JP7154817B2 - IMAGE OUTPUT DEVICE, IMAGE OUTPUT SYSTEM AND METHOD OF CONTROLLING IMAGE OUTPUT DEVICE - Google Patents

Description

The present invention relates to an image output device, an image output system, and an image output device control method.

As a device for assisting reverse parking of a vehicle, there is known a device that displays an image captured by a rear camera when the vehicle is reversed. In addition, among this type of device, there is known a device that captures an image of the surroundings of the vehicle with a camera mounted on the vehicle, converts the captured image into a bird's-eye view image looking down from the sky, and displays the image on an in-vehicle monitor (Patent Document 1).

Japanese Patent Application Laid-Open No. 2003-118522

By the way, when only the image of the rear camera is displayed, only the rear of the vehicle is displayed, so the driver needs to pay attention to areas other than the rear of the vehicle.
On the other hand, when a bird's-eye view image is displayed, the front, rear, left, and right images of the vehicle are each displayed small, and the images are complicatedly deformed and synthesized, which may make it difficult for the driver to see.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to enable an image of the surroundings of a vehicle to be displayed effectively for driving assistance and in an easy-to-see manner when backing up.

In order to achieve the above object, the image output device of the present invention includes an image input unit for inputting a rear captured image obtained by capturing the rear of a vehicle and side captured images obtained by capturing left and right sides of the vehicle; When the vehicle is in reverse and the vehicle is being steered to the left or right, the side captured image is acquired using the image input unit, and a composite image obtained by synthesizing the side captured image and the rear captured image is generated. an image processing unit that generates and outputs the composite image as an image for display; and an analysis unit that identifies the predicted course of the vehicle , wherein the composite image is the image of the vehicle in the input side- view image. An image obtained by synthesizing an image on the moving side and the rear image, and the image processing unit adjusts the range of the side image in the synthesized image as the steering angle of the vehicle increases. In addition to widening, the boundary between the side image and the rear captured image is changed based on at least one of the position and inclination of the predicted course .

In the above configuration, the image processing unit outputs the synthesized image as a display image when the steering angle of the vehicle is equal to or greater than the predetermined amount, and outputs the combined image as a display image when the steering angle of the vehicle is less than the predetermined amount. It is characterized by outputting a captured image as a display image.

In the above configuration, the image processing unit allocates the side image as the display image to a display area corresponding to the upper right or upper left, and generates a composite image in which the rear captured image is allocated to the remaining display area. characterized by

In the above configuration, the side image is an image obtained by extracting a region including a right front corner portion or a left front corner portion of the vehicle from the side captured image .

In the above configuration, the image processing unit makes the boundary parallel to a tangent line of the predicted course applied to the rear captured image in the display image, and adds a predetermined margin to the tangent line. It is characterized by being set to a position.

The image output system of the present invention includes a rear imaging section for imaging the rear of the vehicle, a side imaging section for imaging the left and right sides of the vehicle, and when the vehicle is reversing and being steered to either the left or right. a side captured image captured by the side imaging unit is acquired, a combined image is generated by synthesizing the side captured image and the rear captured image captured by the rear imaging unit, and the combined image is generated; as an image for display, and an analysis unit for specifying the expected course of the vehicle, and the synthesized image is an image of the lateral side of the vehicle moving out of the input side-captured images. An image obtained by synthesizing an image and the rear captured image, and the image processing unit expands the range of the side image in the synthesized image as the steering angle of the vehicle increases, and adjusts the predicted course. The boundary between the side image and the rear captured image is changed based on at least one of the position and inclination of .

Further, an image input unit for inputting a rear captured image that captures the rear of the vehicle and a lateral captured image that captures left and right sides of the vehicle ; case, the side captured image is obtained using the image input unit, a composite image is generated by combining the side captured image and the rear captured image, and the composite image is output as a display image. A control method for an image output device that includes a processing unit and an analysis unit that specifies a predicted course of the vehicle and outputs the display image , wherein the synthesized image is selected from the input side captured images. The image is an image obtained by synthesizing an image on the side where the vehicle moves and the captured image on the rear side. is expanded, and the boundary between the side image and the rear captured image is changed based on at least one of the position and inclination of the predicted course .

According to the present invention, it is possible to effectively display an image of the surroundings of the vehicle when backing up in order to assist driving, and to display the image in an easy-to-see manner.

1 is a diagram showing an image output system according to an embodiment of the invention; FIG. FIG. 2 is a top view of a vehicle traveling backward with front wheels being steered to the left; FIG. 4 is a diagram showing a display image displayed on a display device; FIG. (A) and (B) are diagrams showing a boundary between a rear captured image and a front lateral image when steering angles are different. It is a figure which shows the picked-up image of the right side camera. (A) and (B) are diagrams showing the boundary between the rear captured image and the front lateral image when the front wheels are steered to the right and the steering angles are different. 4 is a flow chart showing the operation of the image output device; It is a figure where it uses for description of the modification of a display.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing an image output system according to an embodiment of the invention.
This image output system 1 is a system that is mounted on a vehicle and assists the driver's driving by displaying an image of the surroundings of the vehicle when the vehicle is backing up.
This image output system 1 includes a rear camera 10A (rear imaging unit) that images the rear of the vehicle, a left side camera 10B (left side imaging unit) that images the left side, and a right side camera 10C that images the right side ( right side imaging section), a front camera 10D (front imaging section) for imaging the front, an image output device 21 mounted on the vehicle, and a display device 22 for displaying a display image output from the image output device 21. It has

The image output device 21 includes an image input unit 31 for inputting images captured by the cameras 10A to 10D, an image processing unit 32 for generating display images based on the captured images, and display images generated by the image processing units. and an image output unit 33 for outputting to the device.
The image input unit 31 has an input I/F to which signal lines extending from the cameras 10A to 10D are connected, and video signals corresponding to each captured image are input via the input I/F. Each video signal, that is, each captured image is output to the image processing section 32 .

The image processing section 32 includes an image conversion section 32A, a side image conversion section 32B, an image synthesizing section 32C, and a control section 34 that centrally controls each section of the image output device 21. FIG. Further, the image output device 21 includes a receiving section 35 for receiving a vehicle signal, and an approaching object alarm section 36 for detecting an approaching object approaching the vehicle and issuing an alarm.

Images captured by all (four) cameras 10A to 10D are input to the image conversion unit 32A, and only images captured by the left and right side cameras 10B and 10C are input to the side image conversion unit 32B.
Here, the imaging range of the left side camera 10B is a range including the left front corner of the vehicle (which can be said to be the left portion of the front of the vehicle). Further, the imaging range of the right side camera 10C is a range including the right front corner of the vehicle (also referred to as the right portion of the front of the vehicle). Each of the side cameras 10B and 10C is attached, for example, to a pair of left and right side mirrors provided on a vehicle facing downward, so that the above range can be captured. Note that the mounting positions of the side cameras 10B and 10C do not have to be limited to the side mirrors.

The image conversion section 32A has a function of synthesizing images captured by all the cameras 10A to 10D under the control of the control section 34 and performing known conversion processing to create a bird's-eye view image G1 of a predetermined size. Furthermore, the image conversion section 32A also has a function of performing known conversion processing for creating a rear-captured image G2 of a predetermined size from the rear-captured image from the rear camera 10A under the control of the control section 34 .
The bird's-eye view image is created, for example, by converting and synthesizing captured images of the front, rear, left, and right of the vehicle, and is an image that reproduces an image looking down directly below with a camera installed above the vehicle.
The size of the output image (overhead image G1, rear captured image G2) of the image conversion unit 32A is set to a size suitable for display on the display device 22. size.

Under the control of the control unit 34, the side image conversion unit 32B converts the left front or right front corner of the vehicle from the left side captured image from the left side camera 10B or the right side captured image from the right side camera 10C. Processing is performed to acquire an image (hereinafter referred to as "front side image G3") in which the region including the portion is extracted together with the peripheral region.
For example, the side image conversion unit 32B performs enlargement or reduction processing on the left or right side captured image, and cuts out the left front or right front corner area of the vehicle to obtain a front image of a predetermined size. A partial side image G3 is generated.

Here, the enlargement or reduction process is a process of adjusting the size of the front side image G3 to the size of a predetermined display area. In this configuration, the display area is variable, so the enlargement ratio or reduction ratio is set accordingly.
Note that the size of the front side image G3 does not have to be the size of the entire display area of the display device 22 . In this configuration, since the front side image G3 is displayed on a part of the display device 22, it may be of a size suitable for the display.

The image synthesis unit 32C, under the control of the control unit 34, synthesizes the rear captured image G2 created by the image conversion unit 32A and the front side image G3 created by the side image conversion unit 32B. The resulting image is output to the image output unit 33 as a display image. Further, under the control of the control unit 34, the image synthesizing unit 32C outputs the overhead image G1 created by the image conversion unit 32A to the image output unit 33 as a display image.

The image output unit 33 has an output I/F to which a signal line extending from the display device 22 is connected, and outputs a video signal corresponding to the display image to the display device 22, thereby outputting the display image to the display device 22. display the corresponding image.
The display device 22 is a known display device such as a liquid crystal display device, and is provided at a position such as the center console of the vehicle where the driver can easily visually recognize the display device 22 .

The control unit 34 has a computer configuration including a CPU, ROM, RAM, etc., and controls each unit of the image output device 21 by executing a control program stored in the storage unit 34A. The control unit 34 also functions as an analysis unit 34</b>B that analyzes information received by the reception unit 35 .
The receiving unit 35 is a vehicle signal receiving unit that receives vehicle signals transmitted from each part of the vehicle. The vehicle signal includes at least information notifying that the transmission of the vehicle is in reverse gear (shift R in FIG. 1) and information notifying the steering angle of the vehicle. The receiving unit 35 outputs the received vehicle signal to the analyzing unit 34B.

Based on the vehicle signal, the analysis unit 34B acquires the fact that the vehicle is in the reverse gear position and the steering angle of the vehicle, and performs a known process of specifying an expected course in reverse based on the information on the steering angle. The steering angle is also called the turning angle of the front wheels and generally coincides with the steering wheel angle. Therefore, the steering wheel angle may be acquired instead of the steering angle and used in the processing of step S3 described later.
However, in the case of a configuration in which the steering angle of the front wheels according to the steering wheel operation is varied according to the vehicle speed, etc., the steering angle matches the steering angle of the front wheels, but does not match the steering wheel angle. It is preferable to use the steering angle for

Under the control of the control unit 34, the approaching object warning unit 36 receives an image of the surroundings of the vehicle from the image conversion unit 32A or the side image conversion unit 32B, detects an approaching object from the input image, and issues an alarm. process.
Approaching objects are walls, other vehicles, people, etc., and can be detected by applying known image recognition processing. Moreover, as a warning method, a wide range of known methods, such as a method of displaying predetermined warning information on a display device or a method of emitting a warning sound, can be applied.

FIG. 2 is a top view of a vehicle that is moving backward with its front wheels being steered to the left (indicated by reference numeral 2 in FIG. 2). As shown in this figure, the rear camera 10A photographs the rear region of the vehicle 2 over a left and right region wider than the vehicle width. The right side camera 10C, that is, the camera 10C on the side opposite to the steering direction of the front wheels, detects the area on the side where the front part of the vehicle 2 moves as the corner portion of the right front part of the vehicle (reference numeral 2R in FIG. 2). (shown with ).

FIG. 3 is a diagram showing a display image displayed on the display device 22 in the case of FIG.
The display image shown in FIG. 3 is an image obtained by synthesizing the rear captured image G2 created by the image conversion section 32A and the front side image G3 created by the side image conversion section 32B. More specifically, the display area corresponding to the upper right of the rectangular display frame W of the display device 22 is assigned to the front side image G3, and the remaining display area is assigned to the rear captured image G2.
Here, the front side image G3 is an image extracted from the right side captured image of the right side camera 10C, and as shown in FIG. 3, the right front corner 2R of the vehicle is displayed including the front wheels. . In addition, in the region corresponding to the rear captured image G2, the predicted course (reference RT in FIG. 3) obtained by the analysis unit 34B is also synthesized and displayed.

As shown in FIG. 2, when the vehicle 2 moves backward, not only does the vehicle move backward, but also the front part of the vehicle 2 moves rightward. A possibility arises that the vehicle 2 will come into contact with the obstacle. In this configuration, the rear captured image G2 and the front side image G3 corresponding to the rear and right sides of the vehicle 2 are synthesized and displayed. Obstacles existing in

In this case, compared to the case of displaying the bird's-eye view image G1, the rearward and rightward images can be displayed larger. Therefore, it becomes easier for the driver to visually recognize an obstacle present behind or to the right of the vehicle 2 than in the bird's-eye view image G1. Furthermore, in the bird's-eye view image G1, when combining the front, rear, left, and right captured images, there is a possibility that obstacles present at the boundaries of the captured images may not be displayed. On the other hand, the display image shown in FIG. 3 can avoid a situation in which an approaching object existing behind and to the right of the vehicle and approaching the vehicle 2 is not displayed.

As shown in FIG. 3, the boundary LK between the rear captured image G2 and the front lateral image G3 is set as an oblique line substantially along the predicted course RT.
As shown in FIG. 4A, the boundary LK is parallel to the tangent line L1 of the predicted course RT applied to the rear captured image G2 in the display image, and a predetermined margin M1 is added between the tangent line L1 and the tangent line L1. position is set. Therefore, when the steering angle is changed, the predicted course RT changes as shown in FIG. 4B, and the position and inclination of the boundary LK change in accordance with the changed predicted course RT.

In this configuration, the larger the steering angle (see FIG. 4A), the smaller the inclination angle θ of the boundary LK, the wider the display area of the front side image G3, and the more the right front corner portion 2R of the vehicle ( (See FIG. 3) to widen the display area.
Also, the smaller the steering angle (see FIG. 4B), the smaller the inclination angle θ of the boundary LK, and the narrower the display area of the front lateral image G3 in the left and right direction. When the steering angle is small, the speed of movement of the front portion of the vehicle to the side becomes relatively slow, so even if the vehicle is narrowed to the left or right, it is possible to maintain a display that makes it easy to notice an obstacle on the side of the vehicle before contact.
Normally, as the steering angle increases, the speed of movement of the front portion of the vehicle to the side relatively increases. The display can be made relatively easy to notice approaching objects on the side of the vehicle. On the other hand, the smaller the steering angle, the wider the display area of the rear captured image G2.

By setting the boundary LK based on the position and inclination of the predicted course RT in this way, it is possible to display obstacles behind and on the side of the vehicle that are approaching so that the user can easily notice them. Further, in this configuration, the larger the display area of the front side image G3, the wider the range of the front side image G3. FIG. 5 is a diagram showing an image captured by the right side camera 10C.
As described above, the front side image G3 is an image of a range cut out from the image captured by the right side camera 10C by the side image conversion section 32B. In FIG. 5, reference AR1 indicates the range of the front side image G3 in the case of FIG. 4A, and reference AR2 indicates the range of the front side image G3 in the case of FIG. 4B. there is
In this manner, the larger the display area of the front side image G3, the wider the range of the front side image G3. Therefore, the expanded display range can be effectively used to display the front side image G3.

When the front wheels are steered to the right, as shown in FIGS. 6(A) and 6(B), the display area corresponding to the upper right of the rectangular display frame W of the display device 22 is displayed in the front side direction. The image G3 is displayed, and the rear captured image G2 is displayed in the remaining display area. In this case, the front side image G3 is an image extracted from the left side captured image of the left side camera 10B. The method of setting the boundary LK and the like is the same as described above, and redundant description will be omitted.

FIG. 7 is a flow chart showing the operation of the image output device 21. As shown in FIG. This flowchart is executed when the analysis unit 34B detects that the transmission of the vehicle is in reverse gear.
In step S1, the control unit 34 determines whether or not display ON of the rear image is set based on the user setting stored in advance in the storage unit 34A. When the display of the rear image is set to ON (step S1; YES), that is, when the user (for example, the driver) of the image output device 21 desires the display of the rear image when reversing, the control unit 34 The process proceeds to step S2.

On the other hand, if the display ON of the rear image is not set (step S1; NO), that is, if the user (for example, the driver) of the image output device 21 desires the display of the rear image when reversing, the control unit 34 moves to the process of step S20.
In step S20, if the bird's-eye view image display ON is set based on the user setting (step S20; YES), the control unit 34 proceeds to the process of step S21. If so (step S20; NO), the flow ends.

In step S21, the control unit 34 starts control to display the overhead image G1. In this case, the control unit 34 instructs the image conversion unit 32A to create a bird's-eye view image G1, and causes the display device 22 to output the created bird's-eye view image G1 via the image synthesizing unit 32C and the image output unit 33. An image corresponding to the image G1 is displayed.
Further, the control unit 34 proceeds to the process of step S22, and causes the approaching object warning unit 36 to execute approaching object detection processing based on the captured images of the surroundings (for example, the captured images of the cameras 10A to 10D). As a result, the bird's-eye view image G1 is displayed so that the driver can visually recognize it, and if there is an approaching object around the vehicle, the presence of the approaching object is notified to the driver.

In step S2, the control unit 34 starts display control of the rear captured image. In this case, the control unit 34 instructs the image conversion unit 32A to create a rear captured image G2 for display, and causes the created rear captured image G2 to be output via the image synthesizing unit 32C and the image output unit 33. The display device 22 is caused to display a display image corresponding to the rear captured image G2.
In step S3, the control unit 34 determines whether or not the steering angle is 5° or more. If the steering angle is 5° or more, the process proceeds to step S4, and if the steering angle is less than 5°, the process proceeds to step S8. Note that the steering angle threshold is not limited to 5°, and any predetermined value can be applied.

In step S4, the control unit 34 sets a boundary LK between the rear captured image G2 and the front lateral image G3 as shown in FIG. determines the display area of the front side image G3.
In step S5, the control unit 34 instructs the side image conversion unit 32B to create a front side image G3 corresponding to the side along which the front of the vehicle 2 moves.
In step S6, the control unit 34 instructs the image synthesis unit 32C to create a display image by synthesizing the side image conversion unit 32B with the rear captured image G2. , the display device 22 displays an image obtained by synthesizing the rear captured image G2 and the side image conversion unit 32B.

Further, the control unit 34 proceeds to the process of step S7, and causes the approaching object warning unit 36 to perform approaching object detection processing based on the side image conversion unit 32B on the rear captured image G2. As a result, the rear captured image G2 and the side image converter 32B are displayed so that the driver can visually recognize them, and if there is an approaching object around the vehicle, the presence of the approaching object is notified to the driver.

On the other hand, if the steering angle is less than 5°, the control unit 34 instructs the side image conversion unit 32B to disable the generation of the front side image G3 in step S8, and then in step S9, The image synthesizer 32C is instructed not to synthesize the front side image G3. As a result, the rear captured image G2 created in the process of step S2 is output via the image output unit 33, and an image corresponding to the rear captured image G2 is displayed on the display device 22. FIG.

Next, the control unit 34 proceeds to the process of step S10, and causes the approaching object warning unit 36 to execute approaching object detection processing based on the rear captured image G2. As a result, the rear captured image G2 is displayed so that the driver can visually recognize it, and if an approaching object exists behind the vehicle 2, the presence of the approaching object is notified to the driver. The above is the operation of the image output device 21 .

As described above, the image output device 21 according to the present embodiment uses the image input unit 31 or the like to detect the side of the vehicle 2 when the vehicle 2 is in reverse and the vehicle is being steered to the left or right. The imaged front side image G3 is acquired, the front side image G3 and the rear captured image G2 are synthesized to generate a synthesized image, and the synthesized image is output as a display image. The image on the side can be displayed in an easy-to-see manner. As a result, an image of the surroundings of the vehicle 2 can be displayed effectively for driving assistance and easy to see when the vehicle is backing up.

Here, the front side image G3 is an image on the side where the vehicle 2 moves among the side captured images of the left and right side cameras 10B and 10C. The larger the angle, the wider the range of the front side image G3 in the composite image, so even if the moving speed to the side increases, it is possible to display an approaching object on the side of the vehicle 2 relatively easily noticeable. . Note that the front side image G3 in the composite image may be the side captured image of the left and right side cameras 10B and 10C. In this case as well, the rear and sides of the vehicle 2 can be displayed relatively large compared to the case of displaying a bird's-eye view image including images of the front, rear, left, and right of the vehicle.

Further, when the steering angle of the vehicle 2 is greater than or equal to a predetermined amount (5° or more in this embodiment), the image processing unit 32 outputs the composite image as a display image, and the steering angle of the vehicle 2 is less than the predetermined amount ( In this embodiment, when the angle is less than 5°, the rear captured image G2 is output as a display image, so the approaching object approaching by the vehicle 2 can be efficiently displayed.
Further, the image processing unit 32 changes the boundary LK between the front side image G3 and the rear captured image G2 based on the position and inclination of the predicted course RT. Easy-to-notice display is possible.
Moreover, the boundary LK is set at a position that is parallel to the tangent line L1 of the predicted course RT applied to the rear image G2 in the display image and that a predetermined margin M1 is added between the tangent line L1 and the rearward image. As for the captured image G2, it is possible to display an image on the side where the vehicle 2 is approaching while widening the periphery of the predicted course RT by a margin M1.

In this embodiment, the boundary LK is set based on the position and inclination of the predicted course RT. However, the boundary LK may be set based on at least one of the position and inclination of the predicted course RT. , the boundary LK can be appropriately changed within the range in which the boundary LK can be set so that the obstacles behind and on the side of the vehicle 2 can be easily noticed.

Further, as a display image to be displayed on the display device 22, a composite image is generated by assigning the front lateral image G3 to the display area corresponding to the upper right or upper left, and assigning the rear captured image G2 to the remaining display area. The front direction of the vehicle 2 can be displayed in the upward direction, and the left and right directions of the vehicle 2 can be aligned in the left and right directions, and display suitable for driving support can be performed.

The front side image G3 is an image obtained by extracting a region including a right front corner portion or a left front corner portion of the vehicle 2 from the side captured images of the left and right side cameras 10B and 10C. It is possible to effectively display an area in which an approaching object existing on the side is captured.
Note that the front side image G3 may be an image extracted in an arbitrary shape and size within the range including the corner portion, or may be an image that includes the corner portion within a range that includes a region suitable for driving assistance. It may be omitted or may be changed as appropriate.

The above-described embodiment is merely an example of one embodiment of the present invention, and can be arbitrarily modified and applied without departing from the scope of the present invention.
For example, the display positions and display ranges of the rear captured image G2 and the front lateral image G3 may be changed as appropriate, or the display positions and display ranges may be changed according to user instructions. good. Furthermore, as illustrated in FIG. 8, another image such as the bird's-eye view image G1 may be additionally displayed according to the user's instruction or the like.

Further, each component of the image output system 1 described above may be divided or merged. Also, each component can be arbitrarily realized by cooperation of hardware and software. Also, with regard to the flowchart, the processing corresponding to each step may be divided or merged.
Furthermore, in the above-described embodiment, the case where the control program is stored in advance in the storage unit 34A of the image output device 21 has been described. may be stored in a readable recording medium, and the computer may read and execute the control program from the recording medium. Also, the control program may be downloaded from a distribution server or the like on a communication network via an electric communication line.

1 image output system 2 vehicle 2R right front corner portion of vehicle 10A rear camera 10B left side camera 10C right side camera 10D rear camera 21 image output device 22 display device 32 image processing section 32A image conversion section 32B side image conversion section 32C image Combining unit 33 Image output unit 34 Control unit 35 Receiving unit 36 Approaching object warning unit G1 Bird's-eye view image G2 Rear captured image G3 Front side image LK Boundary RT Expected course L1 Tangent line M1 Margin

Claims (7)

an image input unit for inputting a rear captured image that captures the rear of the vehicle and side captured images that capture the left and right sides of the vehicle;
When the vehicle is in reverse and the vehicle is being steered to the left or right, the side captured image is acquired using the image input unit, and the side captured image and the rear captured image are combined into a combined image. and an image processing unit that outputs the composite image as a display image ;
an analysis unit that identifies the expected course of the vehicle ;
The synthesized image is an image obtained by synthesizing an image on the side where the vehicle moves among the input side captured images and the rear captured image,
The image processing unit widens the range of the image on the side side in the synthesized image as the steering angle of the vehicle increases, and further expands the range of the image on the side side in the synthesized image, and determines the side side image based on at least one of the position and inclination of the predicted course. An image output device characterized by changing a boundary between an image on the side and the captured image on the rear side . The image processing unit outputs the synthesized image as an image for display when the steering angle of the vehicle is equal to or greater than a predetermined amount, and outputs the rear captured image for display when the steering angle of the vehicle is less than the predetermined amount. 2. The image output device according to claim 1, wherein the image is output. The image processing unit is characterized in that, as the display image, the image on the lateral side is assigned to a display area corresponding to the upper right or upper left, and the rear captured image is assigned to the remaining display area to generate a composite image. 3. The image output device according to claim 1 or 2. 4. The image on the side side is an image obtained by extracting a region including a right front corner portion or a left front corner portion of the vehicle from the side captured image. The image output device according to 1. The image processing unit sets the boundary at a position parallel to a tangent line of the predicted course applied to the rear captured image in the display image and with a predetermined margin added between the tangent line and the tangent line. 5. The image output device according to any one of claims 1 to 4 , characterized in that: a rear imaging unit for imaging the rear of the vehicle;
a side imaging unit for imaging left and right sides of the vehicle;
When the vehicle is in reverse and the vehicle is being steered to the left or right, a side captured image captured by the side imaging unit is acquired, and the side captured image and the rear image captured by the rear imaging unit are obtained. an image processing unit that generates a synthesized image by synthesizing a rear captured image and outputs the synthesized image as a display image;
an analysis unit that identifies the expected course of the vehicle;
The synthesized image is an image obtained by synthesizing an image on the side where the vehicle moves among the input side captured images and the rear captured image,
The image processing unit widens the range of the image on the side side in the synthesized image as the steering angle of the vehicle increases, and further expands the range of the image on the side side in the synthesized image, and determines the side side image based on at least one of the position and inclination of the predicted course. An image output system characterized by changing a boundary between an image on the side and the captured image on the rear side. an image input unit for inputting a rear captured image that captures the rear of the vehicle and side captured images that capture the left and right sides of the vehicle;
When the vehicle is in reverse and the vehicle is being steered to the left or right, the side captured image is acquired using the image input unit, and the side captured image and the rear captured image are combined into a combined image. and an image processing unit that outputs the composite image as a display image;
A control method for an image output device that outputs the display image, comprising an analysis unit that specifies the predicted course of the vehicle,
The synthesized image is an image obtained by synthesizing an image on the side where the vehicle moves among the input side captured images and the rear captured image,
The image processing unit widens the range of the image on the side side in the synthesized image as the steering angle of the vehicle increases, and further expands the range of the image on the side side in the synthesized image, and determines the side side image based on at least one of the position and inclination of the predicted course. A control method for an image output device, characterized by changing a boundary between an image on the side and the captured image on the rear side.

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