WO2023105842A1

WO2023105842A1 - Information processing device, mobile body, information processing method, and program

Info

Publication number: WO2023105842A1
Application number: PCT/JP2022/028506
Authority: WO
Inventors: 則政岸; 雅司高田; 秀雄廣重
Original assignee: 株式会社光庭インフォ
Priority date: 2021-12-06
Filing date: 2022-07-22
Publication date: 2023-06-15
Also published as: JPWO2023105842A1; CN118355655A

Abstract

One aspect of the present invention provides an information processing device. This information processing device has a control unit. The control unit generates a bird's-eye image including a mobile body and the surroundings of the mobile body. Control is carried out so as to display the bird's-eye image on a display unit which can be viewed by an operator of the mobile body. A depression angle pertaining to the viewpoint in the bird's-eye image is changed on the basis of the distance between the mobile body and an object which is present in the travelling direction of the mobile body.

Description

Information processing device, mobile object, information processing method and program

The present invention relates to an information processing device, a mobile object, an information processing method, and a program.

Display systems exist for mobile objects.
Japanese Patent Laid-Open No. 2002-200001 discloses a technique aimed at displaying a display that makes it easy for a passenger to understand the traveling direction of a moving object and to easily concentrate on monitoring the surroundings.

JP 2021-094939 A

　The surrounding information of the moving object is presented in an easy-to-understand manner.

According to one aspect of the present invention, an information processing device is provided. This information processing device has a control unit. The control unit generates a bird's-eye view image including the moving body and the surroundings of the moving body. Control is performed so that the bird's-eye view image is displayed on a display unit that can be viewed by the operator of the mobile object. Based on the distance between the moving object and an object existing in the traveling direction of the moving object, the depression angle of the viewpoint of the bird's-eye view image is changed.

FIG. 1 is a diagram showing an example of a system configuration of an information processing system 1000. As shown in FIG. FIG. 2 is a diagram showing an example of the hardware configuration of the information processing device 110. As shown in FIG. FIG. 3 is a diagram showing an example of the functional configuration of the information processing device 110. As shown in FIG. FIG. 4 is an activity diagram showing an example of information processing by the information processing apparatus 110. As shown in FIG. FIG. 5 is a diagram (part 1) showing an example of a bird's-eye view image. FIG. 6 is a diagram (part 2) showing an example of a bird's-eye view image. FIG. 7 is a diagram (part 3) showing an example of a bird's-eye view image. FIG. 8 is a diagram showing an example of a displacement curve when per is decreasing away from an object. FIG. 9 is a diagram showing an example of a displacement curve when per approaches an object and increases. FIG. 10 is a diagram showing an example of control by the display control unit 304 such that the closer the vehicle 100 is to the obstacle 150, the greater the angle of depression. FIG. 11 is a diagram (Part 1) illustrating an example of a viewpoint change in modification 3; FIG. 12 is a diagram (part 2) illustrating an example of a viewpoint change in modification 3;

Embodiments of the present invention will be described below with reference to the drawings. Various features shown in the embodiments shown below can be combined with each other.

In this specification, the term "unit" may include, for example, a combination of hardware resources implemented by circuits in a broad sense and software information processing that can be specifically realized by these hardware resources. In addition, various information is handled in the present embodiment, and these information are, for example, physical values of signal values representing voltage and current, and signal values as binary bit aggregates composed of 0 or 1. It is represented by high and low, or quantum superposition (so-called quantum bit), and communication and operation can be performed on a circuit in a broad sense.

A circuit in a broad sense is a circuit realized by at least appropriately combining circuits, circuits, processors, memories, and the like. That is, Application Specific Integrated Circuit (ASIC), programmable logic device (for example, Simple Programmable Logic Device (SPLD), Complex Programmable Logic Device (CPLD), and field It includes a programmable gate array (Field Programmable Gate Array: FPGA)).

<Embodiment 1>
1. System Configuration FIG. 1 is a diagram showing an example of the system configuration of an information processing system 1000. As shown in FIG. As shown in FIG. 1, an information processing system 1000 includes an automobile 100 as a system configuration. A car is an example of a mobile object. Automobile 100 includes information processing device 110 , display 120 , and multiple cameras 130 . The information processing device 110 is a device that executes the processing of this embodiment. In the present embodiment, the information processing device 110 is described as being included in the vehicle 100, but may not be included in the vehicle 100 as long as it can communicate with the vehicle 100 or the like. The display 120 is a display device that displays a 3D synthesized image and the like, which will be described later, under the control of the information processing device 110 . Camera 130 is a camera that captures an image of the surroundings of automobile 100 . More specifically, the camera 130 is an RGB camera or the like that adds and describes color information as an image. Camera 130 ₁ is provided behind automobile 100 . Camera 130 ₂ is provided in front of automobile 100 . Although not shown in FIG. 1, in addition to the cameras _130-1 and _130-2 , cameras 130 are provided on the left and right sides of the automobile 100, respectively. These cameras are hereinafter simply referred to as camera 130 . In addition, although not shown in FIG. 1 for simplification of explanation, the vehicle 100 has a plurality of depth sensors. The depth sensor measures the shape of objects around the automobile 100 and the distance from the automobile 100 to the objects using laser light or the like. However, the depth sensor is not limited to laser light, and may measure distance using ultrasonic waves, or may measure distance using a camera with a depth sensor.

2. Hardware Configuration FIG. 2 is a diagram illustrating an example of the hardware configuration of the information processing apparatus 110. As illustrated in FIG. The information processing apparatus 110 includes a control unit 201, a storage unit 202, and a communication unit 203 as a hardware configuration. The control unit 201 is a CPU (Central Processing Unit) or the like, and controls the entire information processing apparatus 110 . The storage unit 202 is any one of HDD (Hard Disk Drive), ROM (Read Only Memory), RAM (Random Access Memory), SSD (Solid State Drive), etc., or any combination thereof, and stores programs and controls. It stores data and the like used when the unit 201 executes processing based on a program. The control unit 201 executes processing based on a program stored in the storage unit 202 to configure the functional configuration of the information processing apparatus 110 as shown in FIG. Activity diagram processing and the like are realized. In this embodiment, it is assumed that data used when the control unit 201 executes processing based on a program is stored in the storage unit 202, but the data is stored in another device with which the information processing device 110 can communicate. You may make it memorize|store in a memory|storage part. The communication unit 203 is a NIC (Network Interface Card) or the like, connects the information processing apparatus 110 to a network, and controls communication with other apparatuses (eg, display 120, camera 130, etc.). Storage unit 202 is an example of a storage medium.

3. Functional Configuration FIG. 3 is a diagram illustrating an example of the functional configuration of the information processing device 110 . The information processing apparatus 110 includes a peripheral information receiving unit 301, an object recognition unit 302, a behavior information receiving unit 303, and a display control unit 304 as functional configurations.

(Peripheral information receiving unit 301)
The peripheral information receiving unit 301 receives information on objects around the vehicle 100, information on colors around the vehicle 100, and the like from the camera 130 as peripheral information. Further, the peripheral information receiving unit 301 receives the shapes of objects around the vehicle 100 and the distance from the vehicle 100 to the objects as peripheral information from the plurality of depth sensors.

(Object recognition unit 302)
The object recognition unit 302 recognizes objects around the automobile 100 based on the surrounding information received by the surrounding information receiving unit 301 . Surrounding objects include, for example, buildings, roads, other vehicles, parking lots, and the like.

(Behavior information receiving unit 303)
The behavior information receiving unit 303 receives behavior information of the moving body. More specifically, the behavior information receiving unit 303 converts information detected by a wheel speed sensor, a steering angle sensor, an inertial measurement unit (IMU), etc. included in the vehicle 100 into the behavior information of the vehicle 100. to get as An inertial measurement device is a ^device that detects three-dimensional inertial motion (translational motion and rotational motion in orthogonal three-axis directions). Rotational motion is detected by [deg/sec]. Also, the behavior information receiving unit 303 may receive information about the behavior of the automobile 100 from SLAM (Simultaneous Localization and Mapping) included in the automobile 100, LiDAR, a stereo camera, a gyro sensor, etc. included in the automobile 100.
Here, the behavior information includes, for example, position information and orientation information of the vehicle 100 .

(Display control unit 304)
The display control unit 304 converts a surrounding object into a 3D model based on information on the object recognized by the object recognition unit 302, information from the SLAM, and the like. The display control unit 304 also generates a 3D model of the automobile 100 based on information from the camera 130, information from SLAM, behavior information acquired by the behavior information receiving unit 303, and the like. The display control unit 304 also generates a bird's-eye view image including the automobile 100 and its surroundings based on the 3D model of the surrounding objects, the 3D model of the automobile 100, information from the camera 130, and the like. Here, the bird's-eye view image is an image that has undergone perspective transformation so that the viewpoint can be viewed from above the road surface, and is an image that includes the entire automobile 100 or at least half or more of the automobile 100 . Bird's-eye view images are shown in FIGS. 5 to 7, etc., which will be described later. The display control unit 304 controls to display the generated overhead image on the display 120 of the automobile 100 or the like. The display 120 of the automobile 100 is an example of a display visible to the operator of the automobile 100 .

Note that part or all of the functional configuration of FIG. 3 may be implemented in the information processing device 110 or the automobile 100 as a hardware configuration. Also, part or all of the functional configuration of the information processing device 110 may be implemented in the vehicle 100 .

4. Information Processing FIG. 4 is an activity diagram showing an example of information processing of the information processing apparatus 110 .
At A401, the peripheral information receiving unit 301 receives information on objects around the vehicle 100, information on colors around the vehicle 100, etc. from the camera 130 as peripheral information. Further, the peripheral information receiving unit 301 receives the shapes of objects around the vehicle 100 and the distance from the vehicle 100 to the objects as peripheral information from the plurality of depth sensors.
At A<b>402 , the object recognition unit 302 recognizes objects around the automobile 100 based on the surrounding information received by the surrounding information receiving unit 301 .

At A403, the behavior information receiving unit 303 receives information about the behavior of the automobile 100.

At A404, the display control unit 304 converts the surrounding objects into a 3D model based on the information on the object recognized by the object recognition unit 302, the information from the SLAM, and the like. The display control unit 304 also generates a 3D model of the automobile 100 based on information from the camera 130, information from SLAM, behavior information of the automobile 100 received by the behavior information receiving unit 303, and the like. The display control unit 304 also generates a bird's-eye view image including the automobile 100 and its surroundings based on the 3D model of the surrounding objects, the 3D model of the automobile 100, information from the camera 130, and the like.

At A405, the display control unit 304 controls to display the generated bird's-eye view image on the display 120 of the automobile 100 or the like. The display control unit 304 changes the depression angle with respect to the viewpoint of the bird's-eye view image based on the distance between the vehicle 100 and an object existing in the traveling direction of the vehicle 100 . Examples of objects existing in the direction of travel include, for example, obstacles such as car stops. However, this does not limit the present embodiment, and other examples of objects existing in the direction of travel include parking lot walls, other cars parked in the parking lot, and parking spaces in the parking lot. It may be a mark or the like. A car stop, a mark indicating a parking place, or the like is an example of a car parking position. However, in order to simplify the description, an obstacle will be used as an example of the object. Here, the display control unit 304 may recognize and extract obstacles existing in the direction of travel by image processing from an image related to the direction of travel, or may recognize an object around the automobile 100 recognized by the object recognition unit 302 . may recognize.

Examples of bird's-eye view images when the depression angle is changed are shown in FIGS. 5 to 7. FIG.
FIG. 5 is a diagram (part 1) showing an example of a bird's-eye view image. FIG. 6 is a diagram (part 2) showing an example of a bird's-eye view image. FIG. 7 is a diagram (part 3) showing an example of a bird's-eye view image.

(automatic viewpoint conversion)
In the following, for the sake of simplification of explanation, display control will be described as an example when the distance L between the automobile 100 and an obstacle behind the automobile 100 is equal to or greater than a predetermined distance and when the distance is less than the predetermined distance. As an example of the predetermined distance, 5 m will be described below as an example. In addition, 5m is an example.

The display control unit 304 obtains per indicating the distance ratio.
In the case of reversing, the display control unit 304 measures the distance from the vehicle 100 to the rear obstacle and divides it by the maximum distance (5 m) to obtain per.
per = 1 - distance to rear obstacle/maximum distance (5m)
In the case of forward movement, the display control unit 304 measures the distance from the automobile 100 to the obstacle in front, and divides the distance by the maximum distance (5 m) to obtain per.
per = 1 - distance to obstacle in front/maximum distance (5m)
Subsequent processing is not performed when the obstacle is not closer than the maximum distance.
per(0<=per<=1)

The display control unit 304 uses the obtained per to obtain a viewpoint movement ratio (dif) from a displacement curve.
Here, when the automobile 100 is parked, there is a case where the vehicle is turned back. Also, the vehicle 100 may separate from the obstacle due to the steering angle. In such a case, in order to prevent a large change in the image (video) displayed on the display 120, the displacement curve is set so that per decreases when moving away from the obstacle (curveDec) and when per approaches the obstacle. At the time of increase (curveInc), the automobile 100 has two of FIG. Also, curveInc is always located on the right side of curveDec. FIG. 8 is a diagram showing an example of a displacement curve when per is decreasing away from an obstacle. FIG. 9 is a diagram showing an example of a displacement curve when per approaches an obstacle and increases. In both FIGS. 8 and 9, the horizontal axis is per and the vertical axis is dif. The left and right values of the curves in FIGS. 8 and 9 are constant. Left is always 0 and right is always 1.
dif=curve. evaluate (per)
During the increase, the mode changes when dif becomes 1, and thereafter the curve during decrease is used for evaluation.
During the decrease, the mode changes when the dif becomes 0, and thereafter the curve for the increase is used for evaluation.
dif(0<=dif<=1)

(change of viewpoint)
The display control unit 304 continuously changes the depression angle based on the distance between the automobile 100 and obstacles present in the traveling direction. More specifically, the display control unit 304 performs control such that the closer the vehicle 100 is to an obstacle, the greater the angle of depression. At this time, the display control unit 304 uses the displacement curve described above to perform control such that the closer the vehicle 100 is to the obstacle, the greater the angle of depression with respect to the viewpoint of the bird's-eye view image. FIG. 10 is a diagram showing an example of control performed by the display control unit 304 so that the closer the vehicle 100 is to the obstacle 150, the greater the angle of depression. The display control unit 304 changes the viewpoint from the viewpoint 1 to the viewpoint 2 as the automobile 100 approaches the obstacle 150 . The depression angle of the viewpoint 2 is a depression angle larger than the depression angle of the viewpoint 1 . Here, in the example of FIG. 10, the viewpoints 1 and 2 are on the traveling direction axis of the automobile 100, but both the viewpoints 1 and 2 do not necessarily have to be on the traveling direction axis. However, when the viewpoint is on the axis, the generated bird's-eye view image is easy to see.
Here, when there is no obstacle 150 in the traveling direction of the automobile 100 , the display control unit 304 controls to generate a bird's-eye view image from the viewpoint 1 and display it on the display 120 . On the other hand, a bird's-eye view image from a viewpoint 2 in which an obstacle 150 exists in the traveling direction of the automobile 100 may be generated and controlled to be displayed on the display 120 .
The display control unit 304 may change the rate of change in the angle of depression depending on whether the automobile 100 approaches the obstacle or the moving object moves away from the obstacle.

The display control unit 304 controls rotation and movement of the camera using per and dif. The camera referred to here is a camera that virtually captures an image of the automobile 100 from above the automobile 100 .
For example, if the depression angle of 30 degrees is the depression angle when there is no obstacle, the display control unit 304 controls the vehicle 100 to approach the depression angle of 90 degrees (image from above) as it approaches the obstacle. . At this time, the depression angle of 30 degrees and the depression angle of 90 degrees may be changed in advance according to the situation. For example, the display control unit 304 may change the depression angle and/or the displacement curve to be used according to the type, size, etc. of the obstacle.
Alternatively, a displacement curve for rotation and a displacement curve for movement may be prepared, and the display control unit 304 may use the displacement curve for rotation and the displacement curve for movement to control the display of the overhead image. good.

In addition, the display control unit 304 records the maximum value of dif so far at the time of increase from the start of movement (per=0, dif=0). Use values to control the camera. By doing so, it is possible to suppress fine movement of the camera due to the shape of the obstacle or the like.
In addition, the display control unit 304 obtains the distance to the obstacle based on the information from each sensor (front and rear seat right of the automobile 100), and calculates the ratio (per) as follows. distance to)/maximum distance (5m)
Left and right per = 1 - (distance to obstacle) / maximum distance (1 m)
The display control unit 304 uses the maximum per (minimum ratio of the distance to the obstacle) among these values.
As a result, it is possible to switch to a viewpoint from directly above when it is likely to collide with an obstacle on the side, and it is possible to prevent collision with the obstacle.

Also, the display control unit 304 may hide obstacles in front of the automobile 100 . By doing so, it is possible to make the own vehicle visible even in parking lots such as tower parking lots where there are many obstructions. Here, it is assumed that the display control unit 304 performs the above-described processing when there is no colliding object between the viewpoint and the host vehicle. When the vehicle always moves forward and the viewpoint is on the front side, the display control unit 304 hides obstacles in front of the vehicle 100 . That is, the display control unit 304 does not hide obstacles that may collide with the automobile 100 .
With such a device, viewpoint conversion is flexibly implemented.

In the above-described embodiment and the like, an example in which an obstacle exists behind the automobile 100 was mainly used for explanation, but the same applies when there is an obstacle in front of the automobile 100. Further, even when there are obstacles on the left and right sides of the automobile 100, the display control unit 304 can perform the same processing as described above.

Parking is broadly divided into action for entering the car 100 into the parking frame and action during approach for adjusting the stop position and stop posture. Information about the surroundings of the automobile 100 required for each action is different. When making an action to enter the parking frame, the surrounding information for entering the parking frame and the distance to the obstacle on the inscribed side of the vehicle when turning a large steering wheel are required. During the approach action, the distance to the stop position and the distance between the vehicle 100 and obstacles on both sides of the vehicle 100 are obtained. Based on this assumption, the display of the distance from the vehicle 100 to the obstacle is as follows.

In the following description, distance measurement is performed at ±20 degrees forward, ±15 degrees backward, and ±60 degrees left and right.
1. Display Regarding Left and Right The display control unit 304 displays a marker at the position of the smallest obstacle.
The display control unit 304 forms and displays a triangle with the marker and both ends of the tire width of the automobile 100 .
The display control unit 304 displays the position of the obstacle at the shortest distance using a gradation such that the position is red and the near side is green.
2. Display of Front and Back Display of parallel lines at intervals of 10 cm from the car 100 to the obstacle The display control unit 304 displays the position of the obstacle at the shortest distance in red and the front in green with gradation.
The display control unit 304 may stereoscopically widen the scan range vertically.

FIG. 5 shows an image when the automobile 100 enters the parking lot. FIG. 6 shows an image when the automobile 100 moves from entering the parking lot to approaching. FIG. 7 shows an image when the vehicle 100 is approaching.

As described above, according to the present embodiment, the passenger can easily understand the traveling direction of the mobile object, and the surrounding information of the mobile object can be presented in an easy-to-understand manner. More specifically, the information processing apparatus 110 can present intuitive surrounding information by changing the viewpoint of the perspective transformation of the bird's-eye view image according to the surrounding situation. In particular, the information processing device 110 considers the distance to obstacles such as obstacles around the vehicle 100, and converts the viewpoint to realize a display method that makes the obstacles more recognizable. As a result, the operator can more intuitively understand the forward and backward movements of the vehicle when the vehicle is backing up, and can drive the automobile 100 safely.

(Modification 1)
A modification of the first embodiment will be described.
In the embodiment described above, an example in which the depression angle is changed continuously has been shown. However, the display control unit 304 may change the depression angle step by step according to the distance from the vehicle 100 to the obstacle. As an example of changing the angle of depression step by step, the angle of depression is set to 30 degrees until the distance is 5 m, and the angle of depression is set to 90 degrees when the distance is within 5 m.
According to Modification 1 as well, it is possible for the occupant to easily understand the traveling direction of the mobile object, and to present the peripheral information of the mobile object in an easy-to-understand manner.

(Modification 2)
A modification of the first embodiment will be described.
In the first embodiment, the automobile 100 has been described as an example of a moving object. However, the mobile object may be, for example, a so-called drone such as an unmanned aerial vehicle. When the moving object is a drone, the information processing device 110 may be included in the drone or may be included in the controller of the operator who operates the drone. Further, when the moving body is a drone, a display section that can be visually observed by the operator is provided in the controller. Further, when the mobile object is a drone, examples of the object in the second modification include a mark indicating the departure and arrival location of the drone.
According to the modified example, the operator can easily understand the traveling direction of the drone, and the information around the moving object can be presented in an easy-to-understand manner.

(Modification 3)
A modification of the first embodiment will be described.
FIG. 11 is a diagram (Part 1) illustrating an example of a viewpoint change in modification 3;
The display control unit 304 of Modification 3 moves the viewpoint of the bird's-eye view image in the direction of the obstacle when an obstacle exists within a predetermined distance to the left or right of the traveling direction of the automobile 100 . In the example of FIG. 11 , since the obstacle 150 is on the left side of the automobile 100 , the display control unit 304 shifts the viewpoint leftward from the viewpoint 3 to the viewpoint 4 to generate a bird's-eye view image from the viewpoint 4 . In the example of FIG. 11 , the display control unit 304 generates a bird's-eye view image so that the line of sight from viewpoint 4 is parallel to the line of sight from viewpoint 3 .

FIG. 12 is a diagram (part 2) illustrating an example of a viewpoint change in modification 3;
The display control unit 304 moves the viewpoint of the bird's-eye view image in the direction of the obstacle when an obstacle exists within a predetermined distance to the left or right with respect to the traveling direction of the automobile 100 . In the example of FIG. 12 , since the obstacle 150 is on the left side of the automobile 100 , the display control unit 304 shifts the viewpoint leftward from the viewpoint 5 to the viewpoint 6 to generate a bird's-eye view image from the viewpoint 6 . However, in the case of the example of FIG. 12, the display control unit 304 controls the line of sight from the viewpoint 5 (for example, the ground at the line of sight) and the line of sight from the viewpoint 6 (for example, the ground at the line of sight). , are the same.

<Appendix>
The invention may be provided in each of the aspects described below.

(1) An information processing apparatus comprising a control unit, wherein the control unit generates a bird's-eye view image including a moving body and the surroundings of the moving body, and an operator of the moving body views the bird's-eye view image. An information processing apparatus that controls display on a possible display unit, and changes a depression angle of the bird's-eye view image based on a distance between the moving body and an object existing in a traveling direction of the moving body.

(2) In the information processing apparatus according to (1) above, the control unit continuously changes the depression angle based on the distance.

(3) The information processing apparatus according to (1) above, wherein the control unit changes the depression angle step by step based on the distance.

(4) In the information processing apparatus according to any one of (1) to (3) above, the control unit performs control such that the angle of depression increases as the moving object approaches the object. Device.

(5) In the information processing apparatus according to any one of (1) to (4) above, the control unit controls the control unit to control the movement of the moving object when the moving object approaches the object and when the moving object moves away from the object. to change the rate of change in the depression angle.

(6) In the information processing apparatus according to any one of (1) to (5) above, when an object exists on the left or right of the moving direction of the moving object, An information processing device that moves the viewpoint in a direction in which the object is located.

(7) In the information processing apparatus according to any one of (1) to (6) above, the moving object is an automobile, and the object is related to a parking position of the automobile. Device.

(8) A mobile body, comprising the information processing apparatus according to any one of (1) to (7) above.

(9) The mobile object according to (8) above, wherein the mobile object is an automobile.

(10) An information processing method executed by an information processing apparatus, wherein a bird's-eye view image including a moving body and the surroundings of the moving body is generated, and the bird's-eye view image is displayed on a display unit that can be viewed by an operator of the moving body. An information processing method for controlling display, and changing a depression angle with respect to a viewpoint of the bird's-eye view image based on a distance between the moving body and an object existing in a traveling direction of the moving body.

(11) A program for causing a computer to function as a control unit of the information processing apparatus according to any one of (1) to (7) above.
Of course, this is not the only case.

For example, it may be provided as a computer-readable non-temporary storage medium that stores the above program.
Moreover, you may combine a modification arbitrarily.
Also, in the above-described embodiments and the like, the back view has been mainly explained as an example, but the above-described effects can be obtained by executing the same processing for the front view as well.

Finally, although various embodiments of the present invention have been described, these are presented as examples and are not intended to limit the scope of the invention. The novel embodiments can be embodied in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. Embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and equivalents thereof.

100: Car 110: Information processing device 120: Display 130: Camera 150: Obstacle 201: Control unit 202: Storage unit 203: Communication unit 301: Peripheral information reception unit 302: Object recognition unit 303: Behavior information reception unit 304: Display Control unit 1000: information processing system

Claims

An information processing device,
having a control unit,
The control unit
generating a bird's-eye view image including a moving body and the surroundings of the moving body;
controlling to display the bird's-eye view image on a display unit visible to an operator of the moving body;
changing a depression angle with respect to the viewpoint of the bird's-eye view image based on the distance between the moving body and an object existing in the traveling direction of the moving body;
Information processing equipment.
In the information processing device according to claim 1,
The control unit
continuously changing the depression angle based on the distance;
Information processing equipment.
In the information processing device according to claim 1,
The control unit
changing the depression angle step by step based on the distance;
Information processing equipment.
In the information processing apparatus according to any one of claims 1 to 3,
The control unit
controlling the angle of depression to increase as the moving object approaches the object;
Information processing equipment.
In the information processing apparatus according to any one of claims 1 to 4,
The control unit
changing the rate of change in the depression angle between when the moving body approaches the object and when the moving body moves away from the object;
Information processing equipment.
In the information processing apparatus according to any one of claims 1 to 5,
The control unit
When an object exists to the left or right of the traveling direction of the moving object, moving the viewpoint in the direction of the object;
Information processing equipment.
In the information processing apparatus according to any one of claims 1 to 6,
The moving body is an automobile,
the object relates to a parking position of the car;
Information processing equipment.
being mobile,
Having the information processing device according to any one of claims 1 to 7,
Mobile.
In the mobile body according to claim 8,
the moving object is an automobile,
Mobile.
An information processing method executed by an information processing device,
generating a bird's-eye view image including a moving body and the surroundings of the moving body;
controlling to display the bird's-eye view image on a display unit visible to an operator of the moving body;
changing a depression angle with respect to the viewpoint of the bird's-eye view image based on the distance between the moving body and an object existing in the traveling direction of the moving body;
Information processing methods.
a program,
the computer,
A program for functioning as a control unit of the information processing apparatus according to any one of claims 1 to 7.