JP6610140B2 - Perimeter monitoring device - Google Patents

Description

  Embodiments described herein relate generally to a periphery monitoring device.

  2. Description of the Related Art Conventionally, a technique for performing viewpoint conversion processing on a peripheral image of a vehicle imaged by an in-vehicle camera and displaying the image on a display device arranged in a vehicle interior is known. The video subjected to such viewpoint conversion processing is displayed continuously, for example, so that the video can be shown as if the user is moving around the vehicle. As a result, there is known a display technology capable of displaying an image in a state in which a user can easily understand the situation around the vehicle.

Japanese Patent No. 5627253 Japanese Patent No. 5047750

  However, when displaying the surrounding situation of the vehicle as a continuous display (moving image), a user (user, driver) viewing the display device is close to viewing a moving object on the display screen. As a result, the probability of overlooking details of information provided by continuous display (moving images) may increase. Moreover, since it becomes close to the state in which a moving object is chased with eyes, an increase in fatigue may be caused.

  Then, one of the subjects of this invention is providing the periphery monitoring apparatus which can display in the state which is easy to grasp | ascertain the surrounding condition of a vehicle, reducing a user's burden.

Surroundings monitoring apparatus according to an embodiment of the present invention, for example, an image acquisition unit that acquires a captured image data output from the imaging unit provided in the vehicle to image the surrounding of the vehicle, on the Symbol captured image data, An image conversion unit that converts virtual image data captured from a virtual viewpoint that is different from the viewpoint captured by the imaging unit, and the virtual image data is transferred to the vehicle of the vehicle so that the virtual viewpoint moves around the vehicle. A controller that sequentially displays the image on a display device provided in the room, wherein the image conversion unit is connected to the vehicle when the virtual viewpoint moves in a first region including at least a side surface of the periphery of the vehicle. first sight distance converts the virtual image data so as to be shorter than the second sight line distances to the vehicle when moving the second area different from the first region, wherein the control unit, the virtual viewpoint , Above the first transition period for sequentially displaying the virtual image data so as to pass over the Symbol first region, a second transition period for sequentially displaying the virtual image data so as to pass over the SL second region The transition speed when displaying the virtual image data is varied. According to this configuration, for example, the amount of information displayed as virtual image data can be reduced by shortening the visual distance from the virtual viewpoint by the first visual distance. On the other hand, the amount of information displayed can be increased by increasing the line-of-sight distance from the virtual viewpoint with the second line-of-sight distance. By performing display with a large amount of information and display with a small amount of information, it is easy to focus attention on the portion with a large amount of information attached to the display, and it is easy to omit visual inspection of the portion by providing a portion with a small amount of information Thus, the visual burden on the user can be reduced. Further, when viewing a region with a low transition speed , it is easier to grasp the display content than when viewing a region with a high transition speed. Further, in the portion where the transition speed is slow, the burden on the user for confirming the display content can be reduced. In addition, in a portion where the transition speed is high, it is easy to omit confirmation of the display content, and the burden on the user can be reduced.

  In the periphery monitoring device, for example, the second area may be an area facing the corner portion of the vehicle, and the first area may be an area sandwiched between the adjacent second areas. According to this configuration, for example, by displaying the second region, it is possible to overlook the side surface portion and the front portion (or the rear portion) of the vehicle connected to the corner portion of the vehicle. As a result, it is possible to easily grasp the surrounding situation of the vehicle simply by checking the second region.

  Further, the control unit of the periphery monitoring device may display the virtual image data so that, for example, the second transition speed in the second transition period is slower than the first transition speed in the first transition period. . According to this configuration, for example, the transition speed of the second transition period in which the virtual image data is sequentially displayed so that the virtual viewpoint passes through the second area is the virtual image data so that the virtual viewpoint passes through the first area. Since it is slower than the transition speed of the first transition period that sequentially displays, it is possible to easily confirm the display content corresponding to the second region with a light burden.

  In addition, the image conversion unit of the periphery monitoring device may be capable of changing the angle of view of the virtual viewpoint, for example. According to this configuration, for example, the display content displayed as virtual image data can be limited by narrowing the angle of view of the virtual viewpoint, so that it is possible to display information that makes it easy to focus on the details of the display content. Conversely, by widening the angle of view of the virtual viewpoint, the display range becomes wide, and more information about the surrounding conditions of the vehicle can be provided.

  The periphery monitoring device further includes, for example, an object detection unit that detects the presence or absence of an object existing around the vehicle, and the image conversion unit detects the object and the vehicle when the object is detected. The virtual image data may be converted so that the movement locus of the virtual viewpoint exists between the two. According to this configuration, for example, when an object is present between the vehicle and the virtual viewpoint, the display area occupied by the object may increase on the screen indicated by the virtual image data. As a result, the display content of virtual image data may become scarce. In such a case, by causing the movement locus of the virtual viewpoint to exist between the object and the vehicle, it is possible to display the vehicle without being influenced by the object, that is, display around the vehicle. Note that if there is a movement path of the virtual viewpoint between the object and the vehicle, the object will not be displayed, but if the virtual viewpoint is at a position other than the front of the object, the angle of view of the virtual viewpoint Since there is a high possibility of entering, the possibility of overlooking the object is low.

FIG. 1 is a perspective view illustrating an example of a state in which a part of a passenger compartment of a vehicle on which the periphery monitoring device according to the embodiment is mounted is seen through. FIG. 2 is a plan view illustrating an example of a vehicle on which the periphery monitoring device according to the embodiment is mounted. FIG. 3 is an example of a dashboard of a vehicle on which the periphery monitoring device according to the embodiment is mounted, and is a diagram in a view from the rear of the vehicle. FIG. 4 is a block diagram illustrating an example of an image control system including the periphery monitoring device according to the embodiment. FIG. 5 is a block diagram illustrating an example of a configuration of a control unit for displaying a viewpoint conversion image realized in the ECU of the periphery monitoring device according to the embodiment. FIG. 6 is an explanatory diagram for explaining an example of the movement path of the virtual viewpoint of the periphery monitoring device according to the embodiment and an example of the transition speed at that time. FIG. 7 is a flowchart illustrating an example of display processing of the periphery monitoring device according to the embodiment. FIG. 8 is an explanatory diagram illustrating an example of an image displayed on the display device of the periphery monitoring device according to the embodiment by frame advance. FIG. 9 is an explanatory diagram for explaining that the angle of view of the virtual viewpoint can be changed in the periphery monitoring device according to the embodiment.

  Hereinafter, exemplary embodiments of the present invention are disclosed. The configuration of the embodiment shown below and the operations, results, and effects brought about by the configuration are examples. The present invention can be realized by configurations other than those disclosed in the following embodiments, and at least one of various effects based on the basic configuration and derivative effects can be obtained. .

  In the present embodiment, the vehicle 1 equipped with the periphery monitoring device may be, for example, an automobile using an internal combustion engine (not shown) as a drive source, that is, an internal combustion engine automobile, or an automobile using an electric motor (not shown) as a drive source. That is, it may be an electric vehicle or a fuel cell vehicle. Moreover, the hybrid vehicle which uses both of them as a drive source may be sufficient, and the vehicle provided with the other drive source may be sufficient. Further, the vehicle 1 can be mounted with various transmissions, and various devices necessary for driving the internal combustion engine and the electric motor, such as systems and components, can be mounted. In addition, the method, number, layout, and the like of the device related to driving of the wheels 3 in the vehicle 1 can be variously set.

  As illustrated in FIG. 1, the vehicle body 2 constitutes a passenger compartment 2 a in which a passenger (not shown) gets. In the passenger compartment 2a, a steering section 4, an acceleration operation section 5, a braking operation section 6, a shift operation section 7 and the like are provided in a state facing the driver's seat 2b as a passenger. The steering unit 4 is, for example, a steering wheel protruding from the dashboard 24, the acceleration operation unit 5 is, for example, an accelerator pedal positioned under the driver's feet, and the braking operation unit 6 is, for example, a driver's foot It is a brake pedal located under the foot, and the speed change operation unit 7 is, for example, a shift lever protruding from the center console. The steering unit 4, the acceleration operation unit 5, the braking operation unit 6, the speed change operation unit 7 and the like are not limited to these.

  In addition, a display device 8 as a display output unit and a sound output device 9 as a sound output unit are provided in the passenger compartment 2a. The display device 8 is, for example, an LCD (liquid crystal display) or an OELD (organic electroluminescent display). The audio output device 9 is, for example, a speaker. The display device 8 is covered with a transparent operation input unit 10 such as a touch panel. The occupant can visually recognize an image displayed on the display screen of the display device 8 via the operation input unit 10. In addition, the occupant can execute an operation input by touching, pushing, or moving the operation input unit 10 with a finger or the like at a position corresponding to the image displayed on the display screen of the display device 8. . The display device 8, the audio output device 9, the operation input unit 10, and the like are provided, for example, in the monitor device 11 that is located in the vehicle width direction of the dashboard 24, that is, the central portion in the left-right direction. The monitor device 11 can have an operation input unit (not shown) such as a switch, a dial, a joystick, and a push button. Further, a sound output device (not shown) can be provided at another position in the passenger compartment 2a different from the monitor device 11, and sound is output from the sound output device 9 of the monitor device 11 and other sound output devices. be able to. Note that the monitor device 11 can be used also as, for example, a navigation system or an audio system.

  Further, a display device 12 different from the display device 8 is provided in the passenger compartment 2a. As illustrated in FIG. 3, for example, the display device 12 is provided in the instrument panel unit 25 of the dashboard 24, and between the speed display unit 25 a and the rotation speed display unit 25 b at the approximate center of the instrument panel unit 25. Is located. The size of the screen 12a of the display device 12 is smaller than the size of the screen 8a (FIG. 3) of the display device 8. The display device 12 can display an image mainly showing information related to parking assistance of the vehicle 1. The amount of information displayed on the display device 12 may be smaller than the amount of information displayed on the display device 8. The display device 12 is, for example, an LCD or an OELD. Information displayed on the display device 12 may be displayed on the display device 8.

  As illustrated in FIGS. 1 and 2, the vehicle 1 is, for example, a four-wheeled vehicle, and includes two left and right front wheels 3 </ b> F and two right and left rear wheels 3 </ b> R. All of these four wheels 3 can be configured to be steerable. As illustrated in FIG. 4, the vehicle 1 includes a steering system 13 that steers at least two wheels 3. The steering system 13 includes an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by an ECU 14 (electronic control unit) or the like to operate the actuator 13a. The steering system 13 is, for example, an electric power steering system, an SBW (steer by wire) system, or the like. The steering system 13 adds torque, that is, assist torque to the steering unit 4 by the actuator 13a to supplement the steering force, or steers the wheel 3 by the actuator 13a. In this case, the actuator 13a may steer one wheel 3 or may steer a plurality of wheels 3. Moreover, the torque sensor 13b detects the torque which a driver | operator gives to the steering part 4, for example.

  Further, as illustrated in FIG. 2, for example, four imaging units 15 a to 15 d are provided in the vehicle body 2 as the plurality of imaging units 15. The imaging unit 15 is a digital camera including an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 15 can output moving image data (captured image data) at a predetermined frame rate. The imaging unit 15 has a wide-angle lens or a fish-eye lens, respectively, and can capture a range of, for example, 140 ° to 190 ° in the horizontal direction. The optical axis of the imaging unit 15 is set obliquely downward. Therefore, the imaging unit 15 sequentially captures an external environment around the vehicle 1 including a road surface on which the vehicle 1 is movable and an area in which the vehicle 1 can be parked, and outputs the captured image data.

  The imaging unit 15a is located, for example, at the rear end 2e of the vehicle body 2, and is provided on a wall portion below the rear trunk door 2h. The imaging unit 15b is located, for example, at the right end 2f of the vehicle body 2 and provided on the right door mirror 2g. The imaging unit 15c is located, for example, on the front side of the vehicle body 2, that is, on the end 2c on the front side in the vehicle longitudinal direction, and is provided on a front bumper or the like. The imaging unit 15d is located, for example, at the left end 2d of the vehicle body 2, that is, the left end 2d in the vehicle width direction, and is provided in the door mirror 2g as a left protruding portion. The ECU 14 performs arithmetic processing and image processing based on the image data obtained by the plurality of imaging units 15, generates an image with a wider viewing angle, or creates a virtual overhead view image when the vehicle 1 is viewed from above. Can be generated.

  Further, the ECU 14 can convert the captured image data provided from the imaging unit 15 into virtual image data captured from a virtual viewpoint different from the viewpoint captured by the imaging unit 15. For example, the ECU 14 converts the virtual image data so that the virtual viewpoint is the imaging direction facing the vehicle 1. By sequentially displaying the plurality of virtual image data thus converted on the display device 8, the vehicle 1 faces the vehicle 1 from a distance, for example, around the vehicle 1 on which the user (driver or user) is riding. An image (substantial moving image) can be displayed. Details of the display of the virtual image data will be described later. Further, the ECU 14 identifies the lane markings and the like indicated on the road surface around the vehicle 1 from the captured image data provided from the imaging unit 15, detects (extracts) the parking lot indicated by the lane markings, Parking assistance can also be implemented.

  As illustrated in FIGS. 1 and 2, the vehicle body 2 includes, for example, four distance measuring units 16 a to 16 d and eight distance measuring units 17 a to 17 h as a plurality of distance measuring units 16 and 17. Is provided. The distance measuring units 16 and 17 are, for example, sonar that emits ultrasonic waves and captures the reflected waves. The sonar may also be referred to as a sonar sensor, an ultrasonic detector, or an ultrasonic sonar. In the present embodiment, when the vehicle 1 is parked, the distance measuring unit 16 has a first obstacle (adjacent vehicle) aligned with the vehicle 1 and a second obstacle ( For example, a curb, a step, a wall, a fence, etc.) can be detected and the distance to the obstacle can be measured. In addition, when the obstacle (object) approaches the vehicle 1 beyond a predetermined distance, the distance measuring unit 17 can detect the approaching object (object) and measure the distance to the obstacle. it can. In particular, the distance measuring units 17a and 17d disposed on both sides of the rear of the vehicle 1 include the rear corner portion of the vehicle 1 and the first obstacle (adjacent vehicle) when the vehicle 1 enters the parallel parking space while moving backward. And a sensor (clearance sonar) that measures the distance between the rear corner and the second obstacle (such as a wall) after entering. The ECU 14 can measure the presence or absence of an object such as an obstacle located around the vehicle 1 and the distance to the object based on the detection results of the distance measuring units 16 and 17. That is, the distance measuring units 16 and 17 are examples of a detecting unit that detects an object. The distance measuring unit 17 can be used, for example, for detecting an object at a relatively short distance, and the distance measuring unit 16 can be used for detecting an object at a relatively long distance farther than the distance measuring unit 17, for example. The distance measuring unit 17 can be used, for example, for detecting an object in front of and behind the vehicle 1, and the distance measuring unit 16 can be used for detecting an object on the side of the vehicle 1. The distance measuring unit 17 can function as an proximity sensor that detects that an object (obstacle) has approached a predetermined distance.

  The ECU 14 can also generate an image showing the outer shape of an object existing around the vehicle 1 based on the information acquired by the distance measuring unit 16 or the distance measuring unit 17. That is, when the ECU 14 converts the virtual image data from the captured image data, the virtual image data is supplemented using the information acquired by the distance measuring unit 16 or the distance measuring unit 17, and the situation around the vehicle 1 is further improved. Clearly (detailed) data can be generated. For example, an image having a more stereoscopic effect can be formed. A laser scanner may be used as the distance measuring units 16 and 17. In this case, data can be acquired in more detail, which can contribute to improving the accuracy of the outer shape of the object. For example, when performing viewpoint conversion, the shape of the original object may be distorted or partially lost. In such a case, by using the detailed data acquired by the laser scanner, it is possible to reduce the distortion or to compensate for the lack and more accurately reproduce the three-dimensional shape of the object.

  Further, as exemplified in FIG. 4, in the periphery monitoring system 100 (perimeter monitoring device), in addition to the ECU 14, the monitor device 11, the steering system 13, the distance measuring units 16 and 17, the brake system 18, the steering angle sensor 19, an accelerator sensor 20, a shift sensor 21, a wheel speed sensor 22, and the like are electrically connected via an in-vehicle network 23 as an electric communication line. The in-vehicle network 23 is configured as a CAN (controller area network), for example. The ECU 14 can control the steering system 13, the brake system 18, and the like by sending a control signal through the in-vehicle network 23. Further, the ECU 14 detects the torque sensor 13b, the brake sensor 18b, the rudder angle sensor 19, the distance measuring unit 16, the distance measuring unit 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, and the like via the in-vehicle network 23. Results, operation signals from the operation input unit 10 and the like can be received.

  The ECU 14 includes, for example, a CPU 14a (central processing unit), a ROM 14b (read only memory), a RAM 14c (random access memory), a display control unit 14d, an audio control unit 14e, an SSD 14f (solid state drive, flash memory), and the like. ing. The CPU 14a, for example, performs image processing related to the images displayed on the display devices 8 and 12, determination of the movement target position (parking target position, target position) of the vehicle 1, and guidance route (guidance route, parking route) of the vehicle 1. , Parking guidance route), determination of presence / absence of interference with an object, automatic control of the vehicle 1, and cancellation of automatic control, etc., can be executed. The CPU 14a can read a program installed and stored in a non-volatile storage device such as the ROM 14b, and execute arithmetic processing according to the program. The RAM 14c temporarily stores various types of data used in computations by the CPU 14a. In addition, the display control unit 14 d mainly executes synthesis of image data displayed on the display device 8 among the arithmetic processing in the ECU 14. In addition, the voice control unit 14 e mainly executes processing of voice data output from the voice output device 9 among the calculation processes in the ECU 14. The SSD 14f is a rewritable nonvolatile storage unit that can store data even when the ECU 14 is powered off. The CPU 14a, the ROM 14b, the RAM 14c, and the like can be integrated in the same package. Further, the ECU 14 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 14a. Further, an HDD (hard disk drive) may be provided instead of the SSD 14f, and the SSD 14f and the HDD may be provided separately from the ECU 14.

  The brake system 18 includes, for example, an anti-lock brake system (ABS) that suppresses brake locking, an anti-slip device (ESC: electronic stability control) that suppresses side slip of the vehicle 1 during cornering, and enhances braking force ( Electric brake system that executes brake assist, BBW (brake by wire), etc. The brake system 18 applies a braking force to the wheels 3 and thus to the vehicle 1 via the actuator 18a. The brake system 18 can execute various controls by detecting brake lock, idle rotation of the wheels 3, signs of skidding, and the like from the difference in rotation between the left and right wheels 3. The brake sensor 18b is a sensor that detects the position of the movable part of the braking operation unit 6, for example. The brake sensor 18b can detect the position of a brake pedal as a movable part. The brake sensor 18b includes a displacement sensor.

  The steering angle sensor 19 is, for example, a sensor that detects the steering amount of the steering unit 4 such as a steering wheel. The rudder angle sensor 19 is configured using, for example, a hall element. The ECU 14 obtains the steering amount of the steering unit 4 by the driver, the steering amount of each wheel 3 during automatic steering, and the like from the steering angle sensor 19 and executes various controls. The rudder angle sensor 19 detects the rotation angle of the rotating part included in the steering unit 4. The rudder angle sensor 19 is an example of an angle sensor.

  The accelerator sensor 20 is, for example, a sensor that detects the position of the movable part of the acceleration operation unit 5. The accelerator sensor 20 can detect the position of an accelerator pedal as a movable part. The accelerator sensor 20 includes a displacement sensor.

  The shift sensor 21 is, for example, a sensor that detects the position of the movable part of the speed change operation unit 7. The shift sensor 21 can detect the position of a lever, arm, button, or the like as a movable part. The shift sensor 21 may include a displacement sensor or may be configured as a switch.

  The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 outputs a wheel speed pulse number indicating the detected rotation speed as a sensor value. The wheel speed sensor 22 may be configured using, for example, a hall element. The ECU 14 calculates the amount of movement of the vehicle 1 based on the sensor value acquired from the wheel speed sensor 22 and executes various controls. Note that the wheel speed sensor 22 may be provided in the brake system 18. In that case, the ECU 14 acquires the detection result of the wheel speed sensor 22 via the brake system 18.

  The configuration, arrangement, electrical connection form, and the like of the various sensors and actuators described above are examples, and can be set (changed) in various ways.

  ECU14 implement | achieves a periphery monitoring system. As an example, the ECU 14 generates an image (viewpoint conversion image, virtual image data) as if the vehicle 1 was viewed from a distance with the vehicle 1 as the center. Then, by sequentially displaying the viewpoint conversion images, it is possible to perform a substantial moving image display in which the virtual viewpoint circulates around the vehicle 1. Note that the height of the viewpoint-converted image (virtual image data) from the road surface of the virtual viewpoint can be, for example, the line-of-sight height (for example, 140 cm) when a user with a standard physique is seated on the vehicle 1. The ECU 14 changes the display speed (transition speed) of the viewpoint conversion image (virtual image data) so that the virtual viewpoint circulates around the vehicle 1, thereby changing the surrounding situation of the vehicle 1. Make it easy for users to recognize. Specific changes in transition speed and effects thereof will be described later.

  As shown in FIG. 5, the CPU 14 a included in the ECU 14 implements an image acquisition unit 30, an image conversion unit 32, an operation reception unit 34, data control, as shown in FIG. Part 36 (control part) and the like. Then, for example, the CPU 14a executes image processing using the captured image data obtained by the imaging unit 15. The image acquisition unit 30, the image conversion unit 32, the operation reception unit 34, and the data control unit 36 can be realized by reading a program installed and stored in a storage device such as the ROM 14b and executing it.

  The image acquisition unit 30 acquires captured image data output from the imaging unit 15 provided in the vehicle 1 and imaging the periphery of the vehicle 1 via the display control unit 14d. The display control unit 14d may output the captured image data captured by the imaging unit 15 to the display device 8 or the display device 12 as it is. In this case, the display contents desired by the user may be selected using an input device such as the operation unit 14g. That is, the display control unit 14d selectively displays an image selected by the operation of the operation unit 14g. For example, a rear image of the vehicle 1 captured by the imaging unit 15a can be displayed, or a left side image captured by the imaging unit 15d can be displayed.

  The image conversion unit 32 captures the captured image data acquired by the image acquisition unit 30 from a virtual viewpoint different from the viewpoint captured by the imaging unit 15, for example, a plurality of virtual viewpoints that are in the imaging direction facing the vehicle 1 from a distance. Convert to virtual image data that can be displayed. The conversion of virtual image data from the virtual viewpoint can be executed by various known processing methods. As an example, the image conversion unit 32 is based on the captured image data representing the environment outside the vehicle 1 captured by the imaging unit 15 and the conversion information of the mapping table held in the ROM 14b or the like, for example. Virtual image data (viewpoint conversion image) is generated (converted) when the external ambient environment is viewed from a viewpoint position facing the vehicle 1 away from the vehicle 1. In the case of the present embodiment, the ROM 14b is, for example, a trajectory (for example, 140 cm) passing through a line-of-sight height (for example, 140 cm) when a user with a standard physique is seated on the vehicle 1 at a position several m (for example, 2 m) from the vehicle 1 A plurality of types of conversion information (mapping table) that can generate from the captured image data virtual image data that can be displayed when a virtual viewpoint facing the vehicle 1 moves from the movement trajectory) is stored in advance. Note that the conversion information of the mapping table is preferably prepared for each position of the virtual viewpoint. In the case of this embodiment, it is desirable that the viewpoint conversion image is displayed as a continuous and smooth moving image. Therefore, the conversion information of the mapping table is prepared so that virtual image data can be generated whenever the virtual viewpoint moves, for example, by A °. If the number of pieces of conversion information in the mapping table is increased, the number of generated virtual image data (number of frames) can be increased to create a smooth moving image, but the processing load on the CPU 14a tends to increase. Conversely, if the number of pieces of conversion information in the mapping table is reduced, the number of generated virtual image data may be reduced and the moving image quality may be reduced, but the processing load on the CPU 14a can be reduced. Therefore, the number of pieces of conversion information in the mapping table can be determined according to the required quality of the viewpoint conversion image (substantial moving image). Note that when the number of pieces of conversion information in the mapping table is reduced, the moving image may be corrected (frame drop correction) by performing a complementing process based on the virtual image data before and after the moving image is created.

  The operation reception unit 34 acquires a signal generated by an operation input from the operation unit 14g. The operation unit 14g is, for example, a push button, a toggle switch, a rotary switch, or the like, and can make a request for display of the viewpoint conversion image, cancellation, and other various settings. Further, the operation receiving unit 34 may receive an ON signal of an ignition switch (not shown), and may be regarded as having acquired a viewpoint conversion image display request triggered by the ON signal. For example, when the user gets into the vehicle 1 and turns on the ignition switch, the viewpoint conversion image is automatically displayed so as to notify the user of the situation around the vehicle 1 before starting the vehicle 1. May be. Moreover, the operation reception part 34 may receive the signal which shows having performed parking operation. For example, the operation receiving unit 34 may receive a signal indicating movement of the speed change operating unit 7 to the “P range”, an ON operation of a parking brake, or the like. Then, prior to the user stopping the vehicle 1 and going outside the vehicle, the viewpoint conversion image may be automatically displayed so as to notify the user of the situation around the vehicle 1.

  The data control unit 36 arranges the plurality of virtual image data generated by the image conversion unit 32 such that the virtual viewpoint is moving around the vehicle 1 and supplies the moving image to the display control unit 14d. It is displayed on the display device 8. As shown in FIG. 6, the data control unit 36 sequentially displays the virtual image data so that the virtual viewpoint 38 starts moving from the display start position S (demonstration start position) determined on the movement locus 40. The movement track 40 mainly includes a plurality of first areas and a plurality of second areas set around the vehicle 1, and is set so that the virtual viewpoint 38 circulates around the vehicle 1. For example, the second region is a region facing the corner portion of the vehicle 1, and the first region is a region sandwiched between adjacent second regions. Specifically, as shown in FIG. 6, four second areas are set. That is, the second region R1 facing the right front corner portion r1 of the vehicle 1, the second region R2 facing the left front corner portion r2, the second region R3 facing the left rear corner portion r3 of the vehicle 1, and the right rear corner portion r4 of the vehicle 1. Is the second region R4. Four first areas are set. That is, the first region Q1 that faces the front portion q1 of the vehicle 1 and is sandwiched between the second regions R1 and R2, the first region Q2 that faces the left side portion q2 of the vehicle 1 and is sandwiched between the second regions R2 and R3, the vehicle A first region Q3 that faces one rear portion q3 and is sandwiched between second regions R3 and R4, and a first region Q4 that faces the right side portion q4 of the vehicle 1 and is sandwiched between second regions R4 and R1. In the case of FIG. 6, the movement locus 40 is, for example, the first line-of-sight distance L1 to the vehicle 1 when the virtual viewpoint 38 moves in the first regions Q2 and Q4 facing at least the side part (side surface) of the vehicle 1. In this case, the distance is set to be shorter than the second line-of-sight distance L2 to the vehicle 1 when moving in the second region R1, R2, R3, R4. Details regarding the setting of the first line-of-sight distance L1 and the second line-of-sight distance L2 will be described later.

  The ROM 14b stores conversion information of a mapping table capable of converting captured image data into virtual image data so that the virtual viewpoint 38 exists on the movement locus 40 and the vehicle 1 appears to be captured at that position. Then, the data control unit 36 sequentially displays virtual image data that appears to be captured at the respective virtual viewpoints 38, so that an image that can be seen when the vehicle 1 circulates around the vehicle 1 is displayed on the display device 8. indicate.

  By the way, when virtual image data such that the virtual viewpoint 38 moves is sequentially displayed as a moving trajectory 40 as shown in FIG. 6 and provided to the user as a moving image, when the user views the moving image, it is displayed from the beginning to the end. It is almost like watching a moving object on the screen. As a result, it is easy to be distracted, and there is a high probability of overlooking details of information provided by continuous display (moving images). Moreover, since it becomes close to the state in which a moving object is chased with eyes, an increase in fatigue may be caused. Therefore, the data control unit 36 has a first transition period in which virtual image data is sequentially displayed so that the virtual viewpoint 38 passes through the first areas Q1, Q2, Q3, and Q4, and the virtual viewpoint 38 has the first areas Q1, Q2. , Q3, and Q4, the display speed (transition speed) of the virtual image data is made different in the second transition period in which the virtual image data is sequentially displayed so as to pass through the second regions R1, R2, R3, and R4. . That is, the reproduction (display) speed of the virtual image data is changed. Specifically, the data control unit 36 includes a second transition period b (j) corresponding to the second region R1, a second transition period d corresponding to the second region R2, and a second transition corresponding to the second region R3. In the second transition period h corresponding to the period f and the second region R4, the virtual image data is reproduced at a low second transition speed. In this case, the low speed reproduction may include reproduction including intermittent reproduction and pause. Meanwhile, the data control unit 36 includes a first transition period c corresponding to the first region Q1, a first transition period e corresponding to the first region Q2, a first transition period g corresponding to the first region Q3, and a first region. In the first transition period i corresponding to Q4, the virtual image data is reproduced at the first transition speed that is faster than the second transition speed. In FIG. 6, in order to express the difference in magnitude between the first transition speed and the second transition speed, the first transition speed is represented by one arrow, and the second transition speed is represented by three arrows. . For example, when the standard moving image playback speed is “1”, the playback speed of the virtual image data when displaying the periphery of the corner portion of the vehicle 1 corresponding to the second regions R1 to R4 is, for example, 0.3 times the speed. can do. Moreover, the reproduction speed of the virtual image data when displaying the front part, side part, and rear part periphery of the vehicle 1 corresponding to the first regions Q1 to Q4 can be set to, for example, quadruple speed. The demo transition speed described later can be set to double speed. The difference in magnitude between the first transition speed and the second transition speed can be arbitrarily set, but the speed difference is such that the user can recognize that the first transition speed and the second transition speed are clearly different. It is desirable to provide.

  As described above, the display content of the second area is set to the user by making the second transition speed when displaying the corner portion (second area) of the vehicle 1 slower than the first transition speed when displaying other portions. Can be easily recognized and attract attention more easily. Conversely, by setting the first transition speed when displaying the first area to be faster than the second transition speed, it is possible to prevent the display content of the first area from being paid more than necessary. In this way, by providing the degree of attention to the display content, it is possible to reduce the concentration of the user on the display content at all times and to suppress an increase in fatigue. In addition, by not concentrating the user on the display contents at all times, it becomes easier to concentrate on the display contents of the second area and to pay attention to the details of the second area. Note that the content of the virtual image data displaying the second area includes the peripheral information of the vehicle 1 included in the two first areas adjacent to the corner portion in addition to the information around the corner portion of the vehicle 1. For example, the virtual image data indicating the second region R1 includes the peripheral information of the front part q1 and the peripheral information of the right side part q4 with the peripheral information of the right front corner part r1 as the center. Similarly, the virtual image data indicating the second region R2 includes the peripheral information of the front part q1 and the peripheral information of the left side part q2 with the peripheral information of the left front corner part r2 as the center. Similarly, the virtual image data indicating the second regions R3 and R4 includes information adjacent to the corner portion. That is, by confirming the display contents of the second regions R1, R2, R3, and R4, the user can recognize the overall situation around the vehicle 1. As described above, by displaying the virtual image data indicating the second regions R1, R2, R3, and R4 at the low second transition speed, the display contents can be recognized in detail. Further, by displaying the virtual image data indicating the first regions Q1, Q2, Q3, and Q4 at a high first transition speed, it is possible to suppress the display content from being excessively watched and to reduce the recognition load of the display content. Can be reduced. For example, it is easy to guide the display contents so as to be omitted unconsciously, which can contribute to the reduction of eye strain. Further, by displaying a part of the virtual image data at the high first transition speed, it is possible to shorten the time required for grasping the situation of the entire circumference of the vehicle 1 (display time of virtual image data). That is, it can contribute to quick confirmation of the surrounding situation.

  As described above, only the second area may be displayed in order to grasp the situation around the entire vehicle 1. However, when the second region is intermittently displayed on the display device 8, it may be difficult for the user to determine which corner portion of the vehicle 1 is displayed. On the other hand, as shown in FIG. 6, by displaying the first area in addition to the second area and displaying the entire periphery of the vehicle 1, the display continuity is improved, and the first area displayed across the first area is displayed. It can be made easier for the user to recognize which part of the vehicle 1 the two regions are.

  In addition, as shown in FIG. 6, in the movement locus 40, when the virtual viewpoint 38 moves in the first regions Q2 and Q4, the first line-of-sight distance L1 is moved in the second regions R1, R2, R3, and R4. By making the distance shorter than the second line-of-sight distance L2, when the first area is displayed, it is possible to give a clearer change (dynamic feeling) to the display than when the second area is displayed. That is, when the viewpoint distance to the vehicle 1 is shortened, the image displayed from the virtual image data is enlarged (zoomed in). As a result, the display content is simplified and the degree of attention of the user can be reduced. When the second region is displayed, the virtual viewpoint 38 moves in a direction substantially along the surface of the vehicle 1 at a slow transition speed, so that the display content changes relatively little. On the other hand, when the first area is displayed, the virtual viewpoint 38 moves toward and away from the surface of the vehicle 1 at a fast transition speed, so that the change in display content becomes larger than the display in the second area. . That is, the display of the second area and the display of the first area can be sharpened. As a result, the display of the second area displayed at a slow transition speed can be further emphasized.

  By the way, since the virtual image data is generated based on the captured image data captured by the imaging unit 15 mounted on the vehicle 1, there may be a case where only a part of the own vehicle (vehicle 1) exists in the captured image data. is there. For example, the captured image data may include only a part of the bumper and a part of the door. As a result, the entire image of the vehicle 1 may not be reflected in the virtual image data generated based on the captured image data. Therefore, the data control unit 36 superimposes the vehicle outer shape data of the host vehicle (vehicle 1) stored in advance in, for example, the ROM 14b or the SSD 14f on the virtual image data, and displays the vehicle 1 on the viewpoint conversion image displayed on the display device 8. Is displayed to exist. As a result, it is possible to display the positional relationship between the vehicle 1 and the object existing around the vehicle 1 (own vehicle) more easily and easily for the user to understand. Since the appearance of the vehicle 1 changes every moment corresponding to the movement of the virtual viewpoint 38, it is desirable to prepare the vehicle outer shape data corresponding to the number of conversion information in the mapping table.

  The vehicle outer shape data may be created using actual shooting data of the vehicle 1 or may be an animation. Moreover, you may use the vehicle external shape data which expressed the vehicle 1 by translucency or a diagram. When the vehicle outer shape data is expressed by a semi-transparency or a diagram, it is possible to easily grasp the presence, shape, size, etc. of an object existing on the back side of the vehicle. On the other hand, when the vehicle outer shape data is displayed in a substance expression, the deviation from the real world (real space) can be reduced, so that an image that can be easily accepted by the user can be provided.

  The operation of the periphery monitoring system 100 configured as described above will be described below with reference to the flowchart of FIG. The CPU 14a (ECU 14) first determines whether or not there is a request to display a viewpoint-converted image (S100). For example, the CPU 14a confirms the operation state of the ignition switch. When the ignition switch is turned on, the CPU 1 can determine that the vehicle 1 is preparing to start. That is, since it is desirable to check the surrounding situation before the start, the CPU 14a determines that there is a display request. Further, when the shift operation unit 7 shifts to the “P range”, it can be determined that the vehicle 1 is preparing for parking. That is, since it is desirable to check the surroundings before leaving the vehicle, the CPU 14a determines that there is a display request. In this case, the viewpoint conversion image is displayed in the automatic display mode in accordance with the operation of the ignition switch or the operation of the speed change operation unit 7. In another embodiment, when the user requests display of a viewpoint conversion image via the operation unit 14g or the like, the CPU 14a determines that there is a display request. In this case, the viewpoint conversion image is displayed in the manual display mode.

  When determining that “no display request” (No in S100), the CPU 14a temporarily ends this flow. On the other hand, if the CPU 14a determines that “there is a display request” (Yes in S100), the image acquisition unit 30 captures captured image data around the vehicle 1 captured by the imaging units 15a to 15d via the display control unit 14d. (Current image) is acquired (S102). Then, the image conversion unit 32 generates (converts) virtual image data using the conversion information of the mapping table in which the acquired captured image data is stored in the ROM 14b (S104).

  Subsequently, the data control unit 36 starts displaying a start demonstration indicating that display of the viewpoint conversion image is started (S106). FIG. 8 is an explanatory diagram for explaining the transition of the display of the viewpoint conversion image. FIG. 8 shows a plurality of images based on virtual image data displayed on the display device 8 in order to make it easy to understand the transition of the display content of the viewpoint-converted image. Is displayed.

  The start demonstration is an image P1 to an image P3 in FIG. In the image P1, an overhead image of the vehicle 1 is displayed. In this case, based on the captured image data acquired by the imaging unit 15, the situation (foreground) around the vehicle 1 is displayed, and the outline image of the vehicle 1 stored in the ROM 14b or the like is superimposed and displayed. Then, in order to shift to the height of the line of sight for displaying the second region R1, virtual image data in which the virtual viewpoint 38 for displaying the overhead image gradually descends is sequentially displayed (image P2, Image P3). Note that the demo transition speed when displaying the demo image can be set to a speed between the first transition speed and the second transition speed, for example. In the case of FIG. 6, it is expressed by two arrows. In the case of FIG. 6, the display of the virtual image data (corresponding to the image P1) at the display start position S starts, and the virtual image data (image P2, P2) is moved so that the virtual viewpoint 38 moves at the demo transition speed in the demo transition period a. (Corresponding to P3) is displayed.

  The data control unit 36 determines whether the display of virtual image data at the viewpoint height set by the demo image has been reached (No in S108). If the data control unit 36 determines that the virtual image data to be displayed is, for example, data corresponding to the virtual viewpoint 38 having a ground height of 140 cm (Yes in S108), the data control unit 36 starts circular display of the virtual image data (S110). The data control unit 36 determines whether or not display of virtual image data corresponding to the second region R1 has started (No in S112), and determines that display of virtual image data in the second region has started ( In S112, the virtual image data corresponding to the second region R1 is displayed at the second transition speed (S114). In this case, a virtual viewpoint 38 for indicating virtual image data for displaying a desired image on the right front corner portion r1 (see FIG. 6) of the vehicle 1 such as the image P4 (see FIG. 8) is moved along the movement locus 40. The second transition period b is moved at two transition speeds. As described above, in the second area, the virtual viewpoint 38 moves at a second transition speed that is slower than that of the first area. That is, the surrounding situation of the right front corner portion r1 of the vehicle 1 is slowly displayed. As a result, it is possible to display the details of the surrounding situation of the right front corner portion r1 so that the user can easily recognize the details. In this case, as shown in the image P4, the virtual image data includes the peripheral information of the front part q1 and the peripheral information of the right side part q4 with the peripheral information of the right front corner part r1 as the center. Therefore, the user easily and in detail recognizes the peripheral information of the right front corner portion r1, the front portion q1, and the right side portion q4 of the vehicle 1 from the slowly displayed image (moving image) displayed on the display device 8. be able to.

  Subsequently, the data control unit 36 determines whether the display has shifted to the display of the virtual image data in the first area (S116). When the display of the virtual image data corresponding to the first region Q1 has not started (No in S116), the data control unit 36 continues to display the virtual image data at the second transition speed. On the other hand, when it is determined that the display of the virtual image data corresponding to the first area Q1 has started (Yes in S116), the data control unit 36 displays the virtual image data at the first transition speed (S118). In this case, the virtual viewpoint 38 for indicating the virtual image data for displaying the image facing the front portion q1 (see FIG. 6) of the vehicle 1 such as the image P5 (see FIG. 8) changes along the movement locus 40 in the first transition. The first transition period c is moved at a speed. As described above, in the first area, the virtual viewpoint 38 moves at a first transition speed that is faster than that in the second area. That is, the display around the front portion of the vehicle 1 is displayed in the fast-forward image state. As a result, the details of the surroundings of the front part are not easily recognized by the user. That is, although the user can recognize that the front part q1 following the right front corner part r1 is displayed, it is easy to skip the details without being aware of it. That is, during the display period of the first region Q1, it is possible to reduce the possibility of gazing at the display and contribute to alleviating the user's fatigue.

  Next, the data control unit 36 determines whether or not the circular display of the vehicle 1 using the virtual image data is completed (S120). When the circular display of the vehicle 1 by the virtual image data is not completed (No in S120), that is, when the display of the four corner portions is not completed, the process proceeds to S112, and the virtual image corresponding to the second region R2 It is determined whether or not data display is started, and the processing from S112 is performed again. When it is determined that the display of the virtual image data in the second region R2 has started (Yes in S112), the data control unit 36 displays the virtual image data at the second transition speed (S114). In this case, a virtual viewpoint 38 for indicating virtual image data for displaying an image facing the left front corner portion r2 (see FIG. 6) of the vehicle 1 such as the image P6 (see FIG. 8) is moved along the movement locus 40. The second transition period d is moved at two transition speeds. As a result, the situation around the left front corner r2 is slowly displayed. Subsequently, when it is determined that the display of the virtual image data corresponding to the first region Q2 has started (Yes in S116), the display of the virtual image data is performed at the first transition speed (S118). In this case, as shown in the images P7 to P9 (see FIG. 8), the virtual viewpoint 38 for indicating the virtual image data for displaying the image facing the left side portion q2 (see FIG. 6) of the vehicle 1 is the movement locus 40. The first transition period e is moved along the first transition speed along the first transition period e. As described above, the virtual viewpoint 38 changes from the previous second line-of-sight distance L2 to the first line-of-sight distance L1 shorter than that during the movement of the first transition period e. As a result, the image of the first area Q2 displayed by the virtual image data is displayed so as to zoom in at the high-speed first transition speed toward the left side part q2 while facing the left side part q2 of the vehicle 1 ( Image P7 to Image P8). In the image P8, an image as if the left door of the vehicle 1 is enlarged is displayed. Thereafter, the data control unit 36 displays virtual image data that is zoomed out so as to be the second visual line distance L2 toward the image P10 of the second region R3 to be displayed next (image P9).

  At this time, since the circular display is not completed (No in S120), the data control unit 36 returns to S112 again and executes the processes from S112. That is, the virtual image data is displayed as if the virtual viewpoint 38 moving in the second transition period f in which the second region R3 is indicated is moved at the second transition speed (image P10). Subsequently, the virtual image data is displayed as if the virtual viewpoint 38 moving in the first transition period g in which the first region Q3 is indicated is moved at the first transition speed (image P11). Further, the virtual image data is displayed as if the virtual viewpoint 38 moving in the second transition period h in which the second region R4 is indicated is moved at the second transition speed (image P12). Subsequently, the virtual image data is displayed as if the virtual viewpoint 38 moving in the first transition period i in which the first region Q4 is indicated is moved at the first transition speed (image P11). Similarly, the virtual image data is displayed as if the virtual viewpoint 38 moving in the second transition period h in which the second region R4 is indicated is moved at the second transition speed (image P12). Then, the virtual image data is displayed as if the virtual viewpoint 38 moving in the first transition period i in which the first region Q4 is indicated is moved at the first transition speed (image P13, image P14, image P15).

  When it is determined that the circular display is completed (Yes in S120), the data control unit 36 displays an end demonstration (S122). In the end demo, virtual image data is displayed so that the virtual viewpoint 38 is returned to the display end position E having the same height as the display start position S, contrary to the start demo. That is, the virtual viewpoint 38 for displaying the bird's-eye view image gradually rises (image P3, image P2). The circular movement of the virtual viewpoint 38 is completed in the first area Q4. However, in the present embodiment, the display of the second area R1 displayed for the first time is included in the end demonstration, and the virtual viewpoint 38 is displayed after the display. An example of rising is shown. In other words, the end demo displays virtual image data such that the virtual viewpoint 38 moves in the second transition period j (which may be the same as or different from the second transition period b immediately after the start demo) (image P4). Subsequently, the data control unit 36 displays virtual image data such that the virtual viewpoint 38 moves in the demo transition period k (image P3, image P2, and image P1). The demo transition speed in this case can be set to a speed between the first transition speed and the second transition speed, for example. In this case, the demo transition speed is represented by two arrows. As described above, by displaying the second region R1 that is displayed first in the end demonstration, it is possible to make the user easily recognize the end of the circular display and to reduce the sense of discomfort that the virtual viewpoint 38 starts to rise suddenly. can do. In the description of FIG. 6, the display of the entire area of the second area R1 is included in the end demo, but a part of the display of the second area R1 may be used. In another embodiment, the virtual image data may be displayed so that the virtual viewpoint 38 moves in the demo transition period k after the display of the virtual image data is stopped for a predetermined period at the end of the first region Q4. In another embodiment, virtual image data is displayed so that the moving speed of the virtual viewpoint 38 becomes slow at the end of the first area Q4, and the virtual viewpoint 38 is demoed without displaying the second area R1. Virtual image data that moves in the transition period k at the demo transition speed may be displayed. That is, the display of the image P4 after the circulation (display of the virtual image data corresponding to the second region R1) may be omitted.

  Then, the data control unit 36 determines whether or not the display of the end demo is completed (No in S124), and when the end demo is completed (Yes in S124), the series of processing ends. In this case, the CPU 14a may output a message such as “End display of viewpoint-converted image”.

  In this way, the display of the second area facing the vehicle 1 is displayed at the second transition speed with a low speed, and the display of the first area is displayed at the first transition speed with a high speed, thereby reducing the burden on the user. In addition, it is possible to provide a continuous display (moving image) in a state where it is easier to grasp the surrounding situation of the vehicle 1.

  The virtual viewpoint 38 of the above-described embodiment is a case where the distance to the vehicle 1 is the first line-of-sight distance L1 when moving in the first regions Q2 and Q4 facing the side portions (side surfaces) of the vehicle 1. Indicated. In another embodiment, as indicated by a dotted line in FIG. 6, the first regions Q5 and Q6 in which the virtual viewpoint 38 faces the side portion (side surface) of the vehicle 1 with the second line-of-sight distance L2 being longer than the first line-of-sight distance L1. You may make it move. When the virtual viewpoint 38 moves in the first regions Q5 and Q6 facing the side portion (side surface) of the vehicle 1, the side portion of the vehicle 1 is displayed relatively easily in the image indicated by the virtual image data. As a result, the degree of attention of the user is higher than when the virtual viewpoint 38 moves in the first regions Q2 and Q4, and there may be an increase in fatigue when viewing the side portion. However, there is an advantage that it is easy to recognize which part of the vehicle 1 is currently displayed.

  By the way, an object (obstacle) may exist at a position approaching the vehicle 1. When the captured image data including the object is converted into virtual image data based on the preset virtual viewpoint 38, the object may exist between the virtual viewpoint 38 and the vehicle 1. In this case, a large part of the display area displayed by the virtual image data may be filled with the object. When detecting an object, the CPU 14a may change the angle of view of the virtual viewpoint 38 when the image conversion unit 32 converts the virtual image data according to the position where the object exists. For example, as shown in FIG. 9, by widening the angle of view of the virtual viewpoint 38 (view angle = α), the display range that can be displayed with the virtual image data becomes wider, and more information about the surrounding situation of the vehicle 1 is displayed. Can be included in the image. Conversely, by narrowing the angle of view of the virtual viewpoint 38 (view angle = β), the information displayed in the virtual image data is narrowed down, and a display that makes it easy to focus on the details of the surrounding situation of the vehicle 1 can be achieved.

  Further, as described above, the vehicle 1 includes, for example, the distance measuring unit 16, the distance measuring unit 17, and the like as an object detecting unit that detects the presence or absence of an object existing in the vicinity. Therefore, when an object is detected, the image conversion unit 32 may convert the virtual image data so that the movement locus of the virtual viewpoint 38 exists between the object and the vehicle 1. As described above, when an object is present between the vehicle 1 and the virtual viewpoint 38, the display area occupied by the object may increase on the screen indicated by the virtual image data. As a result, the information fee included in the virtual image data is reduced (only object information is provided), and the surrounding situation of the vehicle 1 may be insufficiently displayed. In such a case, by converting the virtual image data so that the movement locus of the virtual viewpoint 38 exists between the object and the vehicle 1, the vehicle 1 is displayed without being influenced by the object, that is, displayed around the vehicle. Is possible. If the movement locus of the virtual viewpoint 38 exists between the object and the vehicle 1, the object is not displayed. However, when the virtual viewpoint 38 is at a position other than the front of the object, the object Since there is a high possibility of entering the angle of view of 38, the possibility of overlooking an object is low.

  In the embodiment described above, an example in which virtual image data is generated from the current image (real-time image) captured by the imaging unit 15 has been shown. However, the captured image data is temporarily stored in the RAM 14c or the like, and the virtual image data is timed. You may make it produce | generate with delay. In this case, although the real-time property of the display may be slightly lowered, the CPU 14a having a low processing speed can be used, which can contribute to the cost reduction of the peripheral monitoring device. Further, the viewpoint conversion image shown in the present embodiment may be displayed using a past image captured by the imaging unit 15 and stored in the RAM 14c or the like. In this case, not only the surroundings of the current vehicle 1 but also the situation (the past situation) of the area that has moved (a position away from the current position of the vehicle 1) can be grasped, and an opportunity to use the periphery monitoring device can be obtained. Can be increased.

  In the embodiment described above, an example in which the virtual viewpoint 38 is set so as to display, for example, an image that faces the vehicle 1 from a distance away from the surroundings of the vehicle 1 on which the user is getting is shown. May be set in the vehicle 1 so as to face the outside of the vehicle. In this case, the surrounding state of the vehicle 1 that can be seen in the posture in which the user is seated on the seat of the vehicle 1 can be displayed on the display device 8. In this case, the virtual viewpoint 38 may move, for example, on a circular movement trajectory set in the vehicle, or the virtual viewpoint 38 may be rotated only at one point in the vehicle so that only the viewpoint direction moves. . In this case, it is desirable that the outer shape of the vehicle 1 superimposed on the virtual image data is represented by translucency or a diagram so that the situation around the vehicle 1 is not obstructed by the superimposed image of the vehicle 1. Also in this case, the same effect as that of the above-described embodiment can be obtained by making the transition speed of the display of the virtual image data different between the first area and the second area (lowering when facing the corner portion).

  Further, in the present embodiment, the case where the height of the movement locus of the virtual viewpoint 38 is set as the line-of-sight height (for example, 140 cm) when a user with a standard physique is seated on the vehicle 1 is shown as an example. The height of can be changed as appropriate. For example, a bird's-eye view image may be displayed, and the transition speed of display of virtual image data is made different between the first area and the second area (slower when approaching the corner portion), as in the above-described embodiment. The effect of can be obtained. In addition, when an object exists around the vehicle 1 and is converted into virtual image data, the height of the movement trajectory is increased when the object fills the display screen and the surrounding situation of the vehicle 1 is insufficiently displayed. By raising the value, the portion that is blocked by the object changes, and the display of the vehicle 1 becomes possible, and the display of the surrounding situation of the vehicle 1 can be improved and the user can recognize it.

  Although embodiments and modifications of the present invention have been described, these embodiments and modifications are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Vehicle body, 8 ... Display apparatus, 14 ... ECU, 14a ... CPU, 14b ... ROM, 14d ... Display control part, 14g ... Operation part, 15, 15a, 15b, 15c, 15d ... Imaging part, 30 DESCRIPTION OF SYMBOLS ... Image acquisition part, 32 ... Image conversion part, 34 ... Operation reception part, 36 ... Data control part, 38 ... Virtual viewpoint, 40 ... Movement locus, 100 ... Perimeter monitoring system (periphery monitoring apparatus), Q1, Q2, Q3 Q4 ... 1st area | region, R1, R2, R3, R4 ... 2nd area | region.

Claims (5)

An image acquisition unit that is provided in a vehicle and acquires captured image data output from an imaging unit that images the periphery of the vehicle;
The pre-Symbol captured image data, an image converting unit that converts the virtual image data as captured from different virtual viewpoints from the viewpoint which the imaging unit has captured,
A control unit for sequentially displaying the virtual image data on a display device provided in a vehicle interior of the vehicle so that the virtual viewpoint moves around the vehicle;
With
In the case where the image conversion unit moves in a second region where the first line-of-sight distance to the vehicle is different from the first region when the virtual viewpoint moves in a first region including at least a side surface of the periphery of the vehicle. Converting the virtual image data to be shorter than the second line-of-sight distance to the vehicle,
Wherein the control unit, the virtual viewpoint, and a pre-Symbol first transition period for sequentially displaying the virtual image data so as to pass through the first region, the virtual image data so as to pass through the pre-Symbol second region successively A periphery monitoring device that changes a transition speed when displaying the virtual image data in a second transition period to be displayed.   The periphery monitoring device according to claim 1, wherein the second region is a region facing a corner portion of the vehicle, and the first region is a region sandwiched between the adjacent second regions.   The periphery monitoring according to claim 1, wherein the control unit displays the virtual image data so that a second transition speed of the second transition period is slower than a first transition speed of the first transition period. apparatus.   The periphery monitoring device according to any one of claims 1 to 3, wherein the image conversion unit is capable of changing a field angle of the virtual viewpoint. Furthermore, an object detection unit that detects the presence or absence of an object present around the vehicle,
5. The image conversion unit according to claim 1, wherein, when the object is detected, the image conversion unit converts the virtual image data so that a movement locus of the virtual viewpoint exists between the object and the vehicle. The perimeter monitoring device according to claim 1.

Images