creates a mirror image showing at least the rear of the vehicle based on an image captured by an imaging unit provided on the vehicle body;
An image superimposing unit that superimposes the mirror image created by the mirror image creating unit and a vehicle body image showing at least a part of the vehicle body;
A display control unit that controls a display device to display an image in which the mirror image and the vehicle body image are superimposed by the image superimposing unit;
With
At least one of the brightness and color of the vehicle body image is adjusted corresponding to the mirror image ,
The vehicle body image is an image display control device including a plurality of lines along the vehicle front-rear direction and a plurality of lines along the vehicle width direction corresponding to the lower part of the vehicle . The lines along the plurality of vehicle front-rear directions include a line passing through a specific position in the vehicle width direction,
  The image display control device according to claim 1, wherein the lines along the plurality of vehicle width directions include a line passing through a specific position in the vehicle front-rear direction. An area outside the line of the frame corresponding to the window of the vehicle body image is filled in a state of transmitting the image outside the vehicle,
3. The image display control device according to claim 1, wherein luminance of the vehicle body image in a region above the boundary line of the outside image is lower than luminance of the vehicle body image in a region below the boundary line. . The image display control apparatus according to claim 3, wherein the boundary line is a boundary line between the ground and the sky. An imaging unit for imaging at least the rear of the vehicle provided on the vehicle body;
A display device;
An image display control device;
With
The image display control device includes:
A mirror image creation unit that creates a mirror image indicating at least the rear of the vehicle based on the image captured by the imaging unit;
An image superimposing unit that superimposes the mirror image created by the mirror image creating unit and a vehicle body image showing at least a part of the vehicle body;
A display control unit that controls a display device to display an image in which the mirror image and the vehicle body image are superimposed by the image superimposing unit;
With
At least one of the brightness and color of the vehicle body image is set corresponding to the characteristics of the mirror image ,
The vehicle body image is an image display system including a plurality of lines along the vehicle front-rear direction and a plurality of lines along the vehicle width direction corresponding to the lower part of the vehicle . The lines along the plurality of vehicle front-rear directions include a line passing through a specific position in the vehicle width direction,
  The image display system according to claim 5, wherein the lines along the plurality of vehicle width directions include a line passing through a specific position in the vehicle front-rear direction. An area outside the line of the frame corresponding to the window of the vehicle body image is filled in a state of transmitting the image outside the vehicle,
The image display system according to claim 5 or 6, wherein a luminance of the vehicle body image in a region above the boundary line of the vehicle exterior image is lower than a luminance of the vehicle body image in a region below the boundary line. The image display system according to claim 7, wherein the boundary line is a boundary line between the ground and the sky.

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