JP6825521B2 - Display control device, display control system, display control method and program - Google Patents

Description

The present invention relates to a display control device, a display control system, a display control method and a program.

A technique related to a vehicle peripheral display device for displaying a bird's-eye view image of a vehicle together with a vehicle image is known (see, for example, Patent Document 1). This technology expands the display area of the bird's-eye view image behind the vehicle image when the vehicle switches from forward to backward.

Japanese Unexamined Patent Publication No. 2015-0764645

As described in Patent Document 1, the bird's-eye view image of the vehicle is displayed at the time of retreat entry into the parking lot because the main purpose is parking support. As a result, at the time of reverse warehousing, the driver visually confirms the surrounding situation including the blind spot range in the mirror by a bird's-eye view image.

Since the bird's-eye view image is not displayed when the vehicle is in front of the parking lot, the driver confirms the surrounding conditions visually or by mirror. It is easier to operate when moving forward from the parking lot than when moving backward. However, for example, when it takes time and effort to park the car when moving backward, it may be desirable to check the surrounding situation by a bird's-eye view image in addition to checking visually or by using a mirror at the time of moving forward. In addition, if the bird's-eye view image is displayed regardless of the surrounding situation at the time of the front advancement, the bird's-eye view image is displayed in a situation where there is no need to display the bird's-eye view image, or the bird's-eye view image is displayed when you want to check the route by navigation. It ends up.

The present invention has been made in view of the above, and an object of the present invention is to appropriately display a bird's-eye view image at the time of delivery.

In order to solve the above-mentioned problems and achieve the object, the display control device according to the present invention includes a video data acquisition unit that acquires video data from a plurality of shooting units that shoot the surroundings of the vehicle, and the video data acquisition unit. The bird's-eye view image generation unit that generates a bird's-eye view image by performing viewpoint conversion processing and composition processing on the video data acquired by the unit, and the operation information of the vehicle in the parking operation range including the parking section of the vehicle are acquired, and the parking operation range is obtained. When the determination unit determines that the number of adjustments for the vehicle orientation in the above is equal to or greater than a predetermined threshold, and when the determination unit determines that the number of adjustments is equal to or greater than the threshold, the vehicle moves forward from the warehousing state. It is characterized by including a display control unit for displaying the bird's-eye view image generated by the bird's-eye view image generation unit on the display unit.

The display control system according to the present invention includes at least one of the above display control device, a plurality of photographing units for which the video data acquisition unit acquires video data, and a display unit for which the display control unit displays a bird's-eye view image. ..

The display control method according to the present invention includes a video data acquisition step of acquiring video data from a plurality of shooting units that shoot the surroundings of the vehicle, and a viewpoint conversion process and a composition process on the video data acquired in the video data acquisition step. The bird's-eye view image generation step of generating the bird's-eye view image and the operation information of the vehicle in the parking operation range including the parking section of the vehicle are acquired, and the number of adjustments of the vehicle orientation in the parking operation range is equal to or more than a predetermined threshold value. When it is determined in the determination step that the number of adjustments is equal to or greater than the threshold value, the bird's-eye view image generated in the bird's-eye view image generation step is displayed when the vehicle leaves the warehousing state in the forward direction. Includes a display control step to be displayed on the unit.

The program according to the present invention performs a viewpoint conversion process and a composite process on the video data acquisition step of acquiring video data from a plurality of shooting units that shoot the surroundings of the vehicle and the video data acquired in the video data acquisition step, and gives a bird's-eye view. The bird's-eye view image generation step for generating an image and the operation information of the vehicle in the parking operation range including the parking section of the vehicle are acquired, and it is determined that the number of adjustments of the vehicle orientation in the parking operation range is equal to or more than a predetermined threshold value. When it is determined in the determination step to be performed and the number of adjustments is equal to or greater than the threshold value, the bird's-eye view image generated in the bird's-eye view image generation step is displayed on the display unit when the vehicle leaves the warehousing state in the forward direction. The display control step to be displayed is executed by the computer operating as the display control device.

According to the present invention, there is an effect that a bird's-eye view image can be appropriately displayed at the time of delivery.

FIG. 1 is a block diagram showing a configuration example of a display control system according to the first embodiment. FIG. 2 is a diagram illustrating a parking lot, and shows a state at the time of warehousing. FIG. 3 is a diagram illustrating an example of a change in speed at the time of warehousing. FIG. 4 is a diagram showing an example of a bird's-eye view image generated by the display control device of the display control system according to the first embodiment. FIG. 5 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the first embodiment. FIG. 6 is a flowchart showing another example of the processing flow in the display control device of the display control system according to the first embodiment. FIG. 7 is a diagram illustrating a parking lot, and shows a state at the time of warehousing. FIG. 8 is a diagram illustrating an example of steering operation at the time of warehousing. FIG. 9 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the second embodiment. FIG. 10 is a block diagram showing a configuration example of the display control system according to the third embodiment. FIG. 11 is a diagram illustrating a parking lot, and shows a state at the time of warehousing and warehousing. FIG. 12 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the third embodiment. FIG. 13 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the fourth embodiment. FIG. 14 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the fifth embodiment.

The display control device 40, the display control system 1, the display control method, and the embodiment of the program according to the present invention will be described in detail with reference to the accompanying drawings. The present invention is not limited to the following embodiments.

[First Embodiment]
FIG. 1 is a block diagram showing a configuration example of a display control system according to the first embodiment. FIG. 2 is a diagram illustrating a parking lot, and shows a state at the time of warehousing. The display control system 1 appropriately displays the bird's-eye view image 100 according to the operation status in the parking operation range. The display control system 1 is mounted on the vehicle V1. The display control system 1 may be a portable device that can be used in the vehicle V1 in addition to the device mounted on the vehicle V1.

In the present embodiment, the vehicle V1 is parked in the parking lot P1. The parking lot P2 is to the left of the parking lot P1 when viewed from the vehicle V1. The parking lot P3 is to the right of the parking lot P1 when viewed from the vehicle V1. The adjacent vehicle V2 is parked in the parking lot P2. The adjacent vehicle V3 is parked in the parking lot P3.

The display control system 1 will be described with reference to FIG. The display control system 1 includes a front camera (shooting unit) 11, a rear camera (shooting unit) 12, a left side camera (shooting unit) 13, a right side camera (shooting unit) 14, and a display panel (display unit). It has 31 and a display control device 40.

The front camera 11 is a camera for a bird's-eye view image. The front camera 11 is arranged in front of the vehicle V1 and photographs the surroundings centered on the front of the vehicle V1. The front camera 11 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range in front of the vehicle V1 than the display range of the bird's-eye view image 100. The front camera 11 outputs the captured image to the image data acquisition unit 41 of the display control device 40.

The rear camera 12 is a bird's-eye view video camera. The rear camera 12 is arranged behind the vehicle V1 and photographs the surroundings centered on the rear of the vehicle V1. The rear camera 12 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range behind the vehicle V1 than the display range of the bird's-eye view image 100. The rear camera 12 outputs the captured image to the image data acquisition unit 41 of the display control device 40.

The left side camera 13 is a camera for a bird's-eye view image. The left-side camera 13 is arranged on the left side of the vehicle V1 and photographs the surroundings centered on the left side of the vehicle V1. The left-side camera 13 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range on the left side of the vehicle V1 than the display range of the bird's-eye view image 100. The left-side camera 13 outputs the captured image to the image data acquisition unit 41 of the display control device 40.

The right side camera 14 is a camera for a bird's-eye view image. The right-side camera 14 is arranged on the right side of the vehicle V1 and photographs the periphery centered on the right side of the vehicle V1. The right-side camera 14 captures, for example, a shooting range of about 180 °. The shooting range includes a wider range on the right side of the vehicle V1 than the display range of the bird's-eye view image 100. The right-side camera 14 outputs the captured image to the image data acquisition unit 41 of the display control device 40.

The front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14 photograph the vehicle V1 in all directions.

The display panel 31 is, for example, a display device shared with other systems including a navigation system. The display panel 31 is a monitor for checking the surroundings of the vehicle V1 at a required timing. The display panel 31 can take various forms as long as the surroundings of the vehicle V1 can be confirmed. As an example of the display panel, it is also possible to use an electronic rear-view mirror or to function as an instrument panel. The display panel 31 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminence) display. The display panel 31 is arranged at a position that is easily visible to the driver. In the present embodiment, the display panel 31 is arranged on the dashboard, the instrument panel, the center console, or the like in front of the driver of the vehicle V1. The display panel 31 displays a bird's-eye view image 100 of the vehicle V1 based on the image signal output from the display control unit 48 of the display control device 40.

The display control device 40 provides information for assisting parking. More specifically, the display control device 40 generates and displays a bird's-eye view image 100 at the time of warehousing and warehousing.

The display control device 40 is, for example, an arithmetic processing unit (control unit) composed of a CPU (Central Processing Unit), a video processing processor, and the like. The display control device 40 loads the program stored in the storage unit 49 into the memory and executes the instruction included in the program. The display control device 40 includes a video data acquisition unit 41, an own vehicle information acquisition unit 42, a determination unit 43, a bird's-eye view image generation unit 44, a display control unit 48, and a storage unit 49 which is an internal memory. The display control device 40 may be composed of one or more devices.

The video data acquisition unit 41 acquires video data obtained by photographing the periphery of the vehicle V1. More specifically, the video data acquisition unit 41 acquires the video data output by the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The video data acquisition unit 41 outputs the acquired video data to the bird's-eye view video generation unit 44.

The own vehicle information acquisition unit 42 senses the state of the CAN (Control Area Area Network) and the vehicle V1 with the own vehicle information that is the parking start trigger or the parking end trigger, which is the parking support display trigger, such as the gear operation information of the vehicle V1. Obtained from various sensors. The own vehicle information acquisition unit 42 acquires the speed in the parking operation range acquired from CAN, various sensors, and the like, and the operation information of the steering operation performed in the parking operation range as the own vehicle information. The own vehicle information acquisition unit 42 outputs the acquired own vehicle information to the determination unit 43 and the display control unit 48.

The determination unit 43 acquires the operation information of the vehicle V1 in the parking operation range including the parking section P1 which is the parking target of the vehicle V1, and determines that the number of adjustments for the vehicle orientation in the parking operation range is equal to or greater than a predetermined threshold value. .. More specifically, the determination unit 43 acquires the operation information of the vehicle V1 in the parking operation range including the parking section P1 of the vehicle V1 based on the own vehicle information acquired by the own vehicle information acquisition unit 42. Then, the determination unit 43 determines whether or not the number of adjustments for the vehicle orientation in the parking operation range is equal to or greater than a predetermined threshold value based on the acquired operation information.

The parking operation range is a range including the parking section P1 which is the parking target of the vehicle V1 and its surroundings. The parking lot P1 may be determined by performing image processing on the video data acquired by the display control device 40, or may be designated by the user. The parking operation range is a range in which the vehicle V1 performs a warehousing operation at the time of warehousing. More specifically, the parking operation range is a range through which the vehicle V1 retracts and enters the garage at the time of warehousing. The parking operation range is a range in which the vehicle V1 performs a warehousing operation at the time of warehousing. More specifically, the parking operation range is a range through which the vehicle V1 advances from the warehousing state to the warehousing at the time of warehousing. For example, the parking operation range means a range within a predetermined distance from the parking section P1 which is the parking target of the vehicle V1. For example, the predetermined distance is 5.5 m. Alternatively, for example, the predetermined distance is a distance obtained by adding 1 m to the total length of the vehicle V1. That is, the parking operation range is reached when the rear end of the vehicle V1 comes to a position 1 m ahead of the position of the front end of the vehicle V1 in the warehousing state.

The fact that the vehicle V1 is retracted and stored is, for example, that the shift position is set to "reverse" and the shift position is set to "parking" or "neutral" after the vehicle V1 travels backward, or 5 It is detected when the speed becomes zero for a time of more than a second, the engine is stopped, or the side brake or foot brake is operated. Alternatively, the fact that the vehicle V1 has moved backward and entered the garage may be detected by an arbitrary trigger such as a user operation.

When the vehicle V1 moves forward from the warehousing state and leaves the garage, for example, the shift position is "parking" or "neutral", or the speed is zero for a time of 5 seconds or more, or the engine is stopped. Alternatively, it is detected when the engine is started, the shift position is set to "drive", the side brake or foot brake is released, etc. from the warehousing state such as the operation of the side brake or the foot brake. Alternatively, the fact that the vehicle V1 moves forward from the warehousing state and leaves the garage may be detected by an arbitrary trigger such as a user operation.

The number of times the vehicle orientation is adjusted is the number of times that the vehicle V1 adjusts the orientation of the vehicle V1 so as to proceed to an appropriate course in the parking operation range. More specifically, the number of times the vehicle orientation is adjusted at the time of warehousing is the number of times the vehicle V1 adjusts the orientation of the vehicle V1 in order to properly warehousing the parking position in the parking operation range. The number of times the vehicle orientation is adjusted at the time of leaving the parking lot is the number of times the vehicle V1 adjusts the orientation of the vehicle V1 in order to properly leave the parking position in the parking operation range.

In the present embodiment, the determination unit 43 determines that the number of turns back until the vehicle V1 enters the garage is equal to or greater than a predetermined threshold value based on the operation information.

The switching will be described with reference to FIGS. 2 and 3. FIG. 3 is a diagram illustrating an example of a change in speed at the time of warehousing. In order to adjust the direction of the vehicle V1, as shown in FIG. 2, the turning back means that the vehicle V1 moves forward from the reverse start position A after the vehicle V1 starts to move backward, then moves backward again and enters the warehousing completion position B. Say that. Whether the vehicle V1 is moving backward or forward can be determined from the moving direction and speed of the vehicle V1. The number of turns is counted as one each time the vehicle V1 starts to move backward and then moves forward. For example, when the number of turns is two, the relationship between the speed and the time from the retreat start position A to the warehousing completion position B is as shown in FIG.

For example, the threshold value may be a value obtained by multiplying a general number of turns at the time of warehousing by a predetermined coefficient regardless of the vehicle or parking lot. For example, the predetermined coefficient may be set to 2, and the threshold value may be set to twice the number of times of turning back at the time of general warehousing.

For example, the threshold value may be a value obtained by calculating the average value of the number of turns back based on the history of operation information at the time of warehousing of the vehicle V1 and multiplying the calculated average value by a predetermined coefficient. Further, the threshold value may be a value obtained by calculating the average value of the number of times of turning back at the time of warehousing for each driver and multiplying the calculated average value by a predetermined coefficient.

For example, the threshold value may be a value obtained by calculating the average value of the number of turns back based on the history of operation information at the time of warehousing of an unspecified vehicle in the parking lot to be parked, and multiplying the calculated average value by a predetermined coefficient. .. In the case of a parking lot having a plurality of parking lots, the average value of the number of turns of unspecified vehicles in the entire parking lot is calculated without distinguishing the parking lots, and the calculated average value is multiplied by a predetermined coefficient. May be good. The history of operation information at the time of warehousing of an unspecified vehicle is referred to, for example, from a database in which a parking lot management company, an automobile manufacturer, a navigation manufacturer, or the like collects and manages operation information.

The bird's-eye view image generation unit 44 performs viewpoint conversion processing and composition processing on the peripheral image data acquired by the image data acquisition unit 41 to generate the bird's-eye view image 100. The bird's-eye view image generation unit 44 generates the bird's-eye view image 100 at the time of warehousing. The bird's-eye view image generation unit 44 generates the bird's-eye view image 100 when the determination unit 43 determines that the number of adjustments for the vehicle is equal to or greater than the threshold value at the time of delivery. In the present embodiment, the bird's-eye view image generation unit 44 generates the bird's-eye view image 100 when the determination unit 43 determines that the number of times of turning back until the vehicle V1 is stored is equal to or greater than a predetermined threshold value. The bird's-eye view image generation unit 44 outputs the generated bird's-eye view image 100 to the display control unit 48. The bird's-eye view image generation unit 44 includes a viewpoint conversion processing unit 441, a cutting processing unit 442, and a composition processing unit 443.

The viewpoint conversion processing unit 441 performs viewpoint conversion processing on the peripheral video data acquired by the video data acquisition unit 41 so as to look down on the vehicle V1 from above. More specifically, the viewpoint conversion processing unit 441 generates an image that has undergone viewpoint conversion processing based on peripheral image data captured by the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The method of the viewpoint conversion process may be any known method and is not limited. The viewpoint conversion processing unit 441 outputs the peripheral video data that has undergone the viewpoint conversion processing to the cutout processing unit 442.

The cutout processing unit 442 performs a cutout process for cutting out a predetermined range of video from the peripheral video data that has undergone the viewpoint conversion process. Which range is to be the cutout range is registered and stored in advance. The cutout processing unit 442 outputs the video data of the cutout processed video to the synthesis processing unit 443.

The compositing processing unit 443 performs a compositing process for synthesizing the video data that has been cut out. The composition processing unit 443 generates a bird's-eye view image 100 in which the vehicle icon 110 is displayed on the combined image.

The bird's-eye view image 100 will be described with reference to FIG. FIG. 4 is a diagram showing an example of a bird's-eye view image generated by the display control device of the display control system according to the first embodiment. The bird's-eye view image 100 displays a range of about 2 m from the vehicle V1. In the bird's-eye view image 100, the adjacent vehicle V2 existing in the parking lot P2 and the adjacent vehicle V3 existing in the parking lot P3 are included in the display range. The bird's-eye view image 100 is located in the central portion surrounded by the front image 101, the rear image 102, the left image 103, the right image 104, the front image 101, the rear image 102, the left image 103, and the right image 104. Includes the vehicle icon 110. The vehicle icon 110 indicates the position and orientation of the vehicle V1. The vehicle icon 110 is arranged at the center of the bird's-eye view image 100 with the front-rear direction parallel to the front-rear direction.

The display control unit 48 causes the display panel 31 to display the bird's-eye view image 100 generated by the bird's-eye view image generation unit 44 at the time of warehousing. The display control unit 48 displays the bird's-eye view image 100 generated by the bird's-eye view image generation unit 44 when the determination unit 43 determines that the number of adjustments for the vehicle is equal to or greater than the threshold value at the time of moving forward from the warehousing state of the vehicle V1. Display on 31. In the present embodiment, the display control unit 48 causes the display panel 31 to display the bird's-eye view image 100 when the determination unit 43 determines that the number of turns back until the vehicle V1 enters the garage is equal to or greater than a predetermined threshold value.

The storage unit 49 is used for temporary storage of data in the display control device 40 and the like. The storage unit 49 is, for example, a semiconductor memory element such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk. Alternatively, it may be an external storage device wirelessly connected via a communication device (not shown).

Next, the flow of processing in the display control device 40 of the display control system 1 will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the first embodiment. FIG. 6 is a flowchart showing another example of the processing flow in the display control device of the display control system according to the first embodiment.

When the display control system 1 is activated, the display control device 40 acquires video data by the video data acquisition unit 41. The display control device 40 acquires the own vehicle information by the own vehicle information acquisition unit 42.

First, the flow of processing at the time of warehousing will be described.

The display control device 40 determines whether or not the retreat has started (step S11). The display control device 40 determines the presence / absence of the reverse trigger based on the own vehicle information acquired by the own vehicle information acquisition unit 42. The reverse trigger is detected, for example, when the shift position is set to "reverse" or the traveling direction of the vehicle V1 is set to the rear. When the display control device 40 determines that the retreat has not started (No in step S11), the display control device 40 re-executes the process of step S11. When the display control device 40 determines that the retreat has started (Yes in step S11), the display control device 40 proceeds to step S12.

When it is determined in step S11 that the retreat has started (Yes in step S11), the display control device 40 starts the bird's-eye view image display (step S12). More specifically, in the display control device 40, the bird's-eye view image generation unit 44 generates the bird's-eye view image 100, and the display control unit 48 displays the bird's-eye view image 100 on the display panel 31. The display control device 40 proceeds to step S13.

The display control device 40 determines whether or not the warehousing is completed (step S13). More specifically, the display control device 40 is based on the own vehicle information acquired by the own vehicle information acquisition unit 42, for example, the shift position is "parking" or "neutral", or the time of 5 seconds or more. When the speed is zero, the engine is stopped, or the operation of the side brake or foot brake is detected, it is determined that the warehousing is completed. When the display control device 40 determines that the warehousing is completed, it determines that the bird's-eye view image display is finished (Yes in step S13), and proceeds to step S14. When the display control device 40 determines that the warehousing is not completed, it determines that the video display is not completed (No in step S13), and executes the process of step S13 again.

When it is determined that the warehousing is completed (Yes in step S13), the display control device 40 ends the bird's-eye view video display (step S14). The display control device 40 proceeds to step S15.

The display control device 40 acquires the operation information of the own vehicle information by the own vehicle information acquisition unit 42 and stores it in the storage unit 49 (step S15). Then, the display control device 40 ends the process.

Next, the flow of processing at the time of delivery will be described.

The display control device 40 determines the presence / absence of the forward trigger (step S21). The display control device 40 determines the presence / absence of the forward trigger based on the own vehicle information acquired by the own vehicle information acquisition unit 42. The forward trigger is detected, for example, when the engine is started, the shift position is set to a "drive" that allows forward movement, the side brake or the foot brake is released, and the like. When the display control device 40 determines that there is no forward trigger (No in step S21), the display control device 40 re-executes the process of step S21. When the display control device 40 determines that there is a forward trigger (Yes in step S21), the display control device 40 proceeds to step S22.

When it is determined in step S21 that there is a forward trigger (Yes in step S21), the display control device 40 determines whether or not the advance is from warehousing (step S22). More specifically, the display control device 40 has a state immediately before detecting the forward trigger based on the own vehicle information acquired by the own vehicle information acquisition unit 42, for example, the shift position is "parking" or "neutral". Or, if it is determined that the speed was zero for 5 seconds or more, the engine was stopped, or the side brake or foot brake was operated, it is considered to be a forward movement from the warehousing. judge. Alternatively, when the first obstacle information is stored in the storage unit 49, the display control device 40 may determine that the vehicle is moving forward from the warehousing. When the display control device 40 determines that the advance is not from the warehousing (No in step S22), the display control device 40 re-executes the process of step S21. When the display control device 40 determines that the vehicle is moving forward from the warehousing (Yes in step S22), the display control device 40 proceeds to step S23.

The display control device 40 acquires the operation information at the time of warehousing (step S23). More specifically, the display control device 40 acquires the operation information of the vehicle V1 in the parking operation range based on the own vehicle information stored in the storage unit 49 at the time of warehousing. The display control device 40 proceeds to step S24.

The display control device 40 determines whether or not the number of times of turning back at the time of warehousing is equal to or greater than the threshold value (step S24). When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of times of turning back at the time of warehousing is not equal to or greater than the threshold value (No in step S24), the display control device 40 ends the process. In this case, the bird's-eye view image 100 is not displayed. When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of times of turning back at the time of warehousing is equal to or greater than the threshold value (Yes in step S24), the display control device 40 proceeds to step S25.

The display control device 40 determines whether or not the advance has started (step S25). Based on the acquired operation information, the display control device 40 determines that the vehicle has started to move forward when, for example, it is detected that the speed is zero or more or that the vehicle V1 has traveled forward. When the display control device 40 determines that the vehicle V1 is not moving forward (No in step S25), the display control device 40 re-executes the process of step S25. When the display control device 40 determines that the vehicle V1 has moved forward (Yes in step S25), the display control device 40 proceeds to step S26.

When it is determined in step S25 that the advance has started (Yes in step S25), the display control device 40 starts the bird's-eye view image display (step S26). More specifically, in the display control device 40, the bird's-eye view image generation unit 44 generates the bird's-eye view image 100, and the display control unit 48 displays the bird's-eye view image 100 on the display panel 31. The display control device 40 proceeds to step S27.

Regarding the timing of displaying the bird's-eye view image 100 on the display panel 31, step S26 is illustrated as an example, but when the vehicle V1 starts the engine, when the shift position is set to "drive", and when the vehicle V1 starts moving forward. It is arbitrary if it is an appropriate timing to check the surrounding situation when leaving the warehouse.

The display control device 40 determines whether or not the end condition of the bird's-eye view video display is satisfied (step S27). More specifically, based on the acquired operation information, the display control device 40 detects, for example, that the vehicle has traveled a predetermined distance or more from the position where the forward movement has started, or that the speed has exceeded the predetermined speed. It is determined that the display end condition is satisfied. A specific example is the case where the vehicle travels 5.5 m or more, which is a preset distance from the position where the forward movement is started or a distance based on the total length of the vehicle V1. Or, when the traveling speed becomes, for example, 5 km / h or more. When the display control device 40 determines that the end condition of the bird's-eye view image display is satisfied, the display control device 40 determines that the bird's-eye view image display is terminated (Yes in step S27), and proceeds to step S28. When the display control device 40 determines that the end condition of the bird's-eye view image display is not satisfied, it determines that the image display is not terminated (No in step S27), and executes the process of step S27 again.

When it is determined in step S27 that the condition for ending the bird's-eye view image display is satisfied (Yes in step S27), the display control device 40 ends the bird's-eye view image display (step S28). Then, the display control device 40 ends the process.

As described above, in the present embodiment, when the determination unit 43 determines that the number of times of turning back at the time of warehousing is equal to or greater than the threshold value, the bird's-eye view image 100 is displayed on the display panel 31. As described above, in this embodiment, the bird's-eye view image 100 can be appropriately displayed according to the number of times of turning back at the time of warehousing. As a result, when the number of times of turning back is large at the time of warehousing, the warehousing operation takes time and effort, and the warehousing operation is not easy, at the time of leaving the warehousing, the driver confirms visually or with a mirror, and also displays the vehicle with a bird's-eye view image 100. The periphery of V1 can be confirmed appropriately.

According to the present embodiment, the bird's-eye view image 100 is displayed only when it is necessary to display the bird's-eye view image 100 according to the number of times of turning back at the time of warehousing. As described above, the present embodiment suppresses that the bird's-eye view image 100 is displayed in a situation where it is not necessary to display the bird's-eye view image 100, or that the bird's-eye view image 100 is displayed when it is desired to confirm the route by navigation. be able to.

[Second Embodiment]
The display control system 1 according to the present embodiment will be described with reference to FIGS. 7 to 9. FIG. 7 is a diagram illustrating a parking lot, and shows a state at the time of warehousing. FIG. 8 is a diagram illustrating an example of steering operation at the time of warehousing. FIG. 9 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the second embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the first embodiment. In the following description, the same components as those of the display control system 1 are designated by the same reference numerals or corresponding reference numerals, and detailed description thereof will be omitted. In the display control system 1, the processing in the determination unit 43 is different from that in the first embodiment.

Based on the operation information, the determination unit 43 determines that the number of steering adjustments until the vehicle V1 enters the garage is equal to or greater than a predetermined threshold value.

Steering adjustment will be described with reference to FIGS. 7 and 8. The steering adjustment is to adjust the direction of the vehicle V1 by operating the steering left and right when the vehicle V1 is reversing from the retreat start position A to the warehousing completion position B as shown in FIG. Say that. The number of steering adjustments is counted as, for example, once each time the steering direction changes. The number of steering adjustments may be counted as one, for example, when the steering is operated to the left or right by a threshold value or more. For example, when the number of steering adjustments is 7, the relationship between the steering direction and the time from the reverse start position A to the warehousing completion position B is as shown in FIG.

For example, the threshold value may be a value obtained by multiplying a general number of steering adjustments at the time of warehousing by a predetermined coefficient regardless of the vehicle or parking lot. For example, the predetermined coefficient may be 1.5, and the threshold value may be 1.5 times the number of steering adjustments at the time of general warehousing.

For example, the threshold value may be a value obtained by calculating the average value of the number of steering adjustments based on the history of operation information at the time of warehousing of the vehicle V1 and multiplying the calculated average value by a predetermined coefficient. Further, the threshold value may be a value obtained by calculating the average value of the number of steering adjustments at the time of warehousing for each driver and multiplying the calculated average value by a predetermined coefficient.

For example, the threshold value may be calculated by calculating the average value of the number of steering adjustments based on the history of operation information at the time of warehousing of an unspecified vehicle in the parking lot to be parked, and multiplying the calculated average value by a predetermined coefficient. Good. In the case of a parking lot having a plurality of parking lots, the average value of the number of steering adjustments of unspecified vehicles in the entire parking lot is calculated without distinguishing the parking lots, and the calculated average value is multiplied by a predetermined coefficient. May be.

The bird's-eye view image generation unit 44 generates the bird's-eye view image 100 when the determination unit 43 determines that the number of steering adjustments until the vehicle V1 enters the garage is equal to or greater than a predetermined threshold value.

When the determination unit 43 determines that the number of steering adjustments until the vehicle V1 enters the garage is equal to or greater than a predetermined threshold value, the display control unit 48 displays the bird's-eye view image 100 on the display panel 31.

Next, with reference to FIG. 9, the flow of processing in the display control device 40 of the display control system 1 at the time of delivery will be described. The processing of steps S31 to S33 and steps S35 to S38 in the flowchart shown in FIG. 9 is the same as the processing of steps S21 to S23 and steps S25 to S28 of the flowchart shown in FIG.

The display control device 40 determines whether or not the number of steering adjustments at the time of warehousing is equal to or greater than the threshold value (step S34). When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of steering adjustments at the time of warehousing is not equal to or greater than the threshold value (No in step S34), the display control device 40 ends the process. In this case, the bird's-eye view image 100 is not displayed. When the display control device 40 determines that the number of steering adjustments at the time of warehousing is equal to or greater than the threshold value as a result of the determination by the determination unit 43 (Yes in step S34), the display control device 40 proceeds to step S35.

As described above, according to the present embodiment, when the determination unit 43 determines that the number of steering adjustments at the time of warehousing is equal to or greater than the threshold value, the bird's-eye view image 100 is displayed on the display panel 31. As described above, in this embodiment, the bird's-eye view image 100 can be appropriately displayed according to the number of steering adjustments at the time of warehousing at the time of warehousing. As a result, when the number of steering adjustments is large at the time of warehousing, the warehousing operation requires time and effort, and the warehousing operation is not easy, at the time of warehousing, the driver can visually check or check with a mirror and use the bird's-eye view image 100. The area around the vehicle V1 can be properly confirmed.

[Third Embodiment]
The display control system 1A according to the present embodiment will be described with reference to FIGS. 10 to 12. FIG. 10 is a block diagram showing a configuration example of the display control system according to the third embodiment. FIG. 11 is a diagram illustrating a parking lot, and shows a state at the time of warehousing and warehousing. FIG. 12 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the third embodiment. The basic configuration of the display control system 1A is the same as that of the display control system 1 of the first embodiment. The display control system 1A differs from the first embodiment in that it has an adjacency information acquisition unit 45A that acquires adjacency information from the sensor unit 21A.

The display control system 1A has a sensor unit 21A.

The sensor unit 21A includes a plurality of sensors installed around the vehicle V1. The sensor unit 21A can detect an obstacle existing in the vicinity of the vehicle V1. In the present embodiment, the sensor unit 21A is an adjacent vehicle existing in the parking lot P2 and the parking lot P3 adjacent to the parking lot P1 which is the parking lot in which the vehicle V1 is stored as an obstacle existing in the vicinity of the vehicle V1. Is detected. In the present embodiment, the sensor unit 21A includes a front center sensor, a front left sensor, a front right sensor, a rear center sensor, a rear left sensor, a rear right sensor, a left side sensor, and a right side sensor. Since each sensor has the same configuration, the front right sensor will be described, and the other sensors will be omitted.

The front right sensor is arranged on the front right side of the vehicle V1 and detects an obstacle on the front right side of the vehicle V1. In the present embodiment, the front right side sensor detects an adjacent vehicle existing in the parking lot P3. The front right sensor is, for example, an infrared sensor, an ultrasonic sensor, a millimeter wave radar, or the like, and may be composed of a combination thereof. The front right sensor detects, for example, an adjacent vehicle at a distance of about 5 m from the vehicle V1. The front right sensor detects an adjacent vehicle in a range of, for example, about 40 ° centered on the center of the sensor in vertical viewing. The detection range of the front right sensor may overlap with a part of the detection range of the front center sensor. The front right sensor outputs obstacle information indicating the presence or absence of an adjacent vehicle, which is a detection result, to the adjacent information acquisition unit 45A of the display control device 40A.

By such a sensor unit 21A, it is possible to detect an adjacent vehicle in all directions of the vehicle V1. In the present embodiment, the detection result of the sensor unit 21A can detect the adjacent vehicles existing in the parking lot P2 and the parking lot P3. More specifically, the sensor that detects the adjacent vehicle and the horizontal presence range of the adjacent vehicle detected by the sensor, which are included in the detection result, specify in which parking section the adjacent vehicle is detected.

In the present embodiment, the adjacent information acquisition unit 45A is an obstacle information acquisition unit that acquires obstacle information of obstacles around the vehicle V1. The adjacent information acquisition unit 45A acquires the first obstacle information when the vehicle V1 moves backward and enters the garage, and the second obstacle information when the vehicle V1 moves forward from the warehousing state and leaves the garage. More specifically, the adjacent information acquisition unit 45A acquires the first obstacle information from the sensor unit 21A when the vehicle V1 retracts and enters the garage. The adjacent information acquisition unit 45A stores the first obstacle information at the time of warehousing in the storage unit 49. Further, the adjacent information acquisition unit 45A acquires the second obstacle information from the sensor unit 21A when the vehicle V1 advances from the warehousing state and leaves the garage. The determination that the vehicle V1 moves backward and enters the garage and the determination that the vehicle V1 moves forward and leaves the garage are determined based on the gear operation information of the vehicle V1 acquired from the own vehicle information acquisition unit 42, the on / off information of the engine, and the like. The adjacent information acquisition unit 45A outputs the adjacent vehicle information at the time of delivery to the determination unit 43A.

The first obstacle information is information on obstacles around the vehicle V1 when the vehicle V1 retracts and enters the garage. In the present embodiment, the first obstacle information is information including the presence / absence of adjacent vehicles existing in the parking lot P2 and the parking lot P3 when the vehicle V1 retracts and enters the garage.

The second obstacle information is information on obstacles around the vehicle V1 when the vehicle V1 advances from the warehousing state and leaves the garage. In the present embodiment, the second obstacle information is information including the presence / absence of adjacent vehicles existing in the parking lot P2 and the parking lot P3 when the vehicle V1 advances from the warehousing state and leaves the garage.

With reference to FIG. 11, the surrounding conditions of the vehicle V1 at the time of warehousing and at the time of warehousing will be described. In FIG. 11, the position of the adjacent vehicle V3 when the vehicle V1 is warehousing is shown by a broken line, and the position of the adjacent vehicle V3 when the vehicle V1 is warehousing is shown by a solid line. At the time of warehousing, the adjacent vehicle V2 exists in the parking lot P2, and the adjacent vehicle V3 exists in the parking lot P3. This information is detected by the sensor unit 21A and acquired as the first obstacle information by the adjacent information acquisition unit 45A.

At the time of leaving the garage, the position of the adjacent vehicle V3 in the parking lot P3 is changed closer to the vehicle V1 than at the time of warehousing. More specifically, in the adjacent vehicle V3 of the parking lot P3, the distance L from the side of the vehicle V1 is shorter than that at the time of warehousing. This information is detected by the sensor unit 21A and acquired as the second obstacle information by the adjacent information acquisition unit 45A.

The determination unit 43A determines whether or not the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition based on the obstacle information acquired by the adjacent information acquisition unit 45A. In the present embodiment, the determination unit 43A is based on the first obstacle information and the second obstacle information acquired by the adjacent information acquisition unit 45A when there is no change in surrounding obstacles or is close to the vehicle V1. If it fluctuates so as to do so, it is judged that the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition. Fluctuating to approach the vehicle V1 means that there was no obstacle at the time of warehousing, but there was an obstacle at the time of warehousing, and the position of the obstacle at the time of warehousing was at the time of warehousing. Includes the case where the vehicle fluctuates in a direction closer to the vehicle V1 than the position of the obstacle.

The bird's-eye view image generation unit 44A determines that the determination unit 43A is equal to or higher than the threshold value, and also determines that the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition. Generate video 100.

When the display control unit 48A determines that the determination unit 43A is equal to or higher than the threshold value and determines that the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition, the vehicle V1 The bird's-eye view image 100 is displayed on the display panel 31 when the vehicle leaves the warehouse.

Next, the flow of processing in the display control device 40A of the display control system 1A at the time of delivery will be described with reference to FIG. The processing of steps S41 to S44 and steps S46 to S49 in the flowchart shown in FIG. 12 is the same as that of steps S21 to S24 and steps S25 to S28 of the flowchart shown in FIG.

The display control device 40A determines whether or not the adjacent vehicle is in close proximity (step S45). When the display control device 40A determines as a result of the determination by the determination unit 43A that the position of the adjacent vehicle has changed so as to approach the vehicle V1 between the time of warehousing and the time of warehousing (Yes in step S45), the step Proceed to S46. When the display control device 40A determines as a result of the determination by the determination unit 43A that the position of the adjacent vehicle has not changed so as to be close to the vehicle V1 at the time of warehousing and at the time of warehousing (No in step S45), the process is processed. To finish.

As described above, according to the present embodiment, in addition to determining that the determination unit 43A is equal to or higher than the threshold value, the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition. When making a determination, the bird's-eye view image 100 is displayed on the display panel 31. As described above, in this embodiment, the bird's-eye view image 100 can be appropriately displayed at the time of leaving the garage according to the number of times of turning back at the time of warehousing and the fluctuation of the adjacent vehicle. As a result, when it is predicted that it will be difficult to leave the vehicle, the driver can appropriately confirm the surroundings of the vehicle V1 by the bird's-eye view image 100 in addition to the visual or mirror confirmation.

[Fourth Embodiment]
The display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 13 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the fourth embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the first embodiment. In the display control system 1, the processing in the determination unit 43 is different from that in the first embodiment.

Based on the operation information, the determination unit 43 determines that the number of times of turning back from the warehousing state to the warehousing of the vehicle V1 is equal to or greater than a predetermined second threshold value (predetermined threshold value).

The bird's-eye view image generation unit 44 generates the bird's-eye view image 100 when the determination unit 43 determines that the number of times of turning back from the warehousing state to the warehousing of the vehicle V1 is equal to or greater than a predetermined second threshold value.

When the determination unit 43 determines that the number of times of turning back from the warehousing state to the warehousing of the vehicle V1 is equal to or greater than a predetermined second threshold value, the display control unit 48 displays the bird's-eye view image 100 on the display panel 31.

Next, the flow of processing in the display control device 40 of the display control system 1 at the time of delivery will be described with reference to FIG. The processing of steps S51, S52, S56 to S58 in the flowchart shown in FIG. 13 is the same as that of steps S21, S22, S26 to S28 of the flowchart shown in FIG.

The display control device 40 acquires the operation information at the time of delivery (step S53). The display control device 40 proceeds to step S54.

The display control device 40 determines whether or not the advance has started (step S54). The display control device 40 performs the same process as in step S25, and when it is determined that the vehicle V1 is not moving forward (No in step S54), the process in step S54 is executed again. When the display control device 40 determines that the vehicle V1 has advanced (Yes in step S54), the display control device 40 proceeds to step S55.

The display control device 40 determines whether or not the number of times of turning back at the time of delivery is equal to or greater than the second threshold value (step S55). When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of times of turning back at the time of delivery is not equal to or greater than the second threshold value (No in step S55), the display control device 40 repeats the process of step S55. When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of times of turning back at the time of delivery is equal to or greater than the second threshold value (Yes in step S55), the display control device 40 proceeds to step S56.

As described above, according to the present embodiment, when the determination unit 43 determines that the number of times of turning back at the time of delivery is equal to or greater than the second threshold value, the bird's-eye view image 100 is displayed on the display panel 31. As described above, in this embodiment, the bird's-eye view image 100 can be appropriately displayed according to the number of times of turning back at the time of delivery. As a result, when the number of times of turning back at the time of leaving the vehicle is large and the operation of leaving the vehicle is likely to be difficult, the driver can appropriately confirm the periphery of the vehicle V1 by the bird's-eye view image 100 in addition to the confirmation by visual inspection or the mirror.

[Fifth Embodiment]
The display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 14 is a flowchart showing an example of a processing flow in the display control device of the display control system according to the fifth embodiment. The basic configuration of the display control system 1 is the same as that of the display control system 1 of the second embodiment. In the display control system 1, the processing in the determination unit 43 is different from that in the second embodiment.

Based on the operation information, the determination unit 43 determines that the number of steering adjustments from the warehousing state to the warehousing of the vehicle V1 is equal to or greater than a predetermined second threshold value (predetermined threshold value).

When the determination unit 43 determines that the number of steering adjustments from the warehousing state to the warehousing of the vehicle V1 is equal to or greater than a predetermined second threshold value, the bird's-eye view image generation unit 44 generates the bird's-eye view image 100.

When the determination unit 43 determines that the number of steering adjustments from the warehousing state to the warehousing of the vehicle V1 is equal to or greater than a predetermined second threshold value, the display control unit 48 displays the bird's-eye view image 100 on the display panel 31.

Next, the flow of processing in the display control device 40 of the display control system 1 at the time of delivery will be described with reference to FIG. The processing of step S61, step S62, step S66 to step S68 in the flowchart shown in FIG. 14 is the same as the processing of step S31, step S32, step S36 to step S38 of the flowchart shown in FIG. The processing of steps S63 and S64 in the flowchart shown in FIG. 14 is the same as the processing of steps S53 and S54 of the flowchart shown in FIG.

The display control device 40 determines whether or not the number of steering adjustments at the time of delivery is equal to or greater than the second threshold value (step S65). When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of steering adjustments at the time of delivery is not equal to or greater than the second threshold value (No in step S65), the display control device 40 repeats the process of step S65. When the display control device 40 determines as a result of the determination by the determination unit 43 that the number of steering adjustments at the time of delivery is equal to or greater than the second threshold value (Yes in step S65), the display control device 40 proceeds to step S66.

As described above, according to the present embodiment, when the determination unit 43 determines that the number of steering adjustments at the time of delivery is equal to or greater than the second threshold value, the bird's-eye view image 100 is displayed on the display panel 31. According to the present embodiment, for example, when the steering operation is performed in a direction different from the warehousing direction in order to avoid obstacles at the time of warehousing, the bird's-eye view image 100 can be displayed on the display panel 31. As described above, in this embodiment, the bird's-eye view image 100 can be appropriately displayed according to the number of steering adjustments at the time of delivery. As a result, when the number of steering adjustments at the time of leaving the vehicle is large and the operation of leaving the vehicle is likely to be difficult, the driver can appropriately confirm the surroundings of the vehicle V1 by the bird's-eye view image 100 in addition to the confirmation by visual inspection or the mirror.

Each component of the displayed display control system 1 shown is functionally conceptual, and does not necessarily have to be physically configured as shown in the figure. That is, the specific form of each device is not limited to the one shown in the figure, and all or part of each device is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and usage status of each device. You may.

The configuration of the display control system 1 is realized by, for example, a program loaded in a memory as software. In the above embodiment, it has been described as a functional block realized by linking these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, 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 of the configuration can be made without departing from the gist of the present invention.

The adjacent information acquisition unit 45A has been described as acquiring the first obstacle information and the second obstacle information from the sensor unit 21A, but the present invention is not limited to this. The adjacent information acquisition unit 45A performs image processing on the video data acquired by the video data acquisition unit 41, recognizes obstacles around the vehicle V1 from the object to be photographed, and recognizes the first obstacle information and the second obstacle information. May be obtained as.

The first obstacle information has been described as being acquired when the vehicle V1 retracts and enters the garage, but the information is not limited to this. As the first obstacle information, information on obstacles around the vehicle V1 at the time of completion of warehousing may be acquired based on the information acquired during the parking operation in which the vehicle V1 is retracted and warehousing.

Furthermore, for example, when it is determined from the map information of the navigation system (not shown) and the current position information of the vehicle V1 that the current position of the vehicle V1 is a parking lot, or the video data acquired by the video data acquisition unit 41. If it is determined that the current position of the vehicle V1 is a parking lot by performing image processing on the vehicle V1, it may be determined that the vehicle V1 has arrived.

1 Display control system 11 Front camera (shooting unit)
12 Rear camera (shooting section)
13 Left side camera (shooting section)
14 Right side camera (shooting section)
31 Display panel (display unit)
40 Display control device 41 Video data acquisition unit 42 Own vehicle information acquisition unit 43 Judgment unit 44 Bird's-eye view video generation unit 48 Display control unit 49 Storage unit

Claims (10)

A video data acquisition unit that acquires video data from multiple shooting units that shoot the surroundings of the vehicle,
A bird's-eye view video generation unit that generates a bird's-eye view video by performing viewpoint conversion processing and composition processing on the video data acquired by the video data acquisition unit.
A determination unit that acquires operation information of the vehicle in the parking operation range including the parking section of the vehicle and determines that the number of adjustments for the vehicle orientation in the parking operation range is equal to or greater than a predetermined threshold value.
When the determination unit determines that the number of adjustments is equal to or greater than the threshold value, the display control unit displays the bird's-eye view image generated by the bird's-eye view image generation unit on the display unit when the vehicle leaves the garage in the forward direction. When,
A display control device comprising. Based on the operation information, the determination unit determines that the number of turns back until the vehicle enters the garage in reverse is equal to or greater than a predetermined threshold value.
The display control device according to claim 1. Based on the operation information, the determination unit determines that the number of steering adjustments until the vehicle enters the garage in reverse is equal to or greater than a predetermined threshold value.
The display control device according to claim 1. Based on the operation information, the determination unit determines that the number of turns back from the warehousing state to the warehousing of the vehicle is equal to or greater than a predetermined threshold value.
The display control device according to claim 1. Based on the operation information, the determination unit determines that the number of steering adjustments from the warehousing state to the warehousing of the vehicle is equal to or greater than a predetermined threshold value.
The display control device according to claim 1. Obstacle information acquisition unit that acquires obstacle information of obstacles around the vehicle,
With
Based on the obstacle information acquired by the obstacle information acquisition unit, the determination unit determines whether or not the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition.
In addition to determining that the number of adjustments is equal to or greater than the threshold value, the display control unit determines that the fluctuation of surrounding obstacles between the time of warehousing and the time of warehousing satisfies a predetermined condition. In this case, when the vehicle leaves the warehousing state, the bird's-eye view image generated by the bird's-eye view image generation unit is displayed on the display unit.
The display control device according to any one of claims 1 to 5. The determination unit determines when there is no change in surrounding obstacles between the time of warehousing and the time of warehousing, or when the surrounding obstacles at the time of warehousing fluctuate so as to be closer to the vehicle than at the time of warehousing. Judge that the conditions are met,
The display control device according to claim 6. The display control device according to any one of claims 1 to 7.
At least one of a plurality of shooting units for which the video data acquisition unit acquires video data, and at least one of the display units for which the display control unit displays a bird's-eye view image.
A display control system characterized by being equipped with. A video data acquisition step to acquire video data from multiple shooting units that shoot the surroundings of the vehicle,
A bird's-eye view video generation step that generates a bird's-eye view video by performing viewpoint conversion processing and composition processing on the video data acquired in the video data acquisition step.
A determination step of acquiring operation information of the vehicle in the parking operation range including the parking section of the vehicle and determining that the number of adjustments of the vehicle orientation in the parking operation range is equal to or more than a predetermined threshold value.
When it is determined in the determination step that the number of adjustments is equal to or greater than the threshold value, a display control step of displaying the bird's-eye view image generated in the bird's-eye view image generation step on the display unit when the vehicle leaves the warehousing state in the forward direction. When,
A display control method characterized by including. A video data acquisition step to acquire video data from multiple shooting units that shoot the surroundings of the vehicle,
A bird's-eye view video generation step that generates a bird's-eye view video by performing viewpoint conversion processing and composition processing on the video data acquired in the video data acquisition step.
A determination step of acquiring operation information of the vehicle in the parking operation range including the parking section of the vehicle and determining that the number of adjustments of the vehicle orientation in the parking operation range is equal to or more than a predetermined threshold value.
When it is determined in the determination step that the number of adjustments is equal to or greater than the threshold value, a display control step of displaying the bird's-eye view image generated in the bird's-eye view image generation step on the display unit when the vehicle leaves the warehousing state in the forward direction. When,
A program that allows a computer that operates as a display control device to execute.

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