JP6644256B2 - Overhead video generation device, overhead video generation system, overhead video generation method and program - Google Patents

Description

  The present invention relates to an overhead image generation apparatus, an overhead image generation system, an overhead image generation method, and a program.

  2. Description of the Related Art A technique related to a vehicle periphery display device that displays a bird's-eye view image of a vehicle together with a vehicle image is known (for example, see Patent Document 1). This technology enlarges the display area of the bird's-eye view image behind the vehicle image when the vehicle switches from forward to reverse.

JP 2015-076645 A

  By the way, when turning right or left or changing lanes, the driver of the vehicle checks the surroundings of the vehicle including the rear by checking with the side mirror and the rearview mirror and checking with the naked eye. However, blind spots are likely to be generated around the vehicle when checking with the side mirror and the rearview mirror and checking with the naked eye. Therefore, a technology that enables appropriate confirmation of the vicinity of the vehicle is desired.

  The present invention has been made in view of the above, and an object of the present invention is to enable appropriate confirmation of the vicinity of a vehicle.

  In order to solve the above-described problems and achieve the object, an overhead image generation device according to the present invention includes an image acquisition unit configured to acquire a peripheral image of an area around a vehicle, and estimates a movement of the vehicle in a turning direction. A vehicle information acquisition unit for acquiring vehicle information to be performed, and when the movement of the vehicle in the turning direction is estimated based on the vehicle information acquired by the vehicle information acquisition unit, the vehicle moves in the turning direction A control unit that generates a bird's-eye view image including a virtual self-vehicle image of the vehicle when the vehicle is viewed from above, in a state where the vehicle is positioned in a direction opposite to the direction. .

  A bird's-eye view image generation system according to the present invention includes the above-described bird's-eye view image generation device and a shooting unit that shoots a periphery of the vehicle and supplies a surrounding image to the video acquisition unit.

  The overhead view image generation method according to the present invention includes: an image acquisition step of acquiring a peripheral image of a periphery of a vehicle; a vehicle information acquisition step of acquiring vehicle information for estimating a movement of the vehicle in a turning direction; When the vehicle is estimated to move in the turning direction based on the vehicle information acquired in the information acquiring step, the vehicle is moved in a direction opposite to the direction in which the vehicle moves in the turning direction, and And generating a bird's-eye view image including a virtual own-vehicle image of the vehicle when the vehicle is viewed from above.

  A program according to the present invention includes: a video acquisition step of acquiring a peripheral video of a periphery of a vehicle; a vehicle information acquisition step of acquiring vehicle information for estimating a movement of the vehicle in a turning direction; and the vehicle information acquisition step. When the movement of the vehicle in the turning direction is estimated based on the vehicle information obtained in the above, a state in which the vehicle is positioned in a direction opposite to the direction in which the vehicle moves in the turning direction Then, the computer operating as the overhead image generation device executes the control step of generating an overhead image including a virtual own vehicle image of the vehicle when the vehicle is viewed from above.

  ADVANTAGE OF THE INVENTION According to this invention, it is effective in the ability to confirm the periphery of a vehicle appropriately.

FIG. 1 is a block diagram illustrating a configuration example of the overhead video generation system according to the first embodiment. FIG. 2 is a flowchart illustrating a flow of processing in the overhead image generation device of the overhead image generation system according to the first embodiment. FIG. 3 is a diagram illustrating an overhead video generated by the overhead video generation system according to the first embodiment. FIG. 4 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system according to the second embodiment. FIG. 5 is a diagram illustrating another example of the overhead image generated by the overhead image generation system according to the third embodiment. FIG. 6 is a block diagram illustrating a configuration example of the overhead view video generation system according to the fourth embodiment. FIG. 7 is a flowchart illustrating a flow of processing in the overhead image generation device of the overhead image generation system according to the fourth embodiment. FIG. 8 is a diagram illustrating another example of the overhead view image generated by the overhead view image generation system according to the fourth embodiment. FIG. 9 is a flowchart illustrating the flow of processing in the overhead image generation device of the overhead image generation system according to the fifth embodiment. FIG. 10 is a diagram illustrating another example of the overhead view image generated by the overhead view image generation system according to the fifth embodiment. FIG. 11 is a block diagram illustrating a configuration example of an overhead view video generation system according to the sixth embodiment. FIG. 12 is a plan view showing a range photographed by the left rear peripheral photographing camera and the right rear peripheral photographing camera of the overhead view video generation system according to the sixth embodiment. FIG. 13 is a diagram illustrating an overhead video generated by the overhead video generation system according to the sixth embodiment. FIG. 14 is a block diagram illustrating another configuration example of the overhead view video generation system. FIG. 15 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system. FIG. 16 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system. FIG. 17 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system.

  Hereinafter, an embodiment of an overhead video generation device 40, an overhead video generation system 1, an overhead video generation method, and a program according to the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited by the following embodiments.

[First embodiment]
FIG. 1 is a block diagram illustrating a configuration example of the overhead video generation system according to the first embodiment. The overhead view image generation system 1 generates an overhead view image B of the vehicle 100 (see FIG. 3).

  First, the vehicle will be described. As shown in FIG. 1, the vehicle 100 includes an overhead image generation system 1, a display panel 101, a map information storage unit 102, a current position information detection unit 103, a direction indicator operation detection unit 104, and a gear operation detection unit 105, a steering operation detection unit 106, and an angular velocity sensor 107. In the present embodiment, the overhead view image generation system 1 includes a display panel 101, a map information storage unit 102, a current location information detection unit 103, a direction indicator operation detection unit 104, a gear operation detection unit 105, and a steering operation detection. Although the unit 106 and the angular velocity sensor 107 are not included, each unit may be included in the overhead image generation system 1. The overhead view video generation system 1 may be a device that is portable and can be used in a vehicle, in addition to the device mounted on the vehicle 100.

  The display panel 101 is a display including, for example, a liquid crystal display (LCD) or an organic EL (Organic Electro-Luminescence) display. The display panel 101 displays an overhead video based on the video signal output from the overhead video generation device 40 of the overhead video generation system 1. The display panel 101 may be dedicated to the overhead image generation system 1 or may be used jointly with another system including a navigation system, for example. The display panel 101 is arranged at a position that is easily visible from the driver.

  The map information storage unit 102 stores map information. The map information is, for example, a road map including an intersection. The map information may include lane information on a road having a plurality of lanes. The map information may include route guidance information for the destination. The route guidance information may include, for example, right / left turn information at an intersection and lane change information near an intersection of a road having a plurality of lanes. The map information storage unit 102 outputs the stored map information to the vehicle information acquisition unit 42 of the overhead view image generation device 40 of the overhead view image generation system 1.

  The current location information detection unit 103 detects the current location of the vehicle 100. The current location information detection unit 103 is, for example, a GPS (Global Positioning System) receiver. The current position information detection unit 103 outputs the obtained current position information of the vehicle 100 to the vehicle information acquisition unit 42 of the overhead image generation device 40 of the overhead image generation system 1.

  The direction indicator operation detection unit 104 detects an operation on the direction indicator. More specifically, the direction indicator operation detection unit 104 detects, for example, an operation on a switch that operates the direction indicator as direction indicator operation information. The direction indicator operation detection unit 104 outputs the detected direction indicator operation information to the vehicle information acquisition unit 42 of the overhead image generation device 40 of the overhead image generation system 1.

  The gear operation detection unit 105 detects an operation on a gear. More specifically, the gear operation detection unit 105 detects a selection operation for a gear as gear operation information. The gear operation detection unit 105 outputs the detected gear operation information to the vehicle information acquisition unit 42 of the overhead image generation device 40 of the overhead image generation system 1.

  The steering operation detection unit 106 detects an operation on the steering wheel. More specifically, the steering operation detection unit 106 detects an operation angle of the steering wheel as steering operation information. The steering operation detection unit 106 outputs the detected steering operation information to the vehicle information acquisition unit 42 of the overhead image generation device 40 of the overhead image generation system 1.

  The angular velocity sensor 107 detects the angular velocity of the vehicle 100. The angular velocity sensor 107 is, for example, a gyro sensor. The angular velocity sensor 107 outputs the detected angular velocity to the vehicle information acquisition unit 42 of the overhead video generation device 40 of the overhead video generation system 1.

  The overhead view image generation system 1 includes a first photographing device 20, a storage device 30, and an overhead view image generation device 40.

  The first photographing device 20 photographs the periphery of the vehicle 100. The first photographing device 20 includes a front peripheral photographing camera 21, a rear peripheral photographing camera 22, a left peripheral photographing camera 23, and a right peripheral photographing camera 24. The first photographing device 20 photographs the omnidirectional direction of the vehicle 100 with the front peripheral photographing camera 21, the rear peripheral photographing camera 22, the left peripheral photographing camera 23, and the right peripheral photographing camera 24. The first photographing device 20 acquires an image photographed by the front peripheral photographing camera 21, the rear peripheral photographing camera 22, the left peripheral photographing camera 23, and the right peripheral photographing camera 24 by the overhead image generating device 40. Output to the unit 41.

  The front peripheral photographing camera 21 is arranged in front of the vehicle 100 and photographs the periphery around the front of the vehicle 100. The front peripheral camera 21 outputs the captured video to the video acquisition unit 41 of the overhead video generation device 40.

  The rear peripheral photographing camera 22 is arranged behind the vehicle 100 and photographs the periphery around the rear of the vehicle 100. The rear peripheral camera 22 outputs the captured image to the image acquisition unit 41 of the overhead image generation device 40.

  The left side surrounding photographing camera 23 is arranged on the left side of the vehicle 100 and photographs the periphery around the left side of the vehicle 100. The left peripheral imaging camera 23 outputs the captured video to the video acquisition unit 41 of the overhead video generation device 40.

  The right side peripheral photographing camera 24 is disposed on the right side of the vehicle 100 and photographs the periphery around the right side of the vehicle 100. The right side peripheral camera 24 outputs the captured image to the image acquisition unit 41 of the overhead image generation device 40.

  The storage device 30 stores data required for various processes in the overhead view video generation device 40 and various processing results. The storage device 30 is, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), or a flash memory, or a storage device such as a hard disk or an optical disk.

  The bird's-eye view image generation device 40 is, for example, an arithmetic processing device including a CPU (Central Processing Unit). The bird's-eye view video generation device 40 loads a program stored in the storage device 30 into a memory, and executes an instruction included in the program. The overhead view image generation device 40 includes an image acquisition unit 41, a vehicle information acquisition unit 42, and a control unit 43 including an overhead view image generation unit 43a and a display control unit 43b.

  The image acquisition unit 41 acquires a peripheral image of the periphery of the vehicle 100. More specifically, the image acquiring unit 41 outputs the images output by the front peripheral photographing camera 21, the rear peripheral photographing camera 22, the left peripheral photographing camera 23, and the right peripheral photographing camera 24 of the first photographing device 20. To get. The image acquisition unit 41 outputs the acquired image to the overhead image generation unit 43a.

  The vehicle information acquisition unit 42 acquires vehicle information for estimating the movement of the vehicle 100 in the turning direction. The information for estimating the movement of the vehicle 100 in the turning direction includes map information around the vehicle 100, current location information of the vehicle 100, direction indicator operation information of the vehicle 100, gear operation information of the vehicle 100, and steering operation of the vehicle 100. The vehicle information includes at least one of the information and the angular velocity of the vehicle 100. More specifically, the vehicle information acquisition unit 42 includes at least one of the map information storage unit 102, the current location information detection unit 103, the direction indicator operation detection unit 104, the gear operation detection unit 105, the steering operation detection unit 106, and the angular velocity sensor 107. The vehicle information output by one of them is acquired. The vehicle information acquisition unit 42 outputs the acquired vehicle information to the display control unit 43b.

  The control unit 43 converts the viewpoint of the virtual vehicle image A viewed from above the vehicle 100 and the image acquired by the image acquisition unit 41 into an image viewed from above the vehicle 100 to generate an overhead image B. It includes a video generation unit 43a and a display control unit 43b that processes the video generated by the overhead video generation unit 43a and sends the processed video to the display panel 101. The control unit 43 processes the image generated by the overhead image generation unit 43a and sends the processed image to the display panel 101. For example, the control unit 43 processes the bird's-eye view image B generated by the bird's-eye view image generation unit 43a so that the display control unit 43b brings the virtual vehicle image A closer to the display panel 101 and sends the processed image to the display panel 101. . Further, the control unit 44 processes the overhead view image B generated by the overhead view image generation unit 43a so that the virtual own vehicle image A is shifted and reduced by the display control unit 43b and displayed on the display panel 101. Send to panel 101.

  The bird's-eye view image generation unit 43a generates a bird's-eye view image B based on the images taken by the front peripheral photographing camera 21, the rear peripheral photographing camera 22, the left peripheral photographing camera 23, and the right peripheral photographing camera 24. I do. The method of generating the bird's-eye view video B may be any known method, and is not limited. The bird's-eye view video B includes a virtual host vehicle image A and at least one of a front video B1, a rear video B2, a left video B3, and a right video B4. The bird's-eye view video B is generated in a rectangular frame F. The frame F includes a first frame F1 displaying the front image B1, a second frame F2 displaying the rear image B2, a third frame F3 displaying the left image B3, and a fourth frame F4 displaying the right image B4. And at least one of the frames F4. The bird's-eye view video generation unit 43a outputs the generated bird's-eye view video B to the display control unit 43b.

  When the movement of the vehicle 100 in the turning direction (left-right direction) is estimated based on the vehicle information acquired by the vehicle information acquiring unit 42, the display control unit 43b is opposite to the direction in which the vehicle 100 moves in the turning direction. A bird's-eye view video B including a virtual host vehicle image A in which the vehicle 100 is viewed from above is generated in a state where the vehicle 100 is positioned in the direction. The movement of the vehicle 100 in the turning direction is a movement in a direction deviating from the direction in which the road on which the vehicle 100 is traveling extends (hereinafter, referred to as “traveling road direction”). The movement in the turning direction is a movement in the left-right direction toward the front side of the vehicle 100 in the front-rear direction. For example, when turning left or right or when changing lanes, the vehicle 100 moves in the turning direction. The movement of the vehicle 100 in the turning direction does not include the movement of the vehicle 100 along a curved or curved road. The display control unit 43b may determine that the movement is in a deviating direction, for example, when the deviation from the traveling road direction is 15 ° or more. This is because a slight blur during driving or a play of the steering wheel is not determined as the movement of the vehicle 100 in the turning direction.

  Next, the flow of processing in the overhead image generation device 40 of the overhead image generation system 1 will be described with reference to FIG. FIG. 2 is a flowchart showing the flow of processing in the overhead image generation device of the overhead image generation system.

  The display control unit 43b determines whether the movement in the turning direction is estimated (Step S11). More specifically, the display control unit 43b acquires the map information around the vehicle 100, the current location information of the vehicle 100, the turn signal operation information of the vehicle 100, the gear operation information of the vehicle 100, and the vehicle information acquired by the vehicle information acquisition unit 42. It is determined whether or not the movement of the vehicle 100 in the turning direction is estimated based on at least one of the steering operation information of the vehicle 100 and the angular velocity of the vehicle 100.

  When the display control unit 43b determines whether or not the movement in the turning direction of the vehicle 100 is estimated based on the map information around the vehicle 100 acquired by the vehicle information acquisition unit 42 and the current location information of the vehicle 100 Will be described. For example, based on the map information around the vehicle 100 and the current location information of the vehicle 100, the display control unit 43b, when the vehicle 100 approaches within a predetermined distance of an intersection where a right / left turn is scheduled in the route guidance information, It is determined that the movement of the vehicle 100 in the turning direction is estimated. The predetermined distance may be, for example, 5 m. For example, based on the map information around the vehicle 100 and the current location information of the vehicle 100, the display control unit 43b, when the vehicle 100 approaches within a predetermined distance of a point where a lane change is scheduled in the route guidance information, It is determined that the movement of the vehicle 100 in the turning direction is estimated. The predetermined distance may be, for example, 5 m. When determining that the movement of the vehicle 100 in the turning direction is estimated, the display control unit 43b stores the estimated movement direction of the vehicle 100 in the storage device 30.

  A case in which the display control unit 43b determines whether or not the movement of the vehicle 100 in the turning direction is estimated based on the direction indicator operation information acquired by the vehicle information acquisition unit 42 will be described. For example, based on the direction indicator operation information, the display control unit 43b determines that the movement of the vehicle 100 in the turning direction is estimated when the direction indicator is operated. When determining that the movement of the vehicle 100 in the turning direction is estimated, the display control unit 43b stores the estimated movement direction of the vehicle 100 in the storage device 30.

  The case where the display control unit 43b determines whether or not the movement in the turning direction of the vehicle 100 is estimated based on the gear operation information and the steering operation information acquired by the vehicle information acquisition unit 42 will be described. For example, based on at least one of the gear operation information and the steering operation information, the display control unit 43b operates when the steering wheel is operated, or when the reverse gear is selected and the steering wheel is operated. In this case, it is determined that the movement of the vehicle 100 in the turning direction is estimated. When determining that the movement of the vehicle 100 in the turning direction is estimated, the display control unit 43b stores the estimated movement direction of the vehicle 100 in the storage device 30.

  The display control unit 43b controls the vehicle 100 based on at least one of the map information around the vehicle 100 and the current location information of the vehicle 100 acquired by the vehicle information acquisition unit 42 and / or the steering operation information and the angular velocity of the vehicle 100. A case will be described in which it is determined whether or not the movement in the turning direction is estimated. For example, based on at least one of the map information around the vehicle 100 and the current location information of the vehicle 100 and / or the steering operation information and the angular velocity of the vehicle 100, the display control unit 43b determines the direction deviating from the traveling road direction. When the steering operation is performed on the vehicle, or when the angular velocity changes in a direction deviating from the traveling road direction, it is determined that the movement of the vehicle 100 in the turning direction is estimated. For example, if the deviation from the traveling road direction is equal to or more than 15 °, the movement may be determined to deviate. As described above, the determination based on the combination of the map information around the vehicle 100 and the current location information of the vehicle 100 and / or the steering operation information and the angular velocity of the vehicle 100 is, for example, a bending or a curve. This is because when the steering operation is performed along the road or the angular velocity changes, it is not determined that the movement of the vehicle 100 in the turning direction is erroneously estimated. When determining that the movement of the vehicle 100 in the turning direction is estimated, the display control unit 43b stores the estimated movement direction of the vehicle 100 in the storage device 30.

  The display control unit 43b controls at least one of the map information around the vehicle 100 and the current location information of the vehicle 100 acquired by the vehicle information acquisition unit 42, and the direction indicator operation information, the steering operation information, and the angular velocity of the vehicle 100. Based on the above, a case will be described in which it is determined whether or not the movement of the vehicle 100 in the turning direction is estimated. For example, the display control unit 43b controls the vehicle based on at least one of the map information around the vehicle 100, the current location information of the vehicle 100, and the direction indicator operation information, the steering operation information, and the angular velocity of the vehicle 100. When 100 is within a predetermined distance of an intersection where a right or left turn is planned in the route guidance information, and the direction indicator is operated, or the steering operation is performed in a direction deviating from the traveling road direction. If the angular velocity changes in a direction deviating from the traveling road direction, it is determined that the movement of the vehicle 100 in the turning direction is estimated. The predetermined distance may be, for example, 5 m. For example, if the deviation from the traveling road direction is equal to or more than 15 °, the movement may be determined to deviate. For example, the display control unit 43b controls the vehicle based on at least one of the map information around the vehicle 100, the current location information of the vehicle 100, and the direction indicator operation information, the steering operation information, and the angular velocity of the vehicle 100. 100 is within a predetermined distance of the point where the lane change is scheduled in the route guidance information, and the direction indicator is operated, or the steering operation is performed in a direction deviating from the traveling road direction. If the angular velocity changes in a direction deviating from the traveling road direction, it is determined that the movement of the vehicle in the turning direction is estimated. The predetermined distance may be, for example, 5 m. For example, if the deviation from the traveling road direction is equal to or more than 15 °, the movement may be determined to deviate. As described above, the determination based on the combination of at least one of the map information around the vehicle 100 and the current location information of the vehicle 100, and the direction indicator operation information, the steering operation information, and the angular velocity of the vehicle 100 is performed, for example. This is because, although the vehicle guides a right or left turn or a lane change in the route guidance, it is not estimated that the vehicle 100 erroneously moves in the turning direction when the driver goes straight without following the route guidance. When determining that the movement of the vehicle 100 in the turning direction is estimated, the display control unit 43b stores the estimated movement direction of the vehicle 100 in the storage device 30.

  When the movement of the vehicle 100 in the turning direction has not been estimated (No in Step S11), the display control unit 43b proceeds to Step S12.

  When the display control unit 43b estimates that the vehicle 100 moves in the turning direction (Yes in step S11), the process proceeds to step S13.

  The display control unit 43b generates a normal bird's-eye view video B in which the virtual host vehicle image A is positioned at the center (Step S12). More specifically, the display control unit 43b generates the bird's-eye view video B including the virtual own vehicle image A looking down on the vehicle 100 from above while the vehicle 100 is located at the center. In this overhead view video B, the center C of the virtual own vehicle image A is located at the center of the frame F.

  The display control unit 43b acquires the moving direction of the vehicle 100 (Step S13). The display control unit 43b acquires the moving direction of the vehicle 100 stored in the storage device 30 in step S11.

  The display control unit 43b generates the bird's-eye view video B displayed on the display panel 101 with the virtual own vehicle image A shifted and positioned (step S14). More specifically, the display control unit 43b is a bird's-eye view including the virtual self-vehicle image A when the vehicle 100 is viewed from above in a state where the vehicle 100 is positioned in a direction opposite to the moving direction of the vehicle 100 in the turning direction. Image B is generated. In the present embodiment, the display control unit 43b moves the vehicle 100 from above in a state in which the vehicle 100 is positioned closer to the upper side of the frame F in the direction opposite to the moving direction of the vehicle 100 in the turning direction. A bird's-eye view video B including the virtual vehicle image A that is looked down is generated.

  More specifically, first, the display control unit 43b determines whether the moving direction of the vehicle 100 is located in the left or right direction with respect to the traveling road direction. When determining that the moving direction of the vehicle 100 is the right direction, the display control unit 43b positions the virtual own vehicle image A on the upper left of the frame F in the overhead view video B. In this case, the center line LA of the virtual host vehicle image A is located on the left side of the center line LF of the frame F. The center C of the virtual vehicle image A is located above the frame F. When determining that the moving direction of the vehicle 100 is the left direction, the display control unit 43b positions the virtual own vehicle image A on the upper right of the frame F in the overhead view video B. In this case, the center line LA of the virtual host vehicle image A is located on the right side of the center line LF of the frame F. The center C of the virtual vehicle image A is located above the frame F. Then, the display control unit 43b generates a bird's-eye view video B in which the virtual vehicle image A is positioned at the upper left or upper right of the frame F. Thereby, when the virtual own vehicle image A is located at the upper left of the frame F, the right side of the virtual own vehicle image A is widely displayed in the overhead view video B. When the virtual vehicle image A is located at the upper right of the frame F, the left side of the virtual vehicle image A is widely displayed in the overhead view video B. Since the virtual vehicle image A shows the vehicle V, it is possible to display a wide range around the vehicle V in which information to be noted when moving in the turning direction is displayed.

  In the present embodiment, the moving direction of the vehicle 100 is the left direction, and in the overhead view video B, the virtual own vehicle image A is located at the upper right of the frame F as shown in FIG. FIG. 3 is a diagram illustrating an overhead video generated by the overhead video generation system. The bird's-eye view image B includes a virtual host vehicle image A, a wide range rear image B2 and left side image B3, and a narrow range front image B1 and right side image B4. The frame F broadly includes the second frame F2 and the third frame F3, and narrowly includes the first frame F1 and the fourth frame F4. As described above, the bird's-eye view video B broadly displays the left side, which is the moving direction of the vehicle 100.

  When the movement of the vehicle 100 in the turning direction is completed, the display control unit 43b generates the bird's-eye view video B in which the virtual own vehicle image A is restored to the original state.

  The case where the display control unit 43b estimates the movement of the vehicle 100 in the turning direction based on the map information around the vehicle 100 acquired by the vehicle information acquisition unit 42 and the current location information of the vehicle 100 will be described. For example, based on the map information around the vehicle 100 and the current location information of the vehicle 100, the display control unit 43b, when the vehicle 100 is separated from the intersection scheduled to turn right or left in the route guidance information by a predetermined distance or more, It is determined that the movement of the vehicle 100 in the turning direction has been completed. The predetermined distance may be, for example, 5 m. For example, based on the map information around the vehicle 100 and the current location information of the vehicle 100, the display control unit 43b, when the vehicle 100 is separated from the point where the lane change is scheduled in the route guidance information by a predetermined distance or more, It is determined that the movement of the vehicle 100 in the turning direction has been completed. The predetermined distance may be, for example, 5 m.

  A case where the display control unit 43b estimates the movement of the vehicle 100 in the turning direction based on the direction indicator operation information acquired by the vehicle information acquisition unit 42 will be described. For example, when the operation of the direction indicator is released based on the direction indicator operation information, the display control unit 43b determines that the movement of the vehicle 100 in the turning direction is completed.

  A case where the display control unit 43b estimates the movement of the vehicle 100 in the turning direction based on the gear operation information and the steering operation information acquired by the vehicle information acquisition unit 42 will be described. For example, based on at least one of the gear operation information and the steering operation information, the display control unit 43b determines whether the steering wheel has been operated in the return direction, or the reverse gear has been deselected, and When the wheel is operated in the return direction, it is determined that the movement of the vehicle 100 in the turning direction has been completed.

  The display control unit 43b controls the vehicle 100 based on at least one of the map information around the vehicle 100 and the current location information of the vehicle 100 acquired by the vehicle information acquisition unit 42 and / or the steering operation information and the angular velocity of the vehicle 100. The case where the movement in the turning direction is estimated will be described. For example, based on at least one of the map information around the vehicle 100, the current location information of the vehicle 100, and the steering operation information and the angular velocity of the vehicle 100, the display control unit 43b controls the operation of the steering wheel in the return direction based on at least one of the steering operation information and the angular velocity of the vehicle 100. When the angular velocity has changed in the return direction, or when the angular velocity has changed in the return direction, it is determined that the movement of the vehicle 100 in the turning direction has been completed.

  The display control unit 43b controls at least one of the map information around the vehicle 100 and the current location information of the vehicle 100 acquired by the vehicle information acquisition unit 42, and the turn signal operation information, the steering operation information, and the angular velocity of the vehicle. A case will be described in which the movement of the vehicle 100 in the turning direction is estimated based on. For example, the display control unit 43b controls the vehicle based on at least one of the map information around the vehicle 100, the current location information of the vehicle 100, and the direction indicator operation information, the steering operation information, and the angular velocity of the vehicle 100. 100 is a predetermined distance or more away from the intersection where the right and left turns are scheduled in the route guidance information, and the operation of the turn signal is canceled, or the steering wheel is operated in the return direction, or If the angular velocity changes in the return direction, it is determined that the movement of the vehicle 100 in the turning direction has been completed. The predetermined distance may be, for example, 5 m. For example, the display control unit 43b controls the vehicle based on at least one of the map information around the vehicle 100, the current location information of the vehicle 100, and the direction indicator operation information, the steering operation information, and the angular velocity of the vehicle 100. 100 is a predetermined distance or more away from the point where the lane change is scheduled in the route guidance information, and when the operation of the turn signal is released, or when the steering wheel is operated in the return direction, or If the angular velocity changes in the return direction, it is determined that the movement of the vehicle 100 in the turning direction has been completed. The predetermined distance may be, for example, 5 m.

  In such a case, the display control unit 43b determines that the movement of the vehicle 100 in the turning direction has been completed, and generates the bird's-eye view video B in which the virtual own vehicle image A is restored to the original state.

  In this manner, the overhead video generation system 1 generates the overhead video B and outputs a video signal to the display panel 101 outside the overhead video generation system 1. The external display panel 101 displays, for example, an overhead image B together with a navigation screen based on the image signal output from the overhead image generation system 1.

  As described above, the overhead view image generation system 1 according to the present embodiment, when the movement of the vehicle 100 in the turning direction is estimated based on the vehicle information acquired by the vehicle information acquisition unit 42, In a state where the vehicle 100 is positioned in a direction opposite to the moving direction, the overhead view video B including the virtual own vehicle image A in which the vehicle 100 is viewed from above can be generated. Thus, for example, when the moving direction of the vehicle 100 is the left direction, the bird's-eye view video B can widely display the left side, which is the moving direction of the vehicle 100. For example, when the moving direction of the vehicle 100 is the right direction, the overhead view video B can widely display the right side, which is the moving direction of the vehicle 100. In this way, the bird's-eye view video B can display the moving direction of the vehicle 100 widely. In this way, the overhead view image generation system 1 more appropriately confirms information that needs attention when the vehicle 100 moves in the turning direction, around the vehicle, more specifically, in accordance with the movement of the vehicle 100 in the turning direction. Can be possible.

[Second embodiment]
The overhead view image generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 4 is a diagram illustrating an overhead video generated by the overhead video generation system according to the present embodiment. The overhead view image generation system 1 has the same basic configuration as the overhead view image generation system 1 of the first embodiment. In the following description, the same components as those of the overhead view video generation system 1 will be assigned the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted. The overhead view video generation system 1 of the present embodiment differs from the overhead view video generation system 1 of the first embodiment in processing in the overhead view video generation device 40.

  The display control unit 43b generates the overhead image B behind the side mirror M of the vehicle 100 when generating the overhead image B in which the virtual own vehicle image A is shifted in step S14 of the flowchart illustrated in FIG. I do. More specifically, when the virtual own vehicle image A is positioned at the upper left or upper right of the frame F in the overhead view video B, the display control unit 43b positions the virtual vehicle image A behind the side mirror M of the vehicle 100 in the frame F. .

  In the present embodiment, the moving direction of the vehicle 100 is the left direction. As shown in FIG. 4, the bird's-eye view image B includes a virtual host vehicle image A in the upper right of the frame F and a frame behind the side mirror M of the vehicle 100 It is located in a position that fits in F. The bird's-eye view image B includes a portion behind the side mirror M of the virtual host vehicle image A, a wide range rear image B2, a left side image B3, and a narrow range right side image B4. The frame F broadly includes the second frame F2 and the third frame F3, narrowly includes the fourth frame F4, and does not include the first frame F1. As described above, the bird's-eye view video B widely displays the left side and the rear side, which are the moving directions of the vehicle 100.

  As described above, the overhead image generation system 1 according to the present embodiment can generate the overhead image B behind the side mirror M of the vehicle 100. Therefore, the overhead view video generation system 1 can display the moving direction and the rear of the vehicle 100 more widely. With such a display, the viewing range of the side mirror M and the starting point of the range displayed as the bird's-eye view image B coincide, and the positional relationship of the bird's-eye view image B with the view range and the blind spot of the side mirror M can be easily grasped. In this way, the overhead view image generation system 1 more appropriately confirms information that needs attention when the vehicle 100 moves in the turning direction, around the vehicle, more specifically, in accordance with the movement of the vehicle 100 in the turning direction. Can be possible.

[Third embodiment]
The overhead view image generation system 1 according to the present embodiment will be described with reference to FIG. FIG. 5 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system according to the present embodiment. The overhead view video generation system 1 of the present embodiment differs from the overhead view video generation system 1 of the first embodiment in processing in the overhead view video generation device 40.

  The display control unit 43b generates a bird's-eye view image B obtained by reducing the virtual host vehicle image A when generating the bird's-eye view video B in which the virtual host vehicle image A is shifted in step S14 of the flowchart shown in FIG. . More specifically, the display control unit 43b reduces the size of the virtual vehicle image A when positioning the virtual vehicle image A on the upper left or upper right of the frame F in the overhead view video B. Here, the reduced display of the virtual own vehicle image A means that the virtual own vehicle image A is displayed smaller than that of FIG.

  In the present embodiment, the moving direction of the vehicle 100 is the left direction, and as shown in FIG. 5, the overhead view video B is displayed on the upper right of the frame F in a smaller size than in FIG. The bird's-eye view image B includes a reduced virtual host vehicle image A, a wide range rear image B2 and left side image B3, and a narrow range front image B1 and right side image B4. The frame F includes the second frame F2 and the third frame F3 more widely, and includes the first frame F1 and the fourth frame F4 narrowly. As described above, the bird's-eye view video B displays the left side and the rear side, which are the moving directions of the vehicle 100, more widely.

  As described above, the overhead image generation system 1 according to the present embodiment can generate the overhead image B in which the virtual vehicle image A is reduced. Therefore, the overhead view video generation system 1 can display the moving direction and the rear of the vehicle 100 more widely. In this way, the overhead view image generation system 1 more appropriately confirms information that needs attention when the vehicle 100 moves in the turning direction, around the vehicle, more specifically, in accordance with the movement of the vehicle 100 in the turning direction. Can be possible.

[Fourth embodiment]
The overhead view video generation system 1A according to the present embodiment will be described with reference to FIGS. FIG. 6 is a block diagram illustrating a configuration example of the overhead video generation system according to the present embodiment. The overhead view image generation system 1A of the present embodiment differs from the overhead view image generation system 1 of the first embodiment in that the vehicle information acquisition unit 42 of the overhead view image generation device 40 further acquires the vehicle speed from the vehicle speed sensor 108.

  The vehicle speed sensor 108 detects a vehicle speed. More specifically, the vehicle speed sensor 108 is disposed on a drive shaft or a tire of the vehicle 100. The vehicle speed sensor 108 detects a pulse signal according to the rotation of the drive shaft or the tire. The vehicle speed sensor 108 outputs the detected vehicle speed to the vehicle information acquisition unit 42 of the overhead image generation device 40 of the overhead image generation system 1.

  The vehicle information acquisition unit 42 further acquires the vehicle speed output from the vehicle speed sensor 108. The vehicle information acquisition unit 42 outputs vehicle information including the acquired vehicle speed to the display control unit 43b.

  The display control unit 43b, based on the vehicle speed acquired by the vehicle information acquisition unit 42, when generating the bird's-eye view video B in which the virtual own vehicle image A is shifted in step S14 of the flowchart shown in FIG. In the state where the vehicle 100 is decelerating and the state where the vehicle 100 is accelerating, the overhead image B in the state where the vehicle 100 is decelerating generates the overhead image B in which the direction in which the vehicle 100 moves is widened. . When proceeding to step S14 of the flowchart shown in FIG. 2, the display control unit 43b performs the processing of the flowchart shown in FIG. FIG. 7 is a flowchart illustrating a flow of processing in the overhead video generation device of the overhead video generation system according to the present embodiment.

  The display control unit 43b determines whether the vehicle 100 is decelerating (Step S1411). When the vehicle 100 is decelerating (Yes in Step S1411), the display control unit 43b shifts the virtual own vehicle image A to a position and generates an overhead image B in which the moving direction of the vehicle 100 is widened (Step S1412). ). More specifically, when the virtual own vehicle image A is positioned at the upper left of the frame F in the overhead view video B, the display control unit 43b positions the virtual own vehicle image A near the upper left corner of the frame F. When the virtual own vehicle image A is positioned at the upper right of the frame F in the overhead view video B, the display control unit 43b positions the virtual own vehicle image A near the upper right end of the frame F.

  When the vehicle 100 is not decelerating (No in Step S1411), the display control unit 43b generates the overhead image B in which the virtual own vehicle image A is shifted (Step S1413). The processing in step S1413 is the same as the processing in step S14.

  In the present embodiment, the moving direction of the vehicle 100 is the left direction, and the overhead image B is displayed such that the virtual own vehicle image A is shifted to the upper right end of the frame F as shown in FIG. The center C of the virtual host vehicle image A is located closer to the upper right end than the center C of the virtual host vehicle image A in FIG. The bird's-eye view image B includes a virtual host vehicle image A, a wide range rear image B2, and a left side image B3. The frame F includes the second frame F2 and the third frame F3, and does not include the first frame F1 and the fourth frame F4. As described above, the bird's-eye view video B displays the left side and the rear side, which are the moving directions of the vehicle 100, more widely.

  As described above, the overhead view image generation system 1A according to the present embodiment includes the overhead view image B in the state where the vehicle 100 is decelerating between the state where the vehicle 100 is decelerating and the state where the vehicle 100 is accelerating. This can generate the overhead image B in which the direction in which the vehicle 100 moves is widened. For this reason, the overhead view image generation system 1A can display the moving direction and the rear of the vehicle 100 more widely. As described above, the overhead view image generation system 1A determines whether or not the vehicle 100 is around the vehicle 100, more specifically, depending on whether the vehicle 100 is decelerating or accelerating, in addition to the movement of the vehicle 100 in the turning direction. Information to be noted when moving in the turning direction can be more appropriately confirmed.

[Fifth embodiment]
The overhead view video generation system 1A according to the present embodiment will be described with reference to FIGS. The overhead view image generation system 1A of the present embodiment is different from the overhead view image generation system 1A of the fourth embodiment in the processing in the overhead view image generation device 40.

  The display control unit 43b, based on the vehicle speed acquired by the vehicle information acquisition unit 42, when generating the bird's-eye view video B in which the virtual own vehicle image A is shifted in step S14 of the flowchart shown in FIG. Between the state where the vehicle 100 is decelerating and the state where the vehicle 100 is accelerating, the overhead view image B in the state where the vehicle 100 is accelerating has a wider turning direction opposite to the moving direction of the vehicle 100. The generated overhead view video B is generated. When proceeding to step S14 of the flowchart shown in FIG. 2, the display control unit 43b performs the processing of the flowchart shown in FIG. FIG. 9 is a flowchart illustrating the flow of processing in the overhead image generation device of the overhead image generation system according to the fifth embodiment.

  The display control unit 43b determines whether the vehicle 100 is accelerating (Step S1421). When the vehicle 100 is accelerating (Yes in step S1421), the display control unit 43b shifts the virtual own-vehicle image A and positions the virtual own-vehicle image A, and widens the direction opposite to the moving direction of the vehicle in the turning direction. Is generated (step S1422). More specifically, the display control unit 43b positions the virtual vehicle image A away from the upper left corner of the frame F when the virtual vehicle image A is positioned at the upper left of the frame F in the overhead view video B. The display control unit 43b positions the virtual own vehicle image A away from the upper right end of the frame F when the virtual own vehicle image A is positioned at the upper right of the frame F in the overhead view video B.

  When the vehicle 100 is not accelerating (No in Step S1421), the display control unit 43b generates the overhead image B in which the virtual own vehicle image A is shifted and positioned (Step S1423). The processing in step S1423 is the same processing as step S14.

  In the present embodiment, the moving direction of the vehicle 100 is the left direction, and the overhead image B is displayed such that the virtual host vehicle image A is away from the upper right end of the frame F as shown in FIG. The center C of the virtual host vehicle image A is located closer to the center than the center C of the virtual host vehicle image A in FIG. The frame F includes the second frame F2 and the third frame F3 more widely, and includes the first frame F1 and the fourth frame F4 narrowly. The bird's-eye view image B includes a virtual host vehicle image A, a wide range rear image B2 and left side image B3, and a narrow range front image B1 and right side image B4. As described above, in the bird's-eye view video B, the direction opposite to the moving direction is displayed in addition to the left and rear directions that are the moving directions of the vehicle 100.

  As described above, the overhead view image generation system 1A according to the present embodiment includes the overhead view image B in the state where the vehicle 100 is accelerating in the state where the vehicle 100 is decelerating and the state where the vehicle 100 is accelerating. This can generate the overhead view image B in which the direction opposite to the direction in which the vehicle 100 moves in the turning direction is widened. For this reason, the overhead view video generation system 1A can display the direction opposite to the moving direction in addition to the moving direction and the rear of the vehicle 100. Thus, in a state where the vehicle 100 is accelerating, the driver can check the bird's-eye view image B not only in the moving direction of the vehicle 100 but also in a direction opposite to the moving direction of the vehicle 100 in the turning direction. As described above, the overhead view image generation system 1A determines whether or not the vehicle 100 is around the vehicle 100, more specifically, depending on whether the vehicle 100 is decelerating or accelerating, in addition to the movement of the vehicle 100 in the turning direction. Information to be noted when moving in the turning direction can be more appropriately confirmed.

[Sixth embodiment]
An overhead video generation system 1B according to the present embodiment will be described with reference to FIGS. FIG. 11 is a block diagram illustrating a configuration example of a bird's-eye view video generation system according to the sixth embodiment. The overhead view video generation system 1B of the present embodiment differs from the overhead view video generation system 1 of the first embodiment in that the overhead view video generation system 1B further includes a second imaging device 50.

  As shown in FIG. 12, the second photographing device 50 includes a left rear peripheral photographing camera 51 that photographs the left rear Q1 of the vehicle 100, and a right rear peripheral photographing camera 52 that photographs the right rear Q2. The second photographing device 50 outputs the images photographed by the left rear peripheral photographing camera 51 and the right rear peripheral photographing camera 52 to the image acquisition unit 41 of the overhead image generating device 40.

  The left rear peripheral photographing camera 51 photographs an area indicated by reference numeral Q1 in the figure. The region indicated by the reference sign Q1 is a region including a blind spot generated at the rear left when the driver checks with the side mirror and the rearview mirror and checks visually with the left turn. The left rear peripheral imaging camera 51 outputs the captured video to the video acquisition unit 41 of the overhead video generation device 40.

  The right rear peripheral photographing camera 52 photographs an area indicated by reference numeral Q2 in the figure. The area indicated by reference numeral Q2 is an area including a blind spot that occurs rearward right when the driver checks with the side mirror and the rearview mirror and checks visually with a right turn. The right rear peripheral imaging camera 52 outputs the captured video to the video acquisition unit 41 of the overhead video generation device 40.

  The image acquisition unit 41 further acquires the peripheral images output by the left rear peripheral photographing camera 51 and the right rear peripheral photographing camera 52. The image acquisition unit 41 outputs the acquired peripheral video including the left rear peripheral video and the right rear peripheral video to the overhead video generation unit 43a.

  In step S14 of the flowchart illustrated in FIG. 2, the display control unit 43b generates the overhead image B in which the virtual own vehicle image A is shifted, and the direction in which the vehicle 100 moves acquired by the image acquisition unit 41. Is generated. The display control unit 43b displays the bird's-eye view video B at the bottom of the frame F, and generates a video displaying the side rear video B5 at the fifth frame F5 located at the top of the frame F. For example, the fifth frame F5 may be a position in the frame F corresponding to the front of the side mirror M of the virtual host vehicle image A. For example, the fifth frame F5 may be a position in the frame F corresponding to a predetermined area such as the upper third of the frame F.

  In the present embodiment, the moving direction of the vehicle 100 is the left direction, and the overhead view image B is displayed at the lower part of the frame F and the side rear image B5 is displayed at the upper part of the frame F as shown in FIG. . The frame F broadly includes the second frame F2 and the third frame F3, narrowly includes the fourth frame F4, and does not include the first frame F1. Further, the upper part of the frame F includes a fifth frame F5. The fifth frame F5 is a position in the frame F corresponding to the virtual host vehicle image A ahead of the side mirror M.

  As described above, the bird's-eye view image generation system 1B according to the present embodiment can generate, together with the bird's-eye view image B, a video image that displays the side rear image B5 that becomes a blind spot from the driver when making a right or left turn. For this reason, the bird's-eye view video generation system 1B can more reliably display the moving direction and the rear of the vehicle 100. Thus, the driver can check the side rear image B5 in addition to the moving direction of the vehicle 100 and the area in which the driver becomes a blind spot when turning right or left. As described above, the bird's-eye view image generation system 1B more appropriately confirms information that needs attention when the vehicle 100 moves in the turning direction in accordance with the movement of the vehicle 100 in the turning direction. Can be possible.

  Now, the overhead view image generation system 1 according to the present invention has been described above, but may be implemented in various different forms other than the above-described embodiment.

  The illustrated components of the overhead view video generation system 1 are functionally conceptual, and need not necessarily be physically configured as illustrated. In other words, the specific form of each device is not limited to the one shown in the figure, and all or a part of each device may be functionally or physically dispersed or integrated in arbitrary units according to the processing load and usage status of each device. You may.

  The control unit 43 converts the virtual vehicle image A viewed from above the vehicle 100 and the image acquired by the image acquisition unit 41 into an image seen from above the vehicle 100, and the overhead image generation unit 43a The image is output as the image B, and the display control unit 43b processes the virtual own vehicle image A and the image around the virtual own vehicle image A from the images generated by the bird's-eye view image generating unit 43a into images that are extracted. However, the present invention is not limited to this configuration. For example, the display control unit determines how the virtual own-vehicle image A and the surrounding images of the virtual own-vehicle image A are arranged in the frame F, and the overhead image generating unit controls the display control unit, Based on the arrangement of the virtual host vehicle image A in frame F determined by the display control unit and the video surrounding the virtual host vehicle image A, the virtual host vehicle image A and the video acquired by the video acquisition unit 41 are 100 may be converted into an image viewed from above and output to the display control unit as an overhead image B, and the display control unit may send the overhead image B to the display panel 101.

  As illustrated in FIG. 14, the overhead image generation unit 27 of the overhead image generation system 1 </ b> C may be one of the functions of the first imaging device 20. FIG. 14 is a block diagram illustrating another configuration example of the overhead view video generation system. In this case, the video acquisition unit 41 of the overhead video generation device 40 acquires the overhead video B generated by the overhead video generation unit 27 of the first imaging device 20. The display control unit 43b processes the virtual own-vehicle image A and the surrounding images of the virtual own-vehicle image A from the overhead view image B generated by the overhead view image generation unit 27 of the first imaging device 20 into an extracted image, Send to display panel 101. As described above, in the overhead video generation system 1C, the function as a control unit is realized by the overhead video generation unit 27 of the first imaging device 20 and the display control unit 43b of the overhead video generation device 40.

  The configuration of the bird's-eye view video generation system 1 is realized by, for example, a program loaded into a memory as software. In the above-described embodiment, the description has been given as the functional block realized by the cooperation of the hardware or the software. That is, these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof.

  The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Further, the configurations described above can be appropriately combined. Further, various omissions, substitutions, or changes in the configuration can be made without departing from the spirit of the present invention.

  For example, overhead image B shown in FIG. 15 is a combination of the second embodiment and the fourth embodiment. FIG. 15 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system. The display control unit 43b may generate such an overhead image B in step S14 of the flowchart illustrated in FIG. In this case, the bird's-eye view video B is located at a position where the virtual own-vehicle image A is located at the upper right of the frame F, the position behind the side mirror M of the vehicle 100 is within the frame F, and the virtual own-vehicle image A is located at the upper right of the frame F It is displayed near the edge. As a result, in the bird's-eye view video B, the left side and the rear side, which are the moving directions of the vehicle 100, are displayed more widely. The frame F includes the second frame F2 and the third frame F3 more widely, and does not include the first frame F1 and the fourth frame F4. As described above, the overhead view image generation system 1 can generate the overhead view image B that makes it easy to check around the vehicle in accordance with the movement of the vehicle 100 in the turning direction.

  For example, a bird's-eye view video B shown in FIG. 16 is a combination of the third embodiment and the fourth embodiment. FIG. 16 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system. The display control unit 43b may generate such an overhead image B in step S14 of the flowchart illustrated in FIG. In this case, in the bird's-eye view video B, the virtual vehicle image A is displayed on the upper right of the frame F in a smaller size than in FIG. 3, and the virtual vehicle image A is displayed close to the upper right end of the frame F. As a result, in the bird's-eye view video B, the left side and the rear side, which are the moving directions of the vehicle 100, are displayed more widely. The frame F includes the second frame F2 and the third frame F3 more widely, and does not include the first frame F1 and the fourth frame F4. As described above, the bird's-eye view image generation system 1 can generate the bird's-eye view image B that makes it easy to check around the vehicle according to the movement of the vehicle 100 in the turning direction.

  For example, overhead image B shown in FIG. 17 is a combination of the second embodiment, the third embodiment, and the fourth embodiment. FIG. 17 is a diagram illustrating another example of the overhead view video generated by the overhead view video generation system. The display control unit 43b may generate such an overhead image B in step S14 of the flowchart illustrated in FIG. In this case, the bird's-eye view video B is located at a position where the virtual own vehicle image A is located at the upper right of the frame F, the rear side of the side mirror M of the vehicle 100 is within the frame F, and the virtual own vehicle image A is located at the upper right of the frame F. 3 is displayed smaller than that of FIG. 3, and the virtual host vehicle image A is displayed close to the upper right end of the frame F. As a result, in the overhead view video B, the left side and the rear side, which are the moving directions of the vehicle 100, are displayed more widely. The frame F includes the second frame F2 and the third frame F3 more widely, and does not include the first frame F1 and the fourth frame F4. As described above, the overhead view image generation system 1 can generate the overhead view image B that makes it easy to check around the vehicle in accordance with the movement of the vehicle 100 in the turning direction.

  In step S14 of the flowchart shown in FIG. 2, the display control unit 43b generates the desired overhead image B by using the front peripheral photographing camera 21, the rear peripheral photographing camera 22, and the left peripheral photographing camera 22 of the first photographing device 20. Even if control is performed to change the camera orientation and the angle of view of the peripheral photographing camera 23, the right peripheral photographing camera 24, and the left rear peripheral photographing camera 51 and the right rear peripheral photographing camera 52 of the second photographing device 50. Good. For example, the display control unit 43b may change the direction of the camera that captures the moving direction of the vehicle 100 or widen the angle of view. As described above, the bird's-eye view image generation system 1 can generate the bird's-eye view image B that makes it easy to check around the vehicle according to the movement of the vehicle 100 in the turning direction.

  In the flowchart shown in FIG. 2, when the display control unit 43b estimates that the vehicle 100 moves in the turning direction, the display control unit 43b generates the bird's-eye view image B in which the virtual own vehicle image A is shifted, but in step S14. Alternatively, the position of the virtual host vehicle image A in the frame F may be gradually shifted according to a predetermined condition. For example, the display control unit 43b may gradually shift the position of the virtual own vehicle image A in the frame F according to the acceleration of the vehicle 100. Thereby, in the bird's-eye view video B displayed on the external display panel 101, the position of the virtual host vehicle image A in the frame F gradually changes. For this reason, the driver can more easily check around the vehicle.

Reference Signs List 1 overhead image generation system 20 first imaging device 21 front peripheral imaging camera 22 rear peripheral imaging camera 23 left side peripheral imaging camera 24 right side peripheral imaging camera 30 storage device 40 overhead image generation device 41 image acquisition unit 42 vehicle Information acquisition unit 43 Control unit 43a Overhead view image generation unit 43b Display control unit 50 Second photographing device 51 Left rear peripheral photographing camera 52 Right rear peripheral photographing camera 100 Vehicle 101 Display panel 102 Map information storage unit 104 Direction indicator operation detection Unit 105 Gear operation detection unit 107 Angular speed sensor 108 Vehicle speed sensor A Virtual own vehicle image B Overhead image F frame

Claims (7)

An image acquisition unit that acquires a peripheral image of the periphery of the vehicle,
A vehicle information acquisition unit that acquires vehicle information for estimating the speed and the movement of the vehicle in the turning direction,
Based on the surrounding image acquired by the image acquisition unit, a virtual self-vehicle image showing the vehicle is included, and a bird's-eye view image of the vehicle looking down from above is generated and displayed on a display panel that is easily visible from the driver of the vehicle. Control unit;
With
The control unit is configured to, when the movement in the turning direction of the vehicle is estimated based on the vehicle information acquired by the vehicle information acquiring unit, be performed in a direction opposite to a direction in which the vehicle moves in the turning direction. Positioning the vehicle close to it and displaying a peripheral image in the direction in which the vehicle moves, the overhead view image in a state where the vehicle is decelerating between a state where the vehicle is decelerating and a state where the vehicle is accelerating Generates an overhead video in which the direction in which the vehicle moves is widened . In the state where the vehicle is decelerating and in the state where the vehicle is accelerating, the control unit is configured such that the overhead view image in the state in which the vehicle is accelerating has the vehicle in the turning direction of the vehicle. The overhead view image generation device according to claim 1 , wherein the overhead view image in which a direction opposite to a moving direction is widened is generated. The control unit, in a direction opposite to the direction in which the vehicle moves in the turning direction of the vehicle, in a state where the virtual own vehicle image is located close to the virtual own vehicle image, the overhead view image in which the virtual own vehicle image is reduced overhead image generating apparatus according to claim 1 or 2, characterized in that to generate. The control unit is configured to move the virtual host vehicle image in a direction opposite to the direction in which the vehicle moves in the turning direction of the vehicle, and to position the virtual host vehicle image in an upper end portion of the overhead view image in the virtual host vehicle image. The overhead view image generation device according to any one of claims 1 to 3 , wherein the overhead view image behind the side mirror of the vehicle is generated by setting a position of a side mirror of the vehicle in (1). An overhead view video generation device according to any one of claims 1 to 4 ,
A photographing unit that photographs the periphery of the vehicle and supplies a peripheral image to the image acquiring unit; or a display control unit and a display panel that display an overhead image generated by the control unit. Overhead image generation system. An image acquisition step of acquiring a peripheral image of the periphery of the vehicle,
A vehicle information acquisition step of acquiring vehicle information for estimating a speed and a movement of the vehicle in a turning direction,
Based on the surrounding image acquired in the image acquisition step, including a virtual own vehicle image showing the vehicle, a control step of generating a bird's-eye view image looking down on the vehicle from above,
A display step of displaying the generated bird's-eye view image ,
In the control step, based on the vehicle information acquired in the vehicle information acquisition step, when the movement of the vehicle in the turning direction is estimated, in a direction opposite to the direction in which the vehicle moves in the turning direction. Positioning the vehicle close to it and displaying a peripheral image of the direction in which the vehicle moves, the overhead view in a state where the vehicle is decelerating between a state where the vehicle is decelerating and a state where the vehicle is accelerating A bird's-eye view image generation method, wherein the video generates a bird's-eye view image in which the direction in which the vehicle moves is widened . An image acquisition step of acquiring a peripheral image of the periphery of the vehicle,
A vehicle information acquisition step of acquiring vehicle information for estimating the speed and the movement of the vehicle in the turning direction,
A control step of generating a bird's-eye view image of the vehicle, including a virtual host vehicle image indicating the vehicle, based on the peripheral image acquired in the image acquisition step,
A display step of displaying the generated bird's-eye view image ,
In the control step, based on the vehicle information acquired in the vehicle information acquisition step, when the movement of the vehicle in the turning direction is estimated, in a direction opposite to the direction in which the vehicle moves in the turning direction. Positioning the vehicle close to it and displaying a peripheral image of the direction in which the vehicle moves, the overhead view in a state where the vehicle is decelerating between a state where the vehicle is decelerating and a state where the vehicle is accelerating A program for causing a computer that operates as an overhead image generation apparatus to execute the above steps , wherein the image generates an overhead image in which the direction in which the vehicle moves is widened .

Images