WO2022202780A1 - Display control device - Google Patents

Display control device Download PDF

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Publication number
WO2022202780A1
WO2022202780A1 PCT/JP2022/013055 JP2022013055W WO2022202780A1 WO 2022202780 A1 WO2022202780 A1 WO 2022202780A1 JP 2022013055 W JP2022013055 W JP 2022013055W WO 2022202780 A1 WO2022202780 A1 WO 2022202780A1
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Prior art keywords
vehicle
display
display control
bird
unit
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PCT/JP2022/013055
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French (fr)
Japanese (ja)
Inventor
隆太 津田
英人 平原
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いすゞ自動車株式会社
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Publication of WO2022202780A1 publication Critical patent/WO2022202780A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Definitions

  • the present invention relates to a display control device that displays captured images around a vehicle.
  • the design of the corner portion is generally devised so that the vehicle body (for example, the overhang of the vehicle) does not swing outward from the side surface of the vehicle immediately before turning when turning.
  • the above measures are not taken because the load capacity is prioritized.
  • an object of the present invention is to allow the driver to easily grasp the possibility of contact between the overhang of the vehicle and an obstacle when the vehicle is turning. .
  • image generation for generating a bird's-eye view image including the vehicle from captured images captured around the vehicle by a plurality of imaging devices provided at a position higher than the line of sight of the driver of the vehicle.
  • a trajectory estimating unit for estimating a running trajectory of the vehicle when the vehicle turns; and a bird's-eye view image generated by the image generating unit, the trajectory estimated by the trajectory estimating unit being superimposed and displayed.
  • a display control unit for displaying on a unit.
  • the display control device may superimpose the travel locus on the bird's-eye view image and display it on the display unit. Further, the display control unit may cause the display unit to superimpose the trajectory of the inner wheel difference, outer wheel difference, and rear overhang of the vehicle on the bird's-eye view image generated when the vehicle turns.
  • the display control section may change the display area of the bird's-eye view image on the display section according to the direction in which the vehicle turns.
  • the display control unit may cause the display unit to display the bird's-eye view image broadly showing the turning destination of the vehicle.
  • the display control unit superimposes a predetermined line along the traveling direction of the vehicle on the bird's-eye view image, and emphasizes a portion of the travel locus generated when the vehicle turns, which conflicts with the line. It may be displayed.
  • the display control unit places the line on the vehicle at a predetermined distance from a reference line passing through the center of the front wheels and the center of the rear wheels of the vehicle along the direction of travel, just before the vehicle turns. A line along the side may be displayed.
  • the driver can easily grasp the possibility of contact between the overhang of the vehicle and an obstacle when the vehicle is turning.
  • FIG. 1 is a schematic diagram for explaining the configuration of a display system 1 according to one embodiment;
  • FIG. It is a schematic diagram for demonstrating the position of an imaging device.
  • FIG. 3 is a schematic diagram for explaining an example of a bird's-eye view image;
  • 4 is a schematic diagram for explaining a bird's-eye view image I displayed on the display unit 7.
  • FIG. 10 is a schematic diagram for explaining an example of changing the display area of the bird's-eye view image;
  • FIG. 4 is a schematic diagram for explaining an example of highlighting in a bird's-eye view image;
  • FIG. 1 is a schematic diagram for explaining the configuration of a display system 1 according to one embodiment.
  • the display system 1 is mounted on a vehicle and is an around-view monitor system that displays a bird's-eye view image showing the surroundings of the vehicle on an in-vehicle monitor.
  • the vehicle is, for example, a vehicle with a loading platform, and specifically a truck.
  • the display system 1 includes a plurality of imaging devices 3a, 3b, 3c, and 3d, a sensor group 5, a display section 7, and a display control device 10, as shown in FIG.
  • the imaging devices 3a, 3b, 3c, and 3d are cameras, for example, and capture images of the surroundings of the vehicle.
  • the imaging devices 3a, 3b, 3c, and 3d are provided at different positions on the vehicle.
  • the imaging device 3a images the front of the vehicle
  • the imaging device 3b images the left side of the vehicle
  • the imaging device 3c images the right side of the vehicle
  • the imaging device 3d images the rear side of the vehicle.
  • four imaging devices 3a, 3b, 3c, and 3d which are wide-angle cameras, it is possible to image the entire surroundings of the vehicle.
  • the imaging devices 3 a , 3 b , 3 c , and 3 d output captured images to the display control device 10 .
  • the four image pickups 3a, 3b, 3c, and 3d are provided at positions higher than the line of sight of the driver (for example, positions higher than the mirrors of the vehicle). Note that only three of the four imaging devices may be provided at positions higher than the line of sight of the driver.
  • FIG. 2 is a schematic diagram for explaining the position of the imaging device.
  • FIG. 2 shows an imaging device 3a that is a front camera, an imaging device 3b that is a side camera, and an imaging device 3c that is a rear camera.
  • the imaging devices 3a, 3b, and 3c are positioned higher than the line of sight E of the driver of the vehicle V.
  • the imaging device 3d not shown in FIG. 2 is provided at a position symmetrical to the imaging device 3b.
  • the imaging device 3a or the like is positioned higher than the driver's line of sight E, the blind spots shown in FIG. (lower area) can also be properly imaged.
  • the imaging device 3a or the like takes an obliquely downward image from a high position, an object can be stereoscopically recognized and imaged. Furthermore, it becomes possible to image a wide range of surroundings.
  • the sensor group 5 detects the state of the vehicle.
  • the sensor group 5 has, for example, a sensor that detects the amount of rotation of the steering wheel, and can detect the steering angle of the vehicle.
  • the sensor group 5 outputs detection results to the display control device 10 .
  • the display unit 7 is, for example, a display provided inside the vehicle, and displays various information related to the vehicle.
  • the display unit 7 displays a bird's-eye view image based on the captured images captured by the imaging devices 3a, 3b, 3c, and 3d.
  • a bird's-eye view image is an image showing a situation when looking down on the vehicle and its surroundings from above the vehicle.
  • a bird's-eye view image is generally obtained by subjecting a three-dimensional view captured by an imaging device to two-dimensional conversion with reference to a road surface, and then synthesizing captured images of a plurality of imaging devices.
  • FIG. 3 is a schematic diagram for explaining an example of a bird's-eye view image.
  • the bird's-eye view image I includes the vehicle and surrounding objects.
  • the objects here are persons A1, A2 located around the vehicle V and obstacles B1, B2, B3.
  • the imaging devices 3a to 3d are positioned higher than the line of sight of the driver, the persons A1 and A2 and the obstacles B1, B2 and B3 are displayed stereoscopically. Therefore, the driver can easily identify the persons A1 and A2 and the obstacles B1, B2 and B3 in the bird's-eye view image I. If the persons A1, A2 are identified, an alert may be issued.
  • the display control device 10 controls the operation of the display system 1.
  • the display control device 10 displays a bird's-eye view image on the display unit 7 while the vehicle is running. Although the details will be described later, the display control device 10 superimposes the travel locus of the vehicle when the vehicle turns on the bird's-eye view image, and causes the display unit 7 to display the superimposed image. As a result, the driver can easily visually understand whether or not there is a possibility of contact with surrounding obstacles when the vehicle turns, by viewing the bird's-eye view image displayed on the display unit 7 .
  • the display control device 10 has a storage unit 20 and a control unit 30, as shown in FIG.
  • the storage unit 20 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory).
  • the storage unit 20 stores programs and various data for the control unit 30 to execute.
  • the control unit 30 is, for example, a CPU (Central Processing Unit).
  • the control unit 30 functions as an image acquisition unit 33 , an image generation unit 34 , a trajectory estimation unit 35 and a display control unit 36 by executing programs stored in the storage unit 20 .
  • the image acquisition unit 33 acquires an image of the surroundings of the vehicle. Specifically, the image acquisition unit 33 acquires captured images of the surroundings of the vehicle captured by the imaging devices 3a, 3b, 3c, and 3d. For example, the image acquisition unit 33 acquires captured images captured by the imaging devices 3a, 3b, 3c, and 3d at predetermined intervals while the vehicle is running.
  • the image generation unit 34 generates a bird's-eye view image showing the vehicle in motion and the surroundings.
  • the image generation unit 34 generates a bird's-eye view image from the captured image acquired by the image acquisition unit 33 .
  • the image generation unit 34 combines the captured images captured by the imaging devices 3a, 3b, 3c, and 3d to generate a bird's-eye view image including the vehicle.
  • the imaging devices 3a, 3b, 3c, and 3d are positioned higher than the line of sight of the driver, a bird's-eye view image including obstacles and the like positioned in blind spots can be generated.
  • the trajectory estimation unit 35 estimates the travel trajectory of the vehicle when the vehicle turns. For example, the trajectory estimation unit 35 estimates the trajectory of the rear overhang (hereinafter referred to as the rear overhang) when the vehicle turns. If the vehicle is a truck, the trajectory estimator 35 estimates the trajectory of the rear overhang at the rear end of the loading platform. Note that the trajectory estimation unit 35 may estimate the trajectory of the overhang on the front side of the vehicle. The trajectory estimation unit 35 can estimate the trajectory of the rear overhang using the detection results of the sensor group 5 (for example, the steering angle of the vehicle, etc.). The trajectory of the rear overhang is calculated by a known calculation method, so detailed description thereof will be omitted. The trajectory estimator 35 also estimates the trajectory of the inner wheel difference and the outer wheel difference corresponding to the steering angle of the vehicle as the running trajectory. For example, the trajectory estimation unit 35 estimates the trajectories of the inner wheel difference and the outer wheel difference when the vehicle turns.
  • the rear overhang the trajectory of the rear overhang
  • the display control unit 36 controls display by the display unit 7.
  • the display control unit 36 causes the display unit 7 to display the bird's-eye image generated by the image generation unit 34 .
  • the display control unit 36 causes the display unit 7 to display the bird's-eye view image when the vehicle turns right or left, when the vehicle travels backward, and when the vehicle travels at a low speed.
  • the display control unit 36 superimposes the travel locus of the vehicle on the bird's-eye view image and causes the display unit 7 to display it. That is, the display control unit 36 superimposes the travel locus estimated by the locus estimation unit 35 on the bird's-eye view image generated by the image generation unit 34 and causes the display unit 7 to display the superimposed image. For example, the display control unit 36 causes the display unit 7 to display the locus of the inner wheel difference, the outer wheel difference, and the rear overhang superimposed on the bird's-eye view image when the vehicle turns.
  • FIG. 4 is a schematic diagram for explaining the bird's-eye view image I displayed on the display unit 7.
  • This bird's-eye view image I is displayed on the display unit 7 when the vehicle V starts to turn right at an intersection.
  • three overhang trajectories L1, L2, and L3 estimated by the trajectory estimation unit 35 are superimposed on the bird's-eye view image I generated by the image generation unit 34 .
  • Overhang trajectories L1 and L2 are trajectories of the rear overhang
  • overhang trajectory L3 is a trajectory of the front overhang.
  • the overhang trajectories L1, L2, and L3 are indicated by dashed lines, but the display mode is not limited to this, and may be, for example, solid lines.
  • the overhang trajectories L1, L2, and L3 intersect with surrounding obstacles, the driver can determine that there is a possibility of contact with the obstacle if the vehicle continues running.
  • the trajectories of the inner ring difference and the outer ring difference of the vehicle can also be superimposed on the bird's-eye view image I and displayed.
  • the overhang locus L3 is the locus of the left front end of the vehicle V, but the overhang locus L3 is the locus of the right front end of the vehicle V when the vehicle turns left.
  • the display control unit 36 may display only the overhang trajectories L1 and L2 on the rear side of the vehicle, and may not display the overhang trajectory L3 on the front side of the vehicle.
  • the display control unit 36 may change the display area of the bird's-eye view image on the display unit 7 .
  • the display control unit 36 changes the display area of the bird's-eye view image when the vehicle turns.
  • the display control unit 36 changes the display area of the bird's-eye view image on the display unit 7 according to the direction in which the vehicle turns.
  • FIG. 5 is a schematic diagram for explaining an example of changing the display area of the bird's-eye view image.
  • the display control unit 36 displays a bird's-eye view image I1 as shown in FIG. 5(a).
  • the bird's-eye view image I1 does not include the trajectory of the overhang.
  • the display control unit 36 displays a bird's-eye view image I2 on which the overhang loci L1, L2, and L3 are superimposed as shown in FIG. 5(b).
  • the display control unit 36 makes the display area of the bird's-eye image I2 wider than the display area of the bird's-eye image I1.
  • the frame 90 of the bird's-eye image I2 is larger than the frame 90 of the bird's-eye image I1.
  • the display control unit 36 displays a bird's-eye view image that widely shows the right turn destination (that is, the right side). This makes it easier for the driver to determine in advance whether there is a possibility of colliding with an obstacle at the destination of the right turn.
  • a display example when the vehicle V turns right has been described, but when the vehicle V turns left, a bird's-eye view image showing a wide left turn destination is displayed.
  • the display control unit 36 may emphasize the display in the bird's-eye view image in order to make it easier for the driver to grasp the possibility that the overhang of the vehicle will come into contact with an obstacle. For example, the display control unit 36 superimposes a predetermined determination line on the bird's-eye view image along the traveling direction of the vehicle, and displays the determination line in the travel trajectory (for example, the trajectory of the rear overhang) generated when the vehicle turns. Highlight the conflicting parts.
  • the display control unit 36 sets the determination line to a position along the side at a predetermined distance from a reference line that passes through the center of the front wheels and the center of the rear wheels of the vehicle along the traveling direction immediately before the vehicle turns. show the line.
  • FIG. 6 is a schematic diagram for explaining an example of highlighting in a bird's-eye view image.
  • the determination line T is displayed so as to be parallel to the left side of the vehicle V at a position a predetermined distance away from the left side of the vehicle V turning right.
  • the display control unit 36 highlights portions of the overhang trajectories L1, L2, and L3 that protrude to the left of the determination line T.
  • FIG. Here, a portion of the overhang trajectory L1 protruding to the left of the determination line T is highlighted with a solid line.
  • the highlighting may be performed using different line colors. As a result, the driver can easily grasp the timing when the vehicle deviates from the determination line T when turning right. When the vehicle turns left, the determination line T is displayed at a predetermined distance from the right side of the vehicle V. FIG.
  • the determination line T is displayed at a predetermined distance from the side of the vehicle, but the present invention is not limited to this.
  • the determination line T may be displayed at the same position as the side of the vehicle.
  • the determination line T may be displayed at the boundary between the lane in which the vehicle is traveling and the sidewalk.
  • the display control device 10 of the above-described embodiment generates a bird's-eye view image including the vehicle from a captured image of the surroundings of the vehicle.
  • the display control device 10 estimates the travel locus of the vehicle when it turns.
  • the display control device 10 superimposes the travel locus of the vehicle on the generated bird's-eye view image I and causes the display unit 7 to display the superimposed image. This makes it easier for the driver to visually understand whether or not there is a possibility that the overhang of the vehicle will come into contact with an obstacle during turning by looking at the bird's-eye view image superimposed with the traveling locus during turning. As a result, the driver can steer the vehicle to avoid contact with the obstacle.
  • imaging device 7 display unit 10 display control device 34 image generation unit 35 trajectory estimation unit 36 display control unit I bird's-eye view image L1, L2, L3 overhang trajectory T judgment line V vehicle

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Abstract

A display control device 10 is provided with: an image generating unit 34 for generating a bird's eye image including a vehicle from a captured image around the vehicle captured by imaging the surroundings of the vehicle by means of imaging devices 3a, 3b, 3c, 3d provided on the vehicle; a trajectory estimating unit 35 for estimating the travel trajectory of the vehicle when turning; and a display control unit 36 which superimposes the travel trajectory estimated by the trajectory estimating unit 35 on the bird's eye image generated by the image generating unit 34, and causes a display unit 7 to display the superimposed image.

Description

表示制御装置display controller
　本発明は、車両の周辺の撮像画像を表示させる表示制御装置に関する。 The present invention relates to a display control device that displays captured images around a vehicle.
　車両の運転支援の技術として、車両に搭載されたカメラによって車両の周辺を撮像し、撮像した結果である撮像画像データを表示部に表示させる技術が提案されている（下記の特許文献１を参照）。 As a vehicle driving support technology, a technology has been proposed in which a camera mounted on a vehicle captures an image of the surroundings of the vehicle and displays captured image data, which is the result of the capturing, on a display unit (see Patent Document 1 below. ).
特開２０１８－６９４３号公報JP 2018-6943 A
　乗用車等の車両の場合は、一般的にコーナー部分のデザインを工夫して、旋回時に、旋回直前の車両側面より外側に車体（例えば、車両のオーバーハング）が振り出すことがないようにされている。一方で、トラック等の商用車の場合は、積載量等が優先され、上記の対策が講じられていない。 In the case of a vehicle such as a passenger car, the design of the corner portion is generally devised so that the vehicle body (for example, the overhang of the vehicle) does not swing outward from the side surface of the vehicle immediately before turning when turning. there is On the other hand, in the case of commercial vehicles such as trucks, the above measures are not taken because the load capacity is prioritized.
　そこで、本発明はこれらの点に鑑みてなされたものであり、車両が旋回する際に、車両のオーバーハングと障害物との接触の可能性を運転者に容易に把握させることを目的とする。 Accordingly, the present invention has been made in view of these points, and an object of the present invention is to allow the driver to easily grasp the possibility of contact between the overhang of the vehicle and an obstacle when the vehicle is turning. .
　本発明の一の態様においては、車両の運転者の視線よりも高い位置に設けられた複数の撮像装置が前記車両の周囲を撮像した撮像画像から、前記車両を含む鳥瞰画像を生成する画像生成部と、前記車両の旋回時の前記車両の走行軌跡を推定する軌跡推定部と、前記画像生成部が生成した前記鳥瞰画像に、前記軌跡推定部が推定した前記走行軌跡を重畳して、表示部に表示させる表示制御部と、を備える、表示制御装置を提供する。 In one aspect of the present invention, image generation for generating a bird's-eye view image including the vehicle from captured images captured around the vehicle by a plurality of imaging devices provided at a position higher than the line of sight of the driver of the vehicle. a trajectory estimating unit for estimating a running trajectory of the vehicle when the vehicle turns; and a bird's-eye view image generated by the image generating unit, the trajectory estimated by the trajectory estimating unit being superimposed and displayed. and a display control unit for displaying on a unit.
　また、前記表示制御装置は、前記車両が交差点で旋回を開始する際に、前記鳥瞰画像に前記走行軌跡を重畳して前記表示部に表示させることとしてもよい。
　また、前記表示制御部は、前記車両の旋回時に生じる、前記鳥瞰画像に前記車両の内輪差、外輪差とリアオーバーハングの軌跡を重畳して前記表示部に表示させることとしてもよい。 Further, when the vehicle starts to turn at an intersection, the display control device may superimpose the travel locus on the bird's-eye view image and display it on the display unit.
Further, the display control unit may cause the display unit to superimpose the trajectory of the inner wheel difference, outer wheel difference, and rear overhang of the vehicle on the bird's-eye view image generated when the vehicle turns.
　また、前記表示制御部は、前記車両の曲がる方向に応じて、前記表示部における前記鳥瞰画像の表示エリアを変更することとしてもよい。
　前記表示制御部は、前記車両が曲がる先を広く示す前記鳥瞰画像を前記表示部に表示させることとしてもよい。 Further, the display control section may change the display area of the bird's-eye view image on the display section according to the direction in which the vehicle turns.
The display control unit may cause the display unit to display the bird's-eye view image broadly showing the turning destination of the vehicle.
　また、前記表示制御部は、前記車両の進行方向に沿った所定のラインを前記鳥瞰画像に重畳して表示させ、前記車両の旋回時に生じる前記走行軌跡のうち前記ラインに抵触する部分を、強調表示させることとしてもよい。 Further, the display control unit superimposes a predetermined line along the traveling direction of the vehicle on the bird's-eye view image, and emphasizes a portion of the travel locus generated when the vehicle turns, which conflicts with the line. It may be displayed.
　また、前記表示制御部は、前記ラインとして、前記車両が旋回する直前に、前記車両の前輪中心と後輪中心とを進行方向に沿って通る基準線から所定距離だけ離れた位置に前記車両の側面に沿ったラインを表示させることとしてもよい。 In addition, the display control unit places the line on the vehicle at a predetermined distance from a reference line passing through the center of the front wheels and the center of the rear wheels of the vehicle along the direction of travel, just before the vehicle turns. A line along the side may be displayed.
　本発明によれば、車両が旋回する際に、車両のオーバーハングと障害物との接触の可能性を運転者が容易に把握できるという効果を奏する。 According to the present invention, the driver can easily grasp the possibility of contact between the overhang of the vehicle and an obstacle when the vehicle is turning.
一の実施形態に係る表示システム１の構成を説明するための模式図である。1 is a schematic diagram for explaining the configuration of a display system 1 according to one embodiment; FIG. 撮像装置の位置を説明するための模式図である。It is a schematic diagram for demonstrating the position of an imaging device. 鳥瞰画像の一例を説明するための模式図である。FIG. 3 is a schematic diagram for explaining an example of a bird's-eye view image; 表示部７に表示される鳥瞰画像Ｉを説明するための模式図である。4 is a schematic diagram for explaining a bird's-eye view image I displayed on the display unit 7. FIG. 鳥瞰画像の表示エリアの変更例を説明するための模式図である。FIG. 10 is a schematic diagram for explaining an example of changing the display area of the bird's-eye view image; 鳥瞰画像における強調表示の一例を説明するための模式図である。FIG. 4 is a schematic diagram for explaining an example of highlighting in a bird's-eye view image;
　＜表示システムの概要＞
　一の実施形態に係る表示システムの構成について、図１を参照しながら説明する。 <Overview of display system>
A configuration of a display system according to one embodiment will be described with reference to FIG.
　図１は、一の実施形態に係る表示システム１の構成を説明するための模式図である。表示システム１は、車両に搭載されており、車両の周囲の状況を示す鳥瞰画像を車載モニターに表示するアラウンドビューモニターシステムである。車両は、一例として荷台を有する架装車であり、具体的にはトラックである。表示システム１は、図１に示すように、複数の撮像装置３ａ、３ｂ、３ｃ、３ｄと、センサ群５と、表示部７と、表示制御装置１０とを有する。 FIG. 1 is a schematic diagram for explaining the configuration of a display system 1 according to one embodiment. The display system 1 is mounted on a vehicle and is an around-view monitor system that displays a bird's-eye view image showing the surroundings of the vehicle on an in-vehicle monitor. The vehicle is, for example, a vehicle with a loading platform, and specifically a truck. The display system 1 includes a plurality of imaging devices 3a, 3b, 3c, and 3d, a sensor group 5, a display section 7, and a display control device 10, as shown in FIG.
　撮像装置３ａ、３ｂ、３ｃ、３ｄは、例えばカメラであり、車両の周囲を撮像する。撮像装置３ａ、３ｂ、３ｃ、３ｄは、車両の異なる位置に設けられている。撮像装置３ａは車両の前方を撮像し、撮像装置３ｂは車両の左側方を撮像し、撮像装置３ｃは車両の右側方を撮像し、撮像装置３ｄは車両の後方を撮像する。広角カメラである４つの撮像装置３ａ、３ｂ、３ｃ、３ｄを用いることで、車両の周囲全体を撮像可能である。撮像装置３ａ、３ｂ、３ｃ、３ｄは、撮像した撮像画像を、表示制御装置１０に出力する。
　４つの撮像撮像３ａ、３ｂ、３ｃ、３ｄは、運転者の視線よりも高い位置（例えば、車両のミラーよりも高い位置）に設けられている。なお、４つの撮像装置のうちの３つの撮像装置のみが、運転者の視線よりも高い位置に設けられてもよい。 The imaging devices 3a, 3b, 3c, and 3d are cameras, for example, and capture images of the surroundings of the vehicle. The imaging devices 3a, 3b, 3c, and 3d are provided at different positions on the vehicle. The imaging device 3a images the front of the vehicle, the imaging device 3b images the left side of the vehicle, the imaging device 3c images the right side of the vehicle, and the imaging device 3d images the rear side of the vehicle. By using four imaging devices 3a, 3b, 3c, and 3d, which are wide-angle cameras, it is possible to image the entire surroundings of the vehicle. The imaging devices 3 a , 3 b , 3 c , and 3 d output captured images to the display control device 10 .
The four image pickups 3a, 3b, 3c, and 3d are provided at positions higher than the line of sight of the driver (for example, positions higher than the mirrors of the vehicle). Note that only three of the four imaging devices may be provided at positions higher than the line of sight of the driver.
　図２は、撮像装置の位置を説明するための模式図である。図２には、フロントカメラである撮像装置３ａと、サイドカメラである撮像装置３ｂと、リアカメラである撮像装置３ｃが示されている。撮像装置３ａ、３ｂ、３ｃは、車両Ｖの運転者の視線Ｅよりも高い位置に位置する。なお、図２には示されていない撮像装置３ｄは、撮像装置３ｂと対称な位置に設けられている。撮像装置３ａ等が運転者の視線Ｅよりも高い位置に位置する場合には、撮像装置が運転者の視線Ｅよりも低い位置に位置する場合に比べて、図２に示す死角（視線Ｅの下方の領域）も適切に撮像することが可能となる。また、撮像装置３ａ等が高い位置から斜め下を撮像するため、物体を立体的に認識して撮像することが可能となる。さらに、周囲の広い範囲まで撮像することが可能となる。 FIG. 2 is a schematic diagram for explaining the position of the imaging device. FIG. 2 shows an imaging device 3a that is a front camera, an imaging device 3b that is a side camera, and an imaging device 3c that is a rear camera. The imaging devices 3a, 3b, and 3c are positioned higher than the line of sight E of the driver of the vehicle V. As shown in FIG. Note that the imaging device 3d not shown in FIG. 2 is provided at a position symmetrical to the imaging device 3b. When the imaging device 3a or the like is positioned higher than the driver's line of sight E, the blind spots shown in FIG. (lower area) can also be properly imaged. In addition, since the imaging device 3a or the like takes an obliquely downward image from a high position, an object can be stereoscopically recognized and imaged. Furthermore, it becomes possible to image a wide range of surroundings.
　センサ群５は、車両の状態を検出する。センサ群５は、例えばステアリングホイールの回転量を検出するセンサを有しており、車両の操舵角を検出可能である。センサ群５は、検出した結果を表示制御装置１０に出力する。 The sensor group 5 detects the state of the vehicle. The sensor group 5 has, for example, a sensor that detects the amount of rotation of the steering wheel, and can detect the steering angle of the vehicle. The sensor group 5 outputs detection results to the display control device 10 .
　表示部７は、例えば車両内に設けられたディスプレイであり、車両等に関する各種情報を表示する。表示部７は、撮像装置３ａ、３ｂ、３ｃ、３ｄが撮像した撮像画像に基づいた鳥瞰画像を表示する。鳥瞰画像は、車両の上方から車両及び周囲を見下ろした際の状況を示す画像である。鳥瞰画像は、一般的に、撮像装置で撮像された３次元ビューを、路面を基準として２次元変換した後に、複数の撮像装置の撮像画像が合成されたものである。 The display unit 7 is, for example, a display provided inside the vehicle, and displays various information related to the vehicle. The display unit 7 displays a bird's-eye view image based on the captured images captured by the imaging devices 3a, 3b, 3c, and 3d. A bird's-eye view image is an image showing a situation when looking down on the vehicle and its surroundings from above the vehicle. A bird's-eye view image is generally obtained by subjecting a three-dimensional view captured by an imaging device to two-dimensional conversion with reference to a road surface, and then synthesizing captured images of a plurality of imaging devices.
　図３は、鳥瞰画像の一例を説明するための模式図である。図３において枠９０で囲まれた部分が、表示部７に表示される鳥瞰画像Ｉである。鳥瞰画像Ｉは、車両及び周囲の物体を含む。物体は、ここでは車両Ｖの周囲に位置する人物Ａ１、Ａ２と、障害物Ｂ１、Ｂ２、Ｂ３である。上述したように撮像装置３ａ～３ｄが運転者の視線よりも高い位置に位置するため、人物Ａ１、Ａ２及び障害物Ｂ１、Ｂ２、Ｂ３が立体的に表示されている。このため、運転者は、鳥瞰画像Ｉ中の人物Ａ１、Ａ２と障害物Ｂ１、Ｂ２、Ｂ３を識別しやすくなる。人物Ａ１、Ａ２を識別した場合には、警報が行われてもよい。 FIG. 3 is a schematic diagram for explaining an example of a bird's-eye view image. A portion surrounded by a frame 90 in FIG. The bird's-eye view image I includes the vehicle and surrounding objects. The objects here are persons A1, A2 located around the vehicle V and obstacles B1, B2, B3. As described above, since the imaging devices 3a to 3d are positioned higher than the line of sight of the driver, the persons A1 and A2 and the obstacles B1, B2 and B3 are displayed stereoscopically. Therefore, the driver can easily identify the persons A1 and A2 and the obstacles B1, B2 and B3 in the bird's-eye view image I. If the persons A1, A2 are identified, an alert may be issued.
　表示制御装置１０は、表示システム１の動作を制御する。表示制御装置１０は、車両の走行時に、鳥瞰画像を表示部７に表示させる。表示制御装置１０は、詳細は後述するが、鳥瞰画像に、車両の旋回時の車両の走行軌跡を重畳して、表示部７に表示させる。これにより、運転者は、表示部７に表示された鳥瞰画像を見ることで、車両の旋回時に周囲の障害物と接触する可能性があるか無いかを視覚的に分かりやすい。 The display control device 10 controls the operation of the display system 1. The display control device 10 displays a bird's-eye view image on the display unit 7 while the vehicle is running. Although the details will be described later, the display control device 10 superimposes the travel locus of the vehicle when the vehicle turns on the bird's-eye view image, and causes the display unit 7 to display the superimposed image. As a result, the driver can easily visually understand whether or not there is a possibility of contact with surrounding obstacles when the vehicle turns, by viewing the bird's-eye view image displayed on the display unit 7 .
　＜表示制御装置の詳細構成＞
　表示制御装置１０の詳細構成について、図１を参照しながら説明する。 <Detailed Configuration of Display Control Device>
A detailed configuration of the display control device 10 will be described with reference to FIG.
　表示制御装置１０は、図１に示すように、記憶部２０と、制御部３０とを有する。
　記憶部２０は、例えばＲＯＭ（Read Only Memory）及びＲＡＭ（Random Access Memory）を含む。記憶部２０は、制御部３０が実行するためのプログラムや各種データを記憶する。 The display control device 10 has a storage unit 20 and a control unit 30, as shown in FIG.
The storage unit 20 includes, for example, ROM (Read Only Memory) and RAM (Random Access Memory). The storage unit 20 stores programs and various data for the control unit 30 to execute.
　制御部３０は、例えばＣＰＵ（Central Processing Unit）である。制御部３０は、記憶部２０に記憶されたプログラムを実行することにより、画像取得部３３、画像生成部３４、軌跡推定部３５及び表示制御部３６として機能する。 The control unit 30 is, for example, a CPU (Central Processing Unit). The control unit 30 functions as an image acquisition unit 33 , an image generation unit 34 , a trajectory estimation unit 35 and a display control unit 36 by executing programs stored in the storage unit 20 .
　画像取得部３３は、車両の周囲を撮像した画像を取得する。具体的には、画像取得部３３は、撮像装置３ａ、３ｂ、３ｃ、３ｄが車両の周囲を撮像した撮像画像を取得する。例えば、画像取得部３３は、車両の走行中に、撮像装置３ａ、３ｂ、３ｃ、３ｄが撮像した撮像画像を所定間隔で取得する。 The image acquisition unit 33 acquires an image of the surroundings of the vehicle. Specifically, the image acquisition unit 33 acquires captured images of the surroundings of the vehicle captured by the imaging devices 3a, 3b, 3c, and 3d. For example, the image acquisition unit 33 acquires captured images captured by the imaging devices 3a, 3b, 3c, and 3d at predetermined intervals while the vehicle is running.
　画像生成部３４は、走行中の車両及び周囲の状況を示す鳥瞰画像を生成する。画像生成部３４は、画像取得部３３が取得した撮像画像から、鳥瞰画像を生成する。具体的には、画像生成部３４は、撮像装置３ａ、３ｂ、３ｃ、３ｄが撮像した撮像画像を合成させて、車両を含む鳥瞰画像を生成する。前述したように撮像装置３ａ、３ｂ、３ｃ、３ｄが運転者の視線よりも高い位置に位置しているので、死角に位置する障害物等を含む鳥瞰画像を生成できる。また、遠方までの広い鳥瞰画像を生成できる。 The image generation unit 34 generates a bird's-eye view image showing the vehicle in motion and the surroundings. The image generation unit 34 generates a bird's-eye view image from the captured image acquired by the image acquisition unit 33 . Specifically, the image generation unit 34 combines the captured images captured by the imaging devices 3a, 3b, 3c, and 3d to generate a bird's-eye view image including the vehicle. As described above, since the imaging devices 3a, 3b, 3c, and 3d are positioned higher than the line of sight of the driver, a bird's-eye view image including obstacles and the like positioned in blind spots can be generated. In addition, it is possible to generate a wide bird's-eye view image of a distant place.
　軌跡推定部３５は、車両の旋回時の車両の走行軌跡を推定する。例えば、軌跡推定部３５は、車両の旋回時のリア側のオーバーハング（以下、リアオーバーハングと呼ぶ）の軌跡を推定する。軌跡推定部３５は、車両がトラックである場合には、荷台の後端のリアオーバーハングの軌跡を推定する。なお、軌跡推定部３５は、車両のフロント側のオーバーハングの軌跡を推定してもよい。軌跡推定部３５は、センサ群５の検出結果（例えば、車両の操舵角等）を用いて、リアオーバーハングの軌跡を推定しうる。なお、リアオーバーハングの軌跡は、公知の算出方法によって算出されるため、詳細な説明は省略する。
　また、軌跡推定部３５は、走行軌跡として、車両のステアリング角に応じた内輪差と外輪差の軌跡を推定する。例えば、軌跡推定部３５は、車両の旋回時の内輪差及び外輪差の軌跡を推定する。 The trajectory estimation unit 35 estimates the travel trajectory of the vehicle when the vehicle turns. For example, the trajectory estimation unit 35 estimates the trajectory of the rear overhang (hereinafter referred to as the rear overhang) when the vehicle turns. If the vehicle is a truck, the trajectory estimator 35 estimates the trajectory of the rear overhang at the rear end of the loading platform. Note that the trajectory estimation unit 35 may estimate the trajectory of the overhang on the front side of the vehicle. The trajectory estimation unit 35 can estimate the trajectory of the rear overhang using the detection results of the sensor group 5 (for example, the steering angle of the vehicle, etc.). The trajectory of the rear overhang is calculated by a known calculation method, so detailed description thereof will be omitted.
The trajectory estimator 35 also estimates the trajectory of the inner wheel difference and the outer wheel difference corresponding to the steering angle of the vehicle as the running trajectory. For example, the trajectory estimation unit 35 estimates the trajectories of the inner wheel difference and the outer wheel difference when the vehicle turns.
　表示制御部３６は、表示部７による表示を制御する。表示制御部３６は、画像生成部３４が生成した鳥瞰画像を表示部７に表示させる。例えば、表示制御部３６は、車両が右折又は左折する際、車両がバック走行する際、車両が低速で走行する際に、鳥瞰画像を表示部７に表示させる。 The display control unit 36 controls display by the display unit 7. The display control unit 36 causes the display unit 7 to display the bird's-eye image generated by the image generation unit 34 . For example, the display control unit 36 causes the display unit 7 to display the bird's-eye view image when the vehicle turns right or left, when the vehicle travels backward, and when the vehicle travels at a low speed.
　表示制御部３６は、鳥瞰画像に車両の走行軌跡を重畳して、表示部７に表示させる。すなわち、表示制御部３６は、画像生成部３４が生成した鳥瞰画像に、軌跡推定部３５が推定した走行軌跡を重畳して、表示部７に表示させる。例えば、表示制御部３６は、車両の旋回時に、鳥瞰画像に内輪差、外輪差、リアオーバーハングの軌跡を重畳して表示部７に表示させる。 The display control unit 36 superimposes the travel locus of the vehicle on the bird's-eye view image and causes the display unit 7 to display it. That is, the display control unit 36 superimposes the travel locus estimated by the locus estimation unit 35 on the bird's-eye view image generated by the image generation unit 34 and causes the display unit 7 to display the superimposed image. For example, the display control unit 36 causes the display unit 7 to display the locus of the inner wheel difference, the outer wheel difference, and the rear overhang superimposed on the bird's-eye view image when the vehicle turns.
　図４は、表示部７に表示される鳥瞰画像Ｉを説明するための模式図である。図４において枠９０で囲まれた部分が、表示部７に表示される鳥瞰画像Ｉである。この鳥瞰画像Ｉは、車両Ｖが交差点で右折を開始する際に、表示部７に表示される。ここでは、軌跡推定部３５が推定した３つのオーバーハング軌跡Ｌ１、Ｌ２、Ｌ３が、画像生成部３４が生成した鳥瞰画像Ｉに重畳されている。オーバーハング軌跡Ｌ１、Ｌ２は、リア側のオーバーハングの軌跡であり、オーバーハング軌跡Ｌ３は、フロント側のオーバーハングの軌跡である。なお、図４では、オーバーハング軌跡Ｌ１、Ｌ２、Ｌ３を一点鎖線で示しているが、表示態様はこれに限定されず、例えば実線であってもよい。運転者は、オーバーハング軌跡Ｌ１、Ｌ２、Ｌ３が周囲の障害物と交わる場合には、そのまま走行すると障害物に接触する可能性があると判断できる。なお、車両の内輪差及び外輪差の軌跡も、鳥瞰画像Iに重畳して表示されうる。
　図４では、オーバーハング軌跡Ｌ３は車両Ｖの左前端の軌跡であるが、車両が左折する場合には、オーバーハング軌跡Ｌ３は車両Ｖの右前端の軌跡となる。なお、表示制御部３６は、車両のリア側のオーバーハング軌跡Ｌ１、Ｌ２のみ表示させて、車両のフロント側のオーバーハング軌跡Ｌ３を表示させなくてもよい。 FIG. 4 is a schematic diagram for explaining the bird's-eye view image I displayed on the display unit 7. As shown in FIG. A portion surrounded by a frame 90 in FIG. This bird's-eye view image I is displayed on the display unit 7 when the vehicle V starts to turn right at an intersection. Here, three overhang trajectories L1, L2, and L3 estimated by the trajectory estimation unit 35 are superimposed on the bird's-eye view image I generated by the image generation unit 34 . Overhang trajectories L1 and L2 are trajectories of the rear overhang, and overhang trajectory L3 is a trajectory of the front overhang. In FIG. 4, the overhang trajectories L1, L2, and L3 are indicated by dashed lines, but the display mode is not limited to this, and may be, for example, solid lines. When the overhang trajectories L1, L2, and L3 intersect with surrounding obstacles, the driver can determine that there is a possibility of contact with the obstacle if the vehicle continues running. Note that the trajectories of the inner ring difference and the outer ring difference of the vehicle can also be superimposed on the bird's-eye view image I and displayed.
In FIG. 4, the overhang locus L3 is the locus of the left front end of the vehicle V, but the overhang locus L3 is the locus of the right front end of the vehicle V when the vehicle turns left. The display control unit 36 may display only the overhang trajectories L1 and L2 on the rear side of the vehicle, and may not display the overhang trajectory L3 on the front side of the vehicle.
　表示制御部３６は、表示部７における鳥瞰画像の表示エリアを変更してもよい。表示制御部３６は、車両が曲がる際に、鳥瞰画像の表示エリアを変更する。例えば、表示制御部３６は、車両の曲がる方向に応じて、表示部７における鳥瞰画像の表示エリアを変更する。 The display control unit 36 may change the display area of the bird's-eye view image on the display unit 7 . The display control unit 36 changes the display area of the bird's-eye view image when the vehicle turns. For example, the display control unit 36 changes the display area of the bird's-eye view image on the display unit 7 according to the direction in which the vehicle turns.
　図５は、鳥瞰画像の表示エリアの変更例を説明するための模式図である。車両Ｖが交差点に進入する前には、表示制御部３６は、図５（ａ）に示すような鳥瞰画像Ｉ１を表示させる。鳥瞰画像Ｉ１は、オーバーハングの軌跡を含まない。一方で、車両Ｖが交差点で右折を開始する際には、表示制御部３６は、図５（ｂ）に示すようにオーバーハング軌跡Ｌ１、Ｌ２、Ｌ３が重畳された鳥瞰画像Ｉ２を表示させる。この際、表示制御部３６は、鳥瞰画像Ｉ２の表示エリアを鳥瞰画像Ｉ１の表示エリアよりも広くさせる。すなわち、鳥瞰画像Ｉ２の枠９０は、鳥瞰画像Ｉ１の枠９０よりも大きい。具体的には、表示制御部３６は、右折先（すなわち、右側）を広く示す鳥瞰画像を表示させている。これにより、運転者は、右折先で障害物と接触する可能性があるかを事前に判断しやすくなる。
　なお、上記では、車両Ｖが右折する場合の表示例を説明したが、車両Ｖが左折する場合には、左折先を広く示す鳥瞰画像が表示される。 FIG. 5 is a schematic diagram for explaining an example of changing the display area of the bird's-eye view image. Before the vehicle V enters the intersection, the display control unit 36 displays a bird's-eye view image I1 as shown in FIG. 5(a). The bird's-eye view image I1 does not include the trajectory of the overhang. On the other hand, when the vehicle V starts to turn right at the intersection, the display control unit 36 displays a bird's-eye view image I2 on which the overhang loci L1, L2, and L3 are superimposed as shown in FIG. 5(b). At this time, the display control unit 36 makes the display area of the bird's-eye image I2 wider than the display area of the bird's-eye image I1. That is, the frame 90 of the bird's-eye image I2 is larger than the frame 90 of the bird's-eye image I1. Specifically, the display control unit 36 displays a bird's-eye view image that widely shows the right turn destination (that is, the right side). This makes it easier for the driver to determine in advance whether there is a possibility of colliding with an obstacle at the destination of the right turn.
In the above, a display example when the vehicle V turns right has been described, but when the vehicle V turns left, a bird's-eye view image showing a wide left turn destination is displayed.
　表示制御部３６は、車両のオーバーハングが障害物との接触する可能性を運転者に把握させやすくするために、鳥瞰画像において強調表示に行ってもよい。例えば、表示制御部３６は、車両の進行方向に沿って所定の判定ラインを鳥瞰画像に重畳して表示させ、車両の旋回時に生じる走行軌跡（例えば、リアオーバーハングの軌跡）のうち判定ラインに抵触する部分を強調表示させる。ここで、表示制御部３６は、判定ラインとして、車両が旋回する直前に、車両の前輪中心と後輪中心とを進行方向に沿って通る基準線から所定距離だけ離れた位置に側面に沿ったラインを表示させる。 The display control unit 36 may emphasize the display in the bird's-eye view image in order to make it easier for the driver to grasp the possibility that the overhang of the vehicle will come into contact with an obstacle. For example, the display control unit 36 superimposes a predetermined determination line on the bird's-eye view image along the traveling direction of the vehicle, and displays the determination line in the travel trajectory (for example, the trajectory of the rear overhang) generated when the vehicle turns. Highlight the conflicting parts. Here, the display control unit 36 sets the determination line to a position along the side at a predetermined distance from a reference line that passes through the center of the front wheels and the center of the rear wheels of the vehicle along the traveling direction immediately before the vehicle turns. show the line.
　図６は、鳥瞰画像における強調表示の一例を説明するための模式図である。ここでは、車両Ｖが交差点を右折するものとし、鳥瞰画像Ｉにオーバーハング軌跡Ｌ１、Ｌ２、Ｌ３及び判定ラインＴを重畳されている。判定ラインＴは、右折する車両Ｖの左側面から所定距離だけ離れた位置に、車両Ｖに左側面に平行になるように表示されている。表示制御部３６は、オーバーハング軌跡Ｌ１、Ｌ２、Ｌ３のうちの判定ラインＴより左側にはみ出す部分を、強調表示する。ここでは、オーバーハング軌跡Ｌ１のうちの判定ラインＴより左側にはみ出す部分が、実線で強調表示されている。なお、強調表示は、線の色を異ならせてもよい。これにより、運転者は、車両が右折する際に判定ラインＴからはみ出すタイミングを、容易に把握できる。なお、車両が左折する際には、判定ラインＴは、車両Ｖの右側面から所定距離だけ離れた位置に表示される。 FIG. 6 is a schematic diagram for explaining an example of highlighting in a bird's-eye view image. Here, it is assumed that the vehicle V turns right at the intersection, and the overhang loci L1, L2, L3 and the determination line T are superimposed on the bird's-eye view image I. The determination line T is displayed so as to be parallel to the left side of the vehicle V at a position a predetermined distance away from the left side of the vehicle V turning right. The display control unit 36 highlights portions of the overhang trajectories L1, L2, and L3 that protrude to the left of the determination line T. FIG. Here, a portion of the overhang trajectory L1 protruding to the left of the determination line T is highlighted with a solid line. It should be noted that the highlighting may be performed using different line colors. As a result, the driver can easily grasp the timing when the vehicle deviates from the determination line T when turning right. When the vehicle turns left, the determination line T is displayed at a predetermined distance from the right side of the vehicle V. FIG.
　上記では、判定ラインＴが、車両の側面から所定距離だけ離れた位置に表示されるとしたが、これに限定されない。例えば、判定ラインＴは、車両の側面と同一位置に表示されてもよい。また、判定ラインＴは、車両の走行する車線と歩道の境界の位置に表示させてもよい。 In the above description, the determination line T is displayed at a predetermined distance from the side of the vehicle, but the present invention is not limited to this. For example, the determination line T may be displayed at the same position as the side of the vehicle. Also, the determination line T may be displayed at the boundary between the lane in which the vehicle is traveling and the sidewalk.
　＜本実施形態における効果＞
　上述した実施形態の表示制御装置１０は、車両の周囲を撮像した撮像画像から、車両を含む鳥瞰画像を生成する。また、表示制御装置１０は、車両の旋回時の走行軌跡を推定する。そして、表示制御装置１０は、生成した鳥瞰画像Iに、車両の走行軌跡を重畳して表示部７に表示させる。
　これにより、運転者は、旋回時の走行軌跡が重畳された鳥瞰画像を見ることで、旋回時に車両のオーバーハングが障害物と接触する可能性があるか無いかを視覚的に分かりやすくなる。この結果、運転者は、障害物との接触を回避するために、車両の操舵等を行える。 <Effects of this embodiment>
The display control device 10 of the above-described embodiment generates a bird's-eye view image including the vehicle from a captured image of the surroundings of the vehicle. In addition, the display control device 10 estimates the travel locus of the vehicle when it turns. Then, the display control device 10 superimposes the travel locus of the vehicle on the generated bird's-eye view image I and causes the display unit 7 to display the superimposed image.
This makes it easier for the driver to visually understand whether or not there is a possibility that the overhang of the vehicle will come into contact with an obstacle during turning by looking at the bird's-eye view image superimposed with the traveling locus during turning. As a result, the driver can steer the vehicle to avoid contact with the obstacle.
　以上、本発明を実施の形態を用いて説明したが、本発明の技術的範囲は上記実施の形態に記載の範囲には限定されず、その要旨の範囲内で種々の変形及び変更が可能である。例えば、装置の全部又は一部は、任意の単位で機能的又は物理的に分散・統合して構成することができる。また、複数の実施の形態の任意の組み合わせによって生じる新たな実施の形態も、本発明の実施の形態に含まれる。組み合わせによって生じる新たな実施の形態の効果は、もとの実施の形態の効果を併せ持つ。 Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments, and various modifications and changes are possible within the scope of the gist thereof. be. For example, all or part of the device can be functionally or physically distributed and integrated in arbitrary units. In addition, new embodiments resulting from arbitrary combinations of multiple embodiments are also included in the embodiments of the present invention. The effect of the new embodiment caused by the combination has the effect of the original embodiment.
　３ａ、３ｂ、３ｃ、３ｄ　　撮像装置
　７　　表示部
　１０　　表示制御装置
　３４　　画像生成部
　３５　　軌跡推定部
　３６　　表示制御部
　Ｉ　　鳥瞰画像
　Ｌ１、Ｌ２、Ｌ３　　オーバーハング軌跡
　Ｔ　　判定ライン
　Ｖ　　車両 3a, 3b, 3c, 3d imaging device 7 display unit 10 display control device 34 image generation unit 35 trajectory estimation unit 36 display control unit I bird's-eye view image L1, L2, L3 overhang trajectory T judgment line V vehicle

Claims (7)

  1. 　車両の運転者の視線よりも高い位置に設けられた複数の撮像装置が前記車両の周囲を撮像した撮像画像から、前記車両を含む鳥瞰画像を生成する画像生成部と、
    　前記車両の旋回時の前記車両の走行軌跡を推定する軌跡推定部と、
    　前記画像生成部が生成した前記鳥瞰画像に、前記軌跡推定部が推定した前記走行軌跡を重畳して、表示部に表示させる表示制御部と、
    　を備える、表示制御装置。     an image generation unit that generates a bird's-eye view image including the vehicle from captured images captured by a plurality of imaging devices provided at a position higher than the line of sight of the vehicle driver;
    a trajectory estimation unit that estimates a travel trajectory of the vehicle when the vehicle turns;
    a display control unit that superimposes the running trajectory estimated by the trajectory estimating unit on the bird's-eye view image generated by the image generating unit and displays the running trajectory on a display unit;
    A display controller.
  2. 　前記表示制御装置は、前記車両が交差点で旋回を開始する際に、前記鳥瞰画像に前記走行軌跡を重畳して前記表示部に表示させる、
    　請求項１に記載の表示制御装置。     When the vehicle starts turning at an intersection, the display control device superimposes the traveling locus on the bird's-eye view image and causes the display unit to display the traveling locus.
    The display control device according to claim 1.
  3. 　前記表示制御部は、前記車両の旋回時に生じる、前記鳥瞰画像に前記車両の内輪差、外輪差とリアオーバーハングの軌跡を重畳して前記表示部に表示させる、
    　請求項１又は２に記載の表示制御装置。     The display control unit superimposes the locus of the inner wheel difference, the outer wheel difference, and the rear overhang of the vehicle on the bird's-eye view image generated when the vehicle turns, and causes the display unit to display it.
    The display control device according to claim 1 or 2.
  4. 　前記表示制御部は、前記車両の曲がる方向に応じて、前記表示部における前記鳥瞰画像の表示エリアを変更する、
    　請求項３に記載の表示制御装置。     The display control unit changes the display area of the bird's-eye image on the display unit according to the direction in which the vehicle turns.
    The display control device according to claim 3.
  5. 　前記表示制御部は、前記車両が曲がる先を広く示す前記鳥瞰画像を前記表示部に表示させる、
    　請求項４に記載の表示制御装置。     The display control unit causes the display unit to display the bird's-eye view image that broadly shows where the vehicle turns.
    The display control device according to claim 4.
  6. 　前記表示制御部は、
    　前記車両の進行方向に沿った所定のラインを前記鳥瞰画像に重畳して表示させ、
    　前記車両の旋回時に生じる前記走行軌跡のうち前記ラインに抵触する部分を、強調表示させる、
    　請求項１から５のいずれか１項に記載の表示制御装置。     The display control unit
    displaying a predetermined line along the traveling direction of the vehicle superimposed on the bird's-eye view image;
    highlighting a portion of the running trajectory generated when the vehicle turns, which conflicts with the line;
    The display control device according to any one of claims 1 to 5.
  7. 　前記表示制御部は、前記ラインとして、前記車両が旋回する直前に、前記車両の前輪中心と後輪中心とを進行方向に沿って通る基準線から所定距離だけ離れた位置に前記車両の側面に沿ったラインを表示させる、
    　請求項６に記載の表示制御装置。
     
          The display control unit sets the line on the side of the vehicle at a position a predetermined distance away from a reference line passing through the center of the front wheels and the center of the rear wheels of the vehicle along the direction of travel, just before the vehicle turns. to show the line along
    The display control device according to claim 6.
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