JP7166725B2 - Display device, display method and display program - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display device that displays an image around a vehicle captured by an imaging camera.

In recent years, vehicles are equipped with various imaging cameras. For example, an imaging camera is installed to detect obstacles around the vehicle for driving support, an imaging camera is installed to record events such as accidents while driving, and an optical system such as a door mirror is installed. It has an imaging camera instead of a mirror.

For example, the vehicle periphery visual recognition device disclosed in Patent Document 1 captures an image of the vehicle periphery with a camera having a wide field of view such as a fisheye lens, and uses the captured image instead of the mirror image of the door mirror or together with the mirror image. This provides the driver with an image with fewer blind spots than in the mirror image of the door mirror. At this time, if the image of the rear of the vehicle is displayed as it is, the vertical positional relationship will be reversed when the driver sees the mirror image through the door mirrors. , the image of the rear of the vehicle is reversed. Further, Patent Document 2 relates to a peripheral image display device using an omnidirectional camera, and enables switching of displayed images in accordance with user operations.

JP 2006-50246 A JP 2013-034142 A

Among imaging camera systems, omnidirectional camera systems that capture images in all directions (360 degrees) of a vehicle are becoming common. For example, two imaging cameras with a wide field of view (approximately 180 degrees) such as fisheye lenses are prepared. Drive recorders capable of imaging are also in practical use.

FIG. 1 shows an outline of a conventional display device using such an omnidirectional camera system. As shown in FIG. 1A, the imaging camera 10 is mounted, for example, on the upper portion of the windshield 20 of the vehicle M, and captures the front, sides, and rear of the vehicle M in all directions (360 degrees) in a substantially horizontal direction. image to An image corresponding to the display angle is clipped from the omnidirectional image, and the clipped image is displayed on the display 30 installed in the vehicle. The user can determine the display angle by flicking the touch panel of the display 30 . For example, when the user performs a leftward flick operation L as shown in FIG. 1(B), the display angle is switched according to the direction and amount of movement, and is displayed on the display 30 as shown in FIG. 1(C). The captured image can be moved forward, rightward, backward, leftward, and forward in a clockwise direction. Such a display function allows the user to easily fine-tune the direction and display angle that the user wants to check.

In conventional camera systems (rear camera, side camera rear view, room camera, drive recorder camera, etc.), when displaying a rear image, the rear image is basically horizontally reversed and displayed after processing. is doing. Viewing the rear image on the display is the same as when the driver views the mirror image of the room mirror or side mirror. The image is the one you see.

However, in the display device using the above-described omnidirectional camera system, in order to seamlessly switch the image according to the display angle, the rear image is not horizontally reversed, and the image is simply displayed in the shooting direction. was only displayed. That is, when the rear image is displayed, as shown in FIG. 2A, the captured image is displayed as it is because the seamless switching is prioritized, and the driver in the vehicle feels confused about the left and right. It can be very dangerous. Considering the sense of the driver in the vehicle compartment, the rearward image should be displayed with the left and right reversed, as shown in FIG. 2(B). As described above, the display device using the conventional omnidirectional camera system lacks consideration for the driver as an in-vehicle device, and poses a serious problem in terms of safety.

The present invention solves such conventional problems, and is a display device, a display method, and a display device capable of displaying a left-right reversed image of a rear image when displaying a captured image corresponding to a display angle. The purpose is to provide a program.

A display device according to the present invention comprises imaging means for imaging at least the front and rear of a vehicle, display means, determination means for determining a display angle when the imaged image is displayed on the display means, and the display angle. clipping means for clipping an image from the imaged image based on the above; processing means for processing the clipped image into a horizontally reversed reversed image; and displaying the clipped image according to the display angle. and display control means for causing the display means to display an inverted rear image when the display angle indicates the rear of the vehicle.

In one aspect, the display control means causes the display means to display a non-inverted clipped image when the display angle indicates the front of the vehicle. In one embodiment, the cutting means cuts out a first cutout image corresponding to the display angle and a second cutout image in a direction opposite to the display angle, and the processing means cuts out the first cutout image and the second cutout image. One of the clipped images is processed into an inverted image, and the display control means simultaneously displays the first clipped image and the second clipped image on the display means. In one embodiment, the display control means enlarges the first clipped image or the second clipped image based on the display angle. In one embodiment, the display control means reduces the first clipped image or the second clipped image based on the display angle. In one embodiment, the display control means displays the first or second clipped image on a background screen of the display means, and displays the second or first clipped image on a foreground screen included in the background screen. . In one embodiment, the display control means displays a non-inverted front image on the background screen and displays an inverted rear image on the foreground screen. In one embodiment, the display device further includes display mode determination means for determining a display mode based on the display angle, and the display control means displays the clipped image based on the display mode determined by the display mode determination means. Control size. In one embodiment, the display modes include a front view mode and a rear view mode, and the display control means enlarges an image in front of the vehicle in the front view mode and enlarges an image behind the vehicle in the rear view mode. In one embodiment, the display control means sets the background screen as the main display and the foreground screen as the sub-display in the front view mode, and sets the background screen as the sub-display and the foreground screen as the main display in the rear view mode. . In one embodiment, the display control means enlarges the image behind the vehicle step by step or continuously when switching from the front view mode to the rear view mode. In one embodiment, the size of the foreground screen is increased stepwise or continuously. In one embodiment, the display control means reduces the image behind the vehicle step by step or continuously when switching from the rear view mode to the front view mode. In one embodiment, the size of the foreground screen is reduced stepwise or continuously. In one embodiment, the display device further includes input means for inputting user operation information, and the determination means determines the display angle based on the operation information input from the input means. In one embodiment, the input means includes a touch panel mounted on the display means, and the determination means determines the display angle based on the direction and amount of movement operated on the touch panel. In one embodiment, the foreground screen has a shape that imitates a rear-view mirror. In one embodiment, the imaging means includes an imaging camera that captures an omnidirectional image of the vehicle, the display angle can indicate the omnidirectional direction of the vehicle, and the display control means corresponds to the display angle. The image is displayed on the display means.

A display method according to the present invention is for a display device including imaging means for imaging at least the front and rear of a vehicle and display means capable of displaying the imaged images, wherein the imaged images are displayed on the display means. a step of determining a display angle to be displayed on the screen, a step of cutting out an image from the captured image based on the display angle, and a step of processing the cut out image into a horizontally reversed inverted image; and displaying an image clipped according to the display angle on the display means, and displaying a reversed rearward image on the display means when the display angle indicates the rear of the vehicle.

The display program according to the present invention is a control means of a display device including imaging means for imaging at least the front and rear of a vehicle, display means capable of displaying the imaged images, and control means for controlling the display means. is executed by determining a display angle for displaying the captured image on the display means; cutting out an image from the captured image based on the display angle; displaying the image cut out according to the display angle on the display means, and when the display angle indicates the rear side of the vehicle, the reversed rear side of the vehicle; and displaying an image on the display means.

According to the present invention, when the display angle indicates the rear of the vehicle, a reversed rearward image is displayed. It is possible to improve the safety when checking the rear image.

It is a figure explaining the outline|summary of the display apparatus using the conventional omnidirectional camera system. It is a figure explaining the subject of the conventional display apparatus. 1 is a block diagram showing one configuration example of a display device using an omnidirectional camera system according to an embodiment of the present invention; FIG. It is a figure which shows the functional structure of the display control program which concerns on the Example of this invention. It is a figure explaining the operation example of the operation information detection part of a present Example. It is a figure explaining the relationship between a display angle and a display mode. FIG. 7A shows an example of the display sizes of the background screen and the foreground screen in the front view mode, and FIG. 7B shows an example of the display sizes of the background screen and the foreground screen in the rear view mode. 4 is a table for explaining the relationship between display angles, display modes, background screens, and foreground screens when display control is performed according to the embodiment of the present invention; FIG. 5 is a diagram illustrating a specific display example of a captured image on the display device according to the embodiment of the present invention; FIG. 5 is a diagram showing an example of stepwise enlargement or reduction of the display size of the foreground screen according to the embodiment of the present invention;

Next, an embodiment of the invention will be described. In one embodiment, the display device includes an imaging camera capable of imaging an omnidirectional 360-degree image of the vehicle, and an image corresponding to a display angle selected by a user operation from among the captured omnidirectional images. is cut out and displayed on the display. Although the number and mounting positions of the imaging cameras are arbitrary, for example, by mounting the imaging cameras on the upper part of the windshield of the vehicle, it is possible to capture images in all directions including the front, sides, and interior of the vehicle. Also, as one example, an imaging camera of a drive recorder capable of imaging in all directions can be used. Any display may be used to display the captured image. For example, a dedicated monitor may be used, a display may be used in common with an in-vehicle device such as a navigation device, or a vehicle instrument may be used. It may be a display in a panel, or a display for the surroundings of the vehicle.

FIG. 3 is a block diagram showing the configuration of a display device according to an embodiment of the invention. The display device 100 of the present embodiment includes an imaging unit 110 capable of capturing an omnidirectional image of the vehicle, an input unit 120 receiving input from the user, a display unit 130 capable of displaying an image captured by the imaging unit 110, It includes a storage unit 140 capable of storing various data, software, etc., and a control unit 150 for controlling each unit. When the display device 100 also serves as a display output of another electronic device, the display device 100 can have an interface for connecting with the other electronic device.

The imaging unit 110 includes, for example, one or more imaging cameras capable of capturing images in all directions of the vehicle. The omnidirectional direction of the vehicle includes the front, left and right sides, and rear of the vehicle. The mounting position of the imaging unit 110 may be either outside the vehicle or inside the vehicle. For example, as shown in FIG. It captures images in all directions, both forward and backward. In this case, the captured image of the rear includes the space inside the vehicle such as the driver's seat, the passenger's seat, and the rear seats. An image captured by the imaging unit 110 is provided to the control unit 150, where necessary image processing is performed. In addition, captured images or processed images can be held in the storage unit 140 .

The input unit 120 receives input from the user and provides it to the control unit 150 . The input unit 120 includes, for example, a touch panel mounted on the display unit 130, a remote controller, operation buttons, voice input, and the like. In one aspect of this embodiment, the user operates the touch panel of the display unit 130 to specify the display angle of the captured image displayed on the display unit 130 . Of course, the user can also specify the display angle by other input methods.

The display unit 130 is attached to an arbitrary position inside the vehicle, and can display an image captured by the imaging unit 110 . The display unit 130 includes, for example, a display panel such as liquid crystal or organic EL, and a touch panel laminated on the display panel. The touch panel detects contact and movement of a user's finger or the like, and notifies the control unit 150 of the detection result. That is, the user can instruct input by flicking on the touch panel.

The storage unit 140 can temporarily store an image captured by the imaging unit 110, an image cut from the captured image, an image processed such as left-right inversion, and the like. The storage unit 140 can also store software, data, and the like necessary for the operation of the display device 100 .

The control unit 150 controls each unit of the display device 100, for example, includes a microprocessor or microcomputer including ROM/RAM, etc., and executes a display control program installed therein to control each unit of the display device 100. do. FIG. 4 shows the functional configuration of the display control program. The display control program 200 according to this embodiment includes an operation information detection unit 210, a display angle determination unit 220, a display mode determination unit 230, an image clipping unit 240, an image processing unit 250, and a display control unit 260. .

The operation information detection unit 210 detects operation information input by the user to instruct the display angle of the captured image. In one aspect, the operation information detection unit 210 detects operation information when the user performs a flick operation on the touch panel of the display unit 130 . For example, as shown in FIGS. 5A and 5B, the operation information detection unit 210 detects the horizontal component of the user's flick operation and the movement amount thereof. In the example of FIG. 5A, the user moves the finger substantially horizontally by a distance L, and the operation information detection unit 210 detects the distance L as the amount of movement in the horizontal direction. In the example of FIG. 5B, the user moves the finger in a somewhat oblique direction by a distance L, and the operation information detection unit 210 detects L cos θ as the amount of movement in the horizontal direction.

In another aspect, the operation information detection unit 210 may detect operation information from voice input, remote control operation, or the like. For example, when there is a voice input such as "rotate 90 degrees", "right side of vehicle", or "rear side of vehicle", operation information detection unit 210 outputs the input voice. Analyze and detect operation information from the analysis result.

The display angle determination section 220 determines the display angle of the captured image based on the detection result detected by the operation information detection section 210 . The display angle represents the angle or direction of an image to be displayed on the display unit 130 from among panoramic images captured in all directions of 360 degrees. For example, as shown in FIG. 6, the display angle is defined by 360 degrees clockwise from 0 degrees in the direction in front of the vehicle. The default value (initial value) of the display angle is set to 0 degrees, for example. is cut out and displayed on the display unit 130 .

For example, when a flick operation as shown in FIG. 5 is detected, the display angle determination unit 220 converts the operation direction and movement amount into a display angle according to an algorithm prepared in advance. For example, if the flick operation is a movement to the left as shown in FIG. 5A, the display angle is determined clockwise from 0 degrees at an angle corresponding to the movement amount of the flick. Further, when the operation information detection unit 210 inputs a voice such as "rotate and display by 90 degrees", the display angle determination unit 220 rotates the current display angle clockwise by 90 degrees. to decide.

The display mode determination section 230 determines the display mode of the display section 130 based on the display angle determined by the display angle determination section 220 . In this embodiment, the display mode determination unit 230 determines either the front view mode or the rear view mode based on the display angle. As an example, as shown in FIG. 6, when the display angle of 0 degrees is in front of the vehicle, the front view mode is selected when the display angle is in the range of 270 degrees to 90 degrees, and the rear view mode is selected when the display angle is in the range of 90 degrees to 270 degrees. Become.

In one aspect of the present embodiment, when displaying captured images on the display unit 130, two captured images are displayed simultaneously in a picture-in-picture (PinP) format. An example of the PinP format is shown in FIGS. 7(A) and 7(B). As shown in the figure, the entire display 132 is assigned to the background screen 134 and the foreground screen 136 is assigned to the background screen 134 . The background screen 134 displays a captured image in front of the vehicle, and the foreground screen 136 displays a captured image behind the vehicle. In this example, the foreground screen 136 has the shape of a rearview mirror, and the foreground screen 136 displays a rearward image of the vehicle interior including the driver's seat and the front passenger's seat. In the area where the background screen 134 and the foreground screen 136 overlap, the rear image of the foreground screen 136 is displayed, and the front image is shielded by the rear image. As will be described later, the foreground screen 136 always displays the rearward image that is horizontally reversed, but the background screen 134 displays the forward screen that is not horizontally reversed.

In the front view mode, as shown in FIG. 7A, the background screen 134 that displays the front image becomes the main display having a relatively large display area so that the background screen 134 that displays the front image is easy to see. The foreground screen 136 that displays the image becomes a sub-display with a relatively small display area. On the other hand, in the rear view mode, this relationship is reversed. As shown in FIG. 7B, the foreground screen 136 displaying the rear image is made easy to see, so that the foreground screen 136 has a relatively large display area. , and the background screen 134 is switched to a sub-display having a relatively small display area.

The image clipping unit 240 clips an image to be displayed from the omnidirectional panorama image captured by the imaging unit 110 based on the display angle determined by the display angle determining unit 220 . In this example, the image clipping unit 240 clips a pair of images corresponding to the front image and the rear image to be displayed on the background screen 134 and the foreground screen 136, respectively. Here, the first clipped image is an image corresponding to the display angle, and the second clipped image is an image in the opposite direction to the first clipped image, that is, an image in a direction 180 degrees different from the display angle. . For example, if the display angle is 30 degrees, the first clipped image corresponds to a display angle of 30 degrees, and the second clipped image corresponds to a display angle of 210 degrees. The size of the clipped image is set in advance from the relationship with the display range of the display unit 130 and the like.

The first and second clipped images clipped by the image clipping section 240 are provided to the image processing section 250 . The image processing unit 250 performs trimming processing, size adjustment, reversal processing for horizontally reversing the first and second clipped images, and the like. The display control unit 260 controls the first and second clipped images displayed on the background screen 134 and the foreground screen 136 . The table in FIG. 8 shows details of display control by the display control unit 260 .

First, when the display angle is 0 to 90 degrees, the display mode is the front view mode. In the front view mode, the background screen 134 is the main display, and the first clipped image clipped according to the display angle is displayed on the background screen 134 . The first cropped image is the front image that is not horizontally flipped. On the other hand, the foreground screen 136 becomes a sub display, and a second clipped image clipped in a direction different from the display angle 180 is displayed on the foreground screen 136 . The second cropped image is a left-right reversed rear image.

When the viewing angle is 90-180 degrees, the viewing mode is the rear view mode. In the rear view mode, the foreground screen 136 having the shape of a rearview mirror is the main display, and the foreground screen 136 displays the first clipped image that is clipped according to the display angle. At this time, the first clipped image is the rear image whose left and right are reversed. On the other hand, the background screen 134 becomes a sub-display, and the second clipped image clipped in a direction different from the display angle 180 is displayed on the background screen 134 . At this time, the second clipped image is the front image that is not left-right reversed.

When the display angle is 180 to 270 degrees, the display mode is the rear view mode, and the same display control as when it is 90 to 180 degrees is performed. When the display angle is 270 to 0 degrees, the display mode is the front view mode, and the same display control as when it is 0 to 90 degrees is performed.

Next, a specific display operation of the display device 100 of this embodiment will be described with reference to the screen transition diagram shown in FIG. When the display device 100 is activated, the display angle determining section 220 determines the initial setting (for example, 0 degrees) as the display angle, and the display mode determining section 230 determines the front view mode. As a result, the background screen 134 of the display 132 becomes the main display, and the front image of the own vehicle is displayed there. A reversed image of the rear of the vehicle is displayed on the rearview mirror-shaped foreground screen 136 .

From this state, for example, when the user flicks to the left, the direction and amount of movement are detected, and accordingly the display angle rotated clockwise from 0 degrees is determined. , the background screen 134 displays the non-inverted front image of the first cut-out image, and the foreground screen 136 displays the reversed rear image of the second cut-out image.

When the user continues to flick leftward, the display angle advances further clockwise, and the background screen 134 displays a non-inverted forward image corresponding to the display angle, and the foreground screen 136 displays the opposite inverted image. A backward image is displayed.

In some implementations, after the viewing angle reaches a certain angle, the size of the foreground screen 136 is increased stepwise or continuously thereafter. For example, when the display angle reaches 75 degrees, as shown in FIGS. 10A to 10D, the size of the foreground screen 136 is increased step by step from 75 degrees to 90 degrees. Alternatively, the size of the foreground screen 136 is continuously enlarged.

When the leftward flick operation is further continued and the display angle reaches 90 degrees, the display mode switches from the front view mode to the rear view mode. At this time, the foreground screen 136 is completely switched from the sub-display to the main display, and the background screen 134 is completely switched from the main display to the sub-display, as shown in FIG. 10(D).

When the leftward flick operation is further continued, the foreground screen 136 of the main display displays the reversed rear image corresponding to the display angle, and the background screen 134 of the sub display displays the non-reversed front image. Is displayed. The display size of the foreground screen 136 is constant within the display angle range of 90 to 270 degrees.

When the leftward flick operation is further continued and the display angle reaches 270 degrees, the display mode is switched from the rear view mode to the front view mode. The foreground screen 136 is switched from the main display to the sub-display, and the background screen 134 is switched from the sub-display to the main display. In one embodiment, for example, between 270 degrees and 285 degrees of display angle, the size of the foreground screen 136 is reduced stepwise or continuously as shown in FIGS. 10(E)-(H). be.

The leftward flick operation is further continued, and when the display angle is in the range of 285 to 0 degrees, the non-inverted front image corresponding to the display angle is displayed on the background screen 134, and the foreground screen 136 is displayed in a direction 180 degrees different from that. is displayed. The display control described above is similarly performed when the user performs a flick operation to the right to rotate the display angle counterclockwise.

As described above, according to the present embodiment, it is possible to display a horizontally reversed rear image when switching to the rear mode while maintaining seamless movement of the display angle. As a result, it is possible to provide a display function that contributes to safety without impairing the user's convenience, maintaining consistency with the image when looking at the mirror image in the rear-view mirror, and without causing misunderstanding or confusion for the driver. can be done.

In the above embodiment, an example is shown in which an image is captured in all directions of the vehicle and an arbitrary image is displayed from among the captured images. You may enable it to display arbitrary images from.

In the above embodiment, the range of 270 to 90 degrees is set to the front view mode, and the range of 90 to 270 degrees is set to the rear view mode, but this is an example and the range can be set arbitrarily and appropriately. is. For example, when a front camera for imaging the front of the vehicle and a rear camera for imaging the rear of the vehicle are installed, the front view mode is set to an angle according to the field of view of the front camera (for example, 300 ~60 degrees), and the rear view mode is set to an angle according to the viewing range of the rear camera (eg, 190-260 degrees).

In addition, the above embodiment illustrated the PinP format including the background screen and the foreground screen displayed therein, but the PinP format is not necessarily used, and switching from the non-inverted front image to the inverted rear image can be performed in one screen. You may make it display. For example, in front view mode, a non-inverted front image corresponding to the display angle is displayed, and in rear view mode, an inverted rear image corresponding to the display angle is displayed.

Furthermore, in the above embodiment, an example in which the imaging camera is attached to the upper part of the windshield of the vehicle and an image of the interior of the vehicle is displayed as an image behind the vehicle is shown. , rearward, or laterally. The rearward image is not limited to the image of the interior of the vehicle, and may be an image of the space behind the vehicle. In the above embodiment, the entire screen of the display is used as the background screen and the shape of the rearview mirror is used as the foreground screen, but the shape and size of the background screen and the foreground screen can be set arbitrarily.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to specific embodiments, and various modifications, Change is possible.

100: Display device 110: Imaging unit 120: Input unit 130: Display unit 132: Display 134: Background screen 136: Foreground screen 140: Storage unit 150: Control unit 200: Display control program

Claims (19)

imaging means for imaging at least the front and rear of the vehicle;
display means;
determining means for determining a display angle for displaying the captured image on the display means;
clipping means for clipping an image from the captured image based on the display angle;
a processing means for processing the clipped image into a horizontally reversed image;
display control means for causing the display means to display an image clipped according to the display angle, and for causing the display means to display an inverted rearward image when the display angle indicates the rear of the vehicle ;
The clipping means clips a first clipped image corresponding to the display angle and a second clipped image in a direction opposite to the display angle,
The processing means processes one of the first cutout image and the second cutout image into an inverted image,
The display device, wherein the display control means causes the display means to simultaneously display the first clipped image and the second clipped image . 2. The display device according to claim 1, wherein said display control means causes said display means to display a non-inverted clipped image when the display angle indicates the front of the vehicle. 2. The display device according to claim 1 , wherein said display control means enlarges the first clipped image or the second clipped image based on said display angle. 4. The display device according to claim 1 , wherein said display control means reduces the first clipped image or the second clipped image based on said display angle. 3. The display control means displays the first or second clipped image on a background screen of the display means, and displays the second or first clipped image on a foreground screen included in the background screen. 4. The display device according to any one of 4. 6. The display device according to claim 5 , wherein said display control means displays a non-inverted front image on said background screen and displays an inverted rear image on said foreground screen. The display device further includes display mode determining means for determining a display mode based on the display angle;
7. The display device according to claim 1 , wherein said display control means controls the display size of the clipped image based on the display mode determined by said display mode determination means. the display modes include a front view mode and a rear view mode;
8. The display device according to claim 7 , wherein said display control means enlarges an image in front of the vehicle in front view mode, and enlarges an image behind the vehicle in rear view mode. The display control means sets the background screen of the display means as the main display and the foreground screen of the display means as the sub-display in the front view mode, and sets the background screen as the sub-display and the foreground screen as the main display in the rear view mode. 9. The display device according to claim 8 , wherein 9. The display device according to claim 8 , wherein said display control means enlarges the image behind the vehicle step by step or continuously when switching from the front view mode to the rear view mode.
11. A display device according to claim 10 , wherein the size of the foreground screen of said display means is increased stepwise or continuously. 12. The display device according to any one of claims 8 to 11 , wherein said display control means reduces the image of the rear of the vehicle stepwise or continuously when switching from rear view mode to front view mode. 13. A display device according to claim 12 , wherein the size of the foreground screen of said display means is reduced stepwise or continuously. The display device further includes input means for inputting user operation information,
2. The display device according to claim 1, wherein said determining means determines the display angle based on operation information input from said input means. The input means includes a touch panel mounted on the display means,
15. The display device according to claim 14 , wherein said determining means determines the display angle based on the direction and amount of movement operated on said touch panel. 6. The display device according to claim 5 , wherein said foreground screen has a shape that imitates a room mirror. The imaging means includes an imaging camera that captures an omnidirectional image of the vehicle,
The display angle can indicate all directions of the vehicle,
17. The display device according to claim 1, wherein said display control means causes said display means to display an image corresponding to said display angle. A display method for a display device including imaging means for imaging at least the front and rear of a vehicle and display means capable of displaying the captured image,
determining a display angle for displaying the captured image on the display means;
cropping an image from the captured image based on the display angle;
a step of processing the clipped image into a horizontally reversed image;
displaying an image clipped according to the display angle on the display means, and displaying a reversed rearward image on the display means when the display angle indicates the rear of the vehicle ;
The clipping step includes clipping a first clipped image corresponding to the display angle and a second clipped image in a direction opposite to the display angle;
The processing step includes processing one of the first clipped image and the second clipped image into an inverted image,
The display method, wherein the step of displaying causes the display means to simultaneously display the first clipped image and the second clipped image . A display program executed by the control means of a display device including imaging means for imaging at least the front and rear of a vehicle, display means capable of displaying the imaged images, and control means for controlling the display means, ,
determining a display angle for displaying the captured image on the display means;
cropping an image from the captured image based on the display angle;
a step of processing the clipped image into a horizontally reversed image;
displaying an image clipped according to the display angle on the display means, and displaying a reversed rearward image on the display means when the display angle indicates the rear of the vehicle;
The clipping step includes clipping a first clipped image corresponding to the display angle and a second clipped image in a direction opposite to the display angle;
The processing step includes processing one of the first clipped image and the second clipped image into an inverted image,
The display program , wherein the step of displaying causes the display means to simultaneously display the first clipped image and the second clipped image .

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