JP3838884B2 - Vehicle periphery display device, program, and recording medium - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle periphery display device that captures a vehicle periphery and displays a vehicle periphery image on a monitor, a program for causing a computer to function as each unit of the vehicle periphery display device, and a recording medium.
[0002]
[Prior art]
Conventionally, as a vehicle periphery display device that captures the periphery of the vehicle and displays it on a display device provided in the vehicle, for example, the rear of the vehicle is photographed with a camera attached to the rear of the vehicle and photographed with the camera. A vehicle periphery display device that outputs (displays) a camera image as it is on a monitor is known.
[0003]
And the vehicle periphery display apparatus which displays a rear camera image, for example in the case of reverse parking operation which puts a vehicle backward and puts a vehicle in a parking lot (inside a parking frame) Since the obstacle can be displayed, it is possible to assist the driver who performs the reverse parking operation.
[0004]
Further, as a vehicle periphery display device that displays a rear camera image, there has been proposed a device that superimposes and displays a vehicle's reverse travel prediction path on a vehicle camera image during a reverse parking operation (Japanese Patent Laid-Open No. 2000-168475). See the official gazette). As a method for predicting the vehicle's backward predicted course, a method is known in which a steering angle of a steered wheel is detected by a steering rudder angle sensor provided in the vehicle, and a prediction is made based on the detected steered angle of the steered wheel. .
[0005]
In this way, by using the vehicle periphery display device that can display the predicted backward path, the driver can know the predicted backward path and can move the vehicle backward while avoiding obstacles. Even a poor driver can perform the reverse parking operation relatively easily.
[0006]
[Problems to be solved by the invention]
However, in the above-described vehicle periphery display device, since it is necessary to provide a steering angle sensor in order to predict the reverse predicted course, there is a problem that the number of parts increases and the cost of the device increases.
[0007]
Further, since it is not easy to additionally install a steering angle sensor with respect to an existing vehicle that does not include a steering angle sensor, a vehicle periphery display device that can display a predicted backward course on an existing vehicle Is difficult to install, and additional installation costs are required when additional sensors are installed.
[0008]
The display around the vehicle at the time of the parking operation can assist the driver not only at the time of reverse parking operation but also at the time of forward parking operation. For example, when the driver is a beginner and enters and parks while turning right (or left) into a narrow parking area surrounded by walls, the distance between the vehicle front corner and the wall surrounding the parking area There is a high possibility of a collision without being accurately grasped. Under such circumstances, by displaying the position of the vehicle and the wall as a bird's eye view image, a novice driver can easily grasp the positional relationship between the vehicle and the wall, and supports forward parking operation. It becomes possible.
[0009]
Accordingly, the present invention has been made in view of the above problems, and can predict the predicted course of the vehicle without providing a sensor or the like for detecting the steering angle of the steering wheel of the vehicle, and can be mounted on an existing vehicle at low cost. An object of the present invention is to provide a vehicle periphery display device that is easy.
[0010]
[Means for Solving the Problems]
The invention according to claim 1, which has been made to achieve such an object, is a vehicle periphery display device that processes and displays an image of a vehicle periphery photographed by the photographing means and displays it on the display means. It is characterized in that the predicted course of the vehicle is predicted based on the moving distance and moving direction of the matching region in the image.
[0011]
That is, in the vehicle periphery display device according to claim 1, when processing the image around the vehicle photographed by the photographing unit and displaying the image on the display unit, first, the bird's eye view image generating unit photographs the image photographed by the photographing unit. A bird's-eye view image is generated by converting the data into ground plane coordinate system data projected with the means as the viewpoint. Next, the course prediction means obtains and accumulates a movement vector indicating the movement distance and movement direction of the matching region in at least two bird's-eye view images that are continuous in time, and based on the accumulated movement vectors. Calculate vehicle movement parameters that represent the vehicle's movement status, and based on the vehicle movement parameters Predict the predicted course of the vehicle. Then, the display processing means displays the predicted course predicted by the course prediction means on the display means.
[0012]
Here, the coincidence area in the two bird's-eye view images is a display area displaying the same photographing object, and the coincidence area moves according to the movement of the vehicle. Therefore, since the movement distance and movement direction of the matching region in at least two bird's eye view images that are temporally continuous are closely related to the movement distance and movement direction of the vehicle, the movement distance and movement direction of the vehicle based on the movement vector. Can be determined. As for the moving direction, the moving direction of the coincidence area is opposite to the moving direction of the vehicle.
[0013]
For this reason, the vehicle periphery display device can discriminate the past movement trajectory of the vehicle by using the accumulated movement vector, and predicts a predicted course that is a future movement trajectory based on the discriminated past movement trajectory. It becomes possible. Note that the predicted course can be predicted using, for example, a linear prediction method.
[0014]
Thus, by predicting the predicted course of the vehicle based on images with different shooting times, the predicted course of the vehicle can be predicted without providing a steering angle sensor or the like in the vehicle.
Therefore, according to the vehicle periphery display device of the present invention (Claim 1), since it is not necessary to provide a sensor such as a steering angle sensor in the vehicle in predicting the predicted course of the vehicle, the number of parts of the device is increased. Can be suppressed, and an increase in cost can be suppressed. Further, since a sensor such as a steering angle sensor is not required, this vehicle periphery display device can realize additional installation with respect to an existing vehicle relatively easily.
[0015]
In the vehicle periphery display device described above (claim 1), as described in claim 2, the area determination unit includes a first bird's-eye view image generated by the bird's-eye view image generation unit, and the first bird's-eye view image. The second bird's-eye view image generated after the generation is compared to determine the matching region and the mismatching region, and the peripheral image creating unit converts the mismatching region determined by the region determining unit into the second bird's-eye view image. A vehicle periphery bird's-eye view image that has been taken into account may be created, and the display processing unit may display a predicted route composite image in which the predicted route is superimposed on the vehicle periphery bird's-eye view image on the display unit.
[0016]
That is, the vehicle periphery bird's-eye view image is obtained by adding a mismatch area in the first bird's-eye view image representing the past vehicle surrounding situation to the second bird's-eye view image that is the latest information representing the latest vehicle surrounding situation. Can represent a wider range of situations. For this reason, more information regarding the vehicle periphery can be provided to the driver by displaying the vehicle periphery bird's-eye view image on the display device.
[0017]
The predicted route composite image obtained by superimposing the predicted route on the bird's-eye view around the vehicle includes information on the positional relationship between the predicted route of the vehicle and obstacles around the vehicle in addition to the situation around the wide area vehicle. It can be provided to the driver.
Therefore, according to the vehicle periphery display device of the present invention (Claim 2), the driver can easily grasp the positional relationship between the predicted course of the vehicle and the obstacles around the vehicle and avoid the danger of collision. The vehicle can be driven more safely.
[0018]
Here, in the vehicle periphery display device described above (Claim 1 or Claim 2), the coincidence area moves as the vehicle moves regardless of whether the photographing means is installed in the front, rear, left, or right direction. It is possible to obtain a movement vector. However, one situation in which the driver needs the predicted course of the vehicle and the surrounding image of the vehicle is a reverse parking operation in which the vehicle is moved to a predetermined parking area while moving backward.
[0019]
Therefore, in the vehicle periphery display device described above (claim 1 or claim 2), as described in claim 3, the image photographed by the photographing means may be an image behind the vehicle.
In other words, by taking an image of the rear of the vehicle, the driver can detect obstacles behind the vehicle at an early stage, and more accurately grasp the positional relationship between the predicted course and the obstacles. As a result, the burden on the driver at the time of reverse parking operation can be reduced.
[0020]
Therefore, according to the vehicle periphery display device of the third aspect, it is possible to provide the driver with the surrounding situation of the vehicle's predicted reverse course, and the driver can perform the reverse parking operation more safely. .
In addition, the vehicle periphery display device described above (any one of claims 1 to 3), when displaying the predicted course composite image on the display unit as described in claim 4, displays an image indicating the host vehicle. In addition, display is good.
[0021]
Accordingly, the relative positional relationship between the host vehicle and the surrounding objects is clearly displayed as an image, and the driver can easily grasp the position of the host vehicle.
Therefore, according to the vehicle periphery display device of the present invention (Claim 4), the driver can easily grasp the position of the host vehicle, and the burden on the driver at the time of parking operation or the like can be further reduced.
[0022]
Next, the invention according to claim 5 is a program for causing a computer to function as each means in the vehicle periphery display device according to any one of claims 1 to 4.
That is, the function of realizing each means (bird's eye view image generation means, course prediction means, display processing means, area determination means, and peripheral image creation means) of the vehicle periphery display device described above in the computer system is, for example, on the computer system side. It can be provided as a program to be started. Therefore, a suitable vehicle periphery display can be performed by using this program.
[0023]
Furthermore, the invention described in claim 6 is a computer-readable recording medium in which a program for causing a computer to function as each means in the vehicle periphery display device according to any one of claims 1 to 4 is recorded. is there.
The program executed in the computer system is recorded on a computer-readable recording medium such as a floppy disk, a magneto-optical disk, a CD-ROM, or a hard disk, and is used by loading the computer system and starting it as necessary. be able to. In addition, the ROM or backup RAM may be recorded as a computer-readable recording medium, and the ROM or backup RAM may be incorporated into a computer system and used.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Below, the Example of the vehicle periphery display apparatus 1 to which this invention is applied is described.
A basic system configuration of this embodiment will be described with reference to FIGS.
As shown in FIG. 1, the vehicle periphery display device 1 according to the present embodiment is disposed on a camera 2 (for example, a CCD camera) disposed in a rear portion of an automobile (hereinafter referred to as a vehicle C), a dashboard in the vehicle, and the like. A vehicle-mounted monitor 3 (for example, a liquid crystal display) and an image processing unit 5 that performs image processing are provided.
[0025]
The image processing unit 5 is an electronic device that processes image data whose main part is a microcomputer, and a functional block diagram can be represented as shown in FIG. As shown in FIG. 2, the image processing unit 5 functionally includes a coordinate conversion unit 11 that performs coordinate conversion of image data captured by the camera 2 to generate a bird's-eye view image, and two bird's-eye views that are temporally continuous. A matching unit 13 that captures images and compares them, a region estimation unit 15 that estimates a region out of the field of view of the camera 2 from a mismatched portion of the two bird's-eye view images, and a vehicle A route prediction unit 17 that predicts a predicted route and a drawing unit 19 that draws an image to be displayed on the in-vehicle monitor 3 are provided. Note that the image processing unit 5 may be integrated with the camera 2.
[0026]
The coordinate conversion unit 11 performs a process of converting an actual video around the vehicle photographed by the camera 2 into a bird's eye view image, and is a perspective technique that is a conventional technique (for example, a technique described in Japanese Patent Application No. 10-211849). A bird's eye view image is generated by performing coordinate conversion of the image using the conversion.
[0027]
The matching unit 13 compares two bird's-eye view images with different shooting times by a block matching method described later, and determines a region where the images match (hereinafter referred to as a match region) and a region where the images do not match (disagreement region). While determining, the movement vector is calculated based on the coincidence area. Then, the matching unit 13 performs processing so as to send information on the matching region and the mismatching region to the region estimation unit 15 and send information on the movement vector to the course prediction unit 17.
[0028]
The region estimation unit 15 generates a vehicle-peripheral bird's-eye view image in which the mismatched region in the bird's-eye view image with the oldest shooting time is added to the new bird's-eye view image with the shooting time among the two bird's-eye view images compared by the matching unit 13. Information about the generated vehicle periphery bird's-eye view image is transmitted to the drawing unit 19.
[0029]
The course prediction unit 17 predicts a predicted course of the vehicle based on the movement vector calculated by the matching unit 13 by executing a predicted course calculation process described later. Then, the predicted course information is transmitted to the drawing unit 19.
The drawing unit 19 generates a predicted course composite image in which the predicted course received from the course prediction unit 17 is superimposed on the vehicle periphery bird's-eye view image received from the region estimation unit 15 and displays the predicted course composite image on the in-vehicle monitor 3. .
[0030]
Here, a method for calculating the movement vector MV by comparing the first bird's-eye view image FL1 and the second bird's-eye view image FL2 generated after the generation of the first bird's-eye view image FL1 is shown in the explanatory diagram of FIG. This will be explained based on this.
The so-called block matching method is used for the calculation of the movement vector in the present embodiment. The block matching method is, for example, a macroblock MBL (16 × 16 pixels in FIG. 3) that is a part of the display area of the second bird's-eye view image FL2 and a macroblock MBL in the display area of the first bird's-eye view image FL1. This is a method in which a large search range SA (32 × 32 pixels in FIG. 3) is compared, and a portion most similar to the macroblock MBL is specified in the search range SA.
[0031]
Specifically, as shown in FIG. 3, the macroblock MBL that is a part of the display area of the second bird's-eye view image FL2 is compared with the macroblock MBL in the search range SA of the first bird's-eye view image FL1. All the corresponding pixels are compared with the area CA, and the total value of the comparison difference values of each pixel is calculated. Then, the comparison area CA in the search range SA is calculated by calculating the comparison difference total value in all the areas of the search range SA while sequentially moving the comparison area CA in the vertical direction and the left-right direction pixel by pixel. Is determined as a matching area with the macroblock MBL. As a result, the moving direction and moving distance from the position of the matching region in the first bird's-eye view image FL1 to the position of the macroblock MBL in the second bird's-eye view image are found, and this moving direction and moving distance are set as a movement vector MV.
[0032]
Then, the macroblock MBL is set at a plurality of locations in the second bird's-eye view image FL2, a movement vector MV is calculated for each macroblock MBL, and the second bird's-eye view image FL1 to the second one are calculated based on the plurality of movement vectors MV. A vehicle movement parameter MVA over the bird's eye view image FL2 is calculated. In addition, since the movement of the vehicle can be regarded as a rotational movement around a certain point, the vehicle movement parameter in the present embodiment is expressed by the rotation center, the rotation angle, and the rotation radius.
[0033]
In the vehicle periphery display device 1 of the present embodiment, 15 macroblocks MBL are set in the second bird's eye view image FL2.
In this way, the process of calculating the vehicle movement parameter MVA is executed by the matching unit 13.
[0034]
Next, FIG. 4 is an explanatory diagram showing a concept of moving the image area included in the bird's eye view image when the vehicle C moves in the circumferential direction. 4A shows the first image area FLA1 included in the vehicle C before movement and the bird's-eye view image before movement, and FIG. 4B shows the vehicle C after movement, the first image area FLA1 and A second image area FLA2 included in the bird's eye view image after movement is shown.
[0035]
Then, when the vehicle C rotates from the state shown in FIG. 4A with the point O as the rotation center and the rotation radius R by the rotation angle θ, the vehicle C moves to the position shown in FIG. 4B. At this time, the same grid point in the first image area FLA1 before the movement and the second image area FLA2 after the movement moves as indicated by arrows in FIG. The moving distance and moving direction of the grid points are different for each grid point according to the rotation center, rotation angle, and rotation radius of the vehicle C. In other words, if the moving distance and moving direction of each of the plurality of grid points are determined, the vehicle movement parameter MVA can be specified. By using a plurality of movement vectors, each of the plurality of grid points can be specified. The vehicle movement parameter MVA can be specified based on the movement distance and the movement direction.
[0036]
A plurality of lattice points correspond to the macro block MBL shown in FIG. Further, the vehicle movement parameter MVA is calculated in consideration that the moving distance and moving direction of the plurality of grid points in the image region are opposite to the actual moving direction of the vehicle.
[0037]
Next, FIG. 5A and FIG. 5B are explanatory views of bird's-eye view images at the time of reverse parking operation in which the vehicle C is moved backward and parked in the parking section PA. 5A is the first bird's-eye view image FL1 at time t1 immediately after the start of the reverse parking operation, and FIG. 5B is the second bird's-eye view image at time t2 when a certain time has elapsed from time t1. FL2.
[0038]
Further, FIG. 5A shows the first image area FLA1 that is the imaging area at time t1 as an area surrounded by a dotted line, and FIG. 5B shows the first image area FLA1 by a dotted line at time A second image area FLA2 that is an imaging area at t2 is shown as an area surrounded by a one-dot chain line. Further, in FIG. 5B, the area where the first image area FLA1 and the second image area FLA2 overlap is the coincidence area AC, and the area other than the coincidence area AC among the first image area FLA1 and the second image area FLA2. Is a mismatch area. Among these, the coincidence area AC is shown with a shaded pattern.
[0039]
Then, as can be seen from FIGS. 5A and 5B, not only the second image area FLA2 which is the latest photographing area but also a mismatch area is added, so that a wide range of bird's-eye view images around the vehicle can be obtained. Can be displayed.
Further, as can be seen from FIG. 5A and FIG. 5B, the position of the image area changes according to the movement of the vehicle, so the above-described block matching method is used for the change of the position of the image area. Thus, it can be seen that a plurality of movement vectors MV from the first bird's-eye view image FL1 to the second bird's-eye view image FL2 can be calculated. And the vehicle movement parameter MVA when a vehicle moves can be calculated | required by using the calculated several movement vector MV.
[0040]
Next, the processing content of the predicted course calculation process executed by the course prediction unit 17 of the image processing unit 5 will be described with reference to the flowchart shown in FIG. The predicted course calculation process is started by the course prediction unit 17 as soon as the image processing unit 5 is activated.
[0041]
The image processing unit 5 is activated at the start timing of the reverse parking operation. For example, it is determined whether the shift range of the vehicle C is reverse (reverse), and the shift range is reversed. It is determined that the time is the start time of the reverse parking operation. When the image processing unit 5 is activated, in addition to the course prediction unit 17, the coordinate conversion unit 11, the matching unit 13, the region estimation unit 15, and the drawing unit 19 start their respective processes.
[0042]
When the predicted course calculation process is started, first, in S110 (S represents a step), the counter n is initialized (0 is substituted for the counter n). The counter n is for counting the number of accumulated vehicle movement parameters MVA.
[0043]
In the next S120, the latest vehicle movement parameter MVA data generated by the matching unit 13 is fetched as the nth vehicle movement parameter MVAn. Note that “n” in the n-th vehicle movement parameter MVAn represents the same number as the counter n.
[0044]
In subsequent S130, the counter n is incremented (added by 1).
In the next S140, it is determined whether or not the counter n is larger than the predetermined data number F. If the counter n is larger than the predetermined data number F, an affirmative determination is made and the process proceeds to S150. If it is F or less, a negative determination is made, and the process proceeds to S160. The predetermined number of data F is set with the number of movement vectors (for example, 10 or more) necessary for course prediction.
[0045]
When an affirmative determination is made in S140 and the process proceeds to S150, the predicted course of the vehicle C is predicted based on the linear prediction method using the latest F vehicle movement parameters (from VMAn-F + 1 to VMAn) in S150. . For the course prediction, a prediction method other than the linear prediction method may be used.
[0046]
When a negative determination is made at S140 or when the process at S150 is completed, the process proceeds to S160. At S160, the latest n-th vehicle movement parameter MVAn captured at S120 is provided inside the image processing unit 5. Processing to accumulate in the storage area (memory) not to be performed. At this time, a maximum of F vehicle movement parameters can be stored in the storage area. When the (F + 1) th vehicle movement parameter is stored, the oldest vehicle movement parameter is deleted and the latest vehicle is deleted. The movement parameter is accumulated. As a result, the F vehicle movement parameters accumulated in the storage area are always in the latest state.
[0047]
Then, when the process of S160 ends, the process proceeds to S120, and a process of taking in the vehicle movement parameters is performed again. Thereafter, the predicted course of the vehicle C is updated based on the latest F vehicle movement parameters by repeatedly executing the processing from S120 to S160.
[0048]
Thereafter, in the course prediction unit 17, the above-described predicted course calculation process is continuously executed until the image processing unit 5 stops, and the predicted course calculation process also stops together with the stop of the image processing unit 5.
The image processing unit 5 is stopped when the reverse parking operation ends. For example, when the shift range of the vehicle C is changed from reverse (reverse) to another range, the reverse parking operation is ended. judge.
[0049]
Here, the predicted course composite image MFL obtained by superimposing the predicted course on the vehicle periphery bird's-eye view image is displayed on the in-vehicle monitor 3 as shown in FIG. 5C, for example. As described above, the predicted course DL overlaps with the parking section PA, so that the driver can confirm that the vehicle C accurately enters the parking section PA, thereby reducing the burden on the driver during the backward parking operation. Is possible.
[0050]
At this time, the region estimation unit 15 determines the current position of the vehicle C based on the latest bird's-eye view image, and sends information related to the current position of the vehicle C to the drawing unit 19. The current position is superimposed on the predicted course composite image and displayed on the in-vehicle monitor 3.
[0051]
As described above, according to the vehicle periphery display device 1 of the present embodiment, the movement vector is calculated and accumulated using two bird's-eye view images having different shooting times, and the past of the vehicle is based on the accumulated movement vector. A movement trajectory is discriminated, and a predicted course that is a future trajectory is predicted based on the determined past movement trajectory. That is, the predicted course that is the future movement locus of the vehicle is predicted based on the change in the captured image.
[0052]
Therefore, when the vehicle periphery display device 1 according to the present embodiment is used, it is not necessary to provide a sensor such as a steering angle sensor in the vehicle in predicting the predicted course of the vehicle. It is possible to suppress the cost increase. Further, since a sensor such as a steering angle sensor is unnecessary, the vehicle periphery display device 1 can relatively easily realize additional installation on an existing vehicle.
[0053]
Moreover, since the vehicle periphery display apparatus 1 of a present Example displays the vehicle periphery bird's-eye view image produced | generated in the area | region estimation part 15, it can provide the information regarding a wider vehicle periphery with respect to a driver | operator. Furthermore, since the predicted route composite image in which the predicted routes are superimposed is displayed, the driver can easily grasp the positional relationship between the predicted route of the vehicle and obstacles around the vehicle, and avoid the risk of collision. The vehicle can be driven safely.
[0054]
And since the vehicle periphery display apparatus 1 of a present Example has the camera 2 arrange | positioned at the vehicle rear part, while a driver | operator can discover the obstruction etc. of a vehicle back at an early stage, It is possible to more accurately grasp the positional relationship with an obstacle or the like behind the vehicle, and as a result, it is possible to reduce the burden on the driver at the time of reverse parking operation.
[0055]
Further, in the vehicle periphery display device 1 of the present embodiment, since the current position of the vehicle C is displayed superimposed on the predicted route synthesis image, the relative positional relationship between the vehicle C and the surrounding arrangement is clearly displayed as an image. Can be displayed. As a result, the driver can easily grasp the position of the host vehicle with respect to the surrounding objects, and the burden during parking operation or the like is further reduced.
[0056]
In the vehicle periphery display device of the present embodiment, the camera 2 corresponds to the photographing means in the claims, the in-vehicle monitor 3 corresponds to the display means, the coordinate conversion unit 11 corresponds to the bird's eye view image generating means, The matching unit 13 and the course prediction unit 17 correspond to the course prediction unit, the drawing unit 19 corresponds to the display processing unit, the matching unit 13 corresponds to the area determination unit, and the surrounding image creation unit corresponds to the drawing unit 19. It is.
[0057]
As mentioned above, although the Example of this invention was described, this invention is not limited to the said Example, It can take a various aspect.
For example, a program for causing a computer to function as an execution unit of each process (image coordinate conversion process, predicted course or movement vector calculation process, etc.) in the image processing unit 5 of the vehicle periphery display device is also included in the present invention. Included in the range. By using this program, a suitable vehicle periphery display using a computer system can be performed.
[0058]
Further, a computer-readable recording medium that records a program for causing a computer to function as an execution unit of each process in the image processing unit 5 of the vehicle periphery display device is also included in the scope of the present invention. The program executed in the computer system can be recorded on a computer-readable recording medium such as a floppy disk, a magneto-optical disk, a CD-ROM, or a hard disk. A suitable vehicle periphery display using the computer system can be performed by loading the program recorded in the recording medium into the computer system and starting it as necessary.
[0059]
The ROM or backup RAM may be recorded as a computer-readable recording medium, and the ROM or backup RAM may be incorporated into a computer system.
The matching unit compares two bird's-eye view images having different shooting times, determines a region where the images match (hereinafter referred to as a matching region) and a region where the images do not match (disagreement region), and matches the matching region. As long as the movement vector can be calculated based on the above, the determination method is not limited to the block matching method, and other determination methods may be used.
[0060]
Further, the region estimation unit may be configured to generate a vehicle periphery bird's-eye view image using two or more bird's-eye view images. For example, by discriminating an inconsistent area between the vehicle periphery bird's-eye view image and the latest bird's-eye view image, and repeatedly adding a mismatch area in the latest bird's-eye view image to the vehicle periphery bird's-eye view image, the latest vehicle periphery bird's-eye view image is obtained. It may be generated. That is, the latest bird's-eye view image is generated by sequentially adding new inconsistent areas to the previous vehicle periphery bird's-eye image. In this case, the vehicle-peripheral bird's-eye view image is generated based on all the past bird's-eye view images, and the displayable area widens as the inconsistent area is added. Can be provided.
[0061]
Furthermore, the vehicle periphery display device may be configured integrally with a car navigation device configured using a computer. That is, at the time of reverse parking operation, there are few processes as a car navigation system, and the processing load of the computer is reduced, so that each process as a vehicle periphery display device can be executed. As a result, one computer can be used effectively without waste, and the space for installing the in-vehicle device can be reduced as compared with the case where the vehicle periphery display device and the car navigation device are provided separately and independently.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing a main configuration of a vehicle periphery display device.
FIG. 2 is an explanatory diagram showing a main configuration of a vehicle periphery display device and functional blocks of an image processing unit.
FIG. 3 is an explanatory diagram illustrating a method for detecting a matching area between two images.
4A is an explanatory diagram showing a vehicle before movement and a first image area before movement; FIG. 4B is a diagram showing a vehicle after movement, a first image area before movement, and a first image area after movement; It is explanatory drawing which shows 2 image area | regions.
5A is a first bird's-eye view image at time t1, FIG. 5B is a second bird's-eye view image at time t2, and FIG. 5C is a predicted course synthesis image;
FIG. 6 is a flowchart showing the processing contents of a predicted course calculation process executed by a course prediction unit of the image processing unit.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Vehicle periphery display apparatus, 2 ... Camera, 3 ... Car-mounted monitor, 5 ... Image processing unit, 11 ... Coordinate conversion part, 13 ... Matching part, 15 ... Area estimation part, 17 ... Course prediction part, 19 ... Drawing part, C: Vehicle.

Claims (6)

In a vehicle including an imaging unit that captures an image around a vehicle and a display unit that displays an image, the vehicle periphery display device that processes an image captured by the imaging unit and displays the image on the display unit,
A bird's-eye view image generation means for sequentially generating a bird's-eye view image by converting the image photographed by the photographing means into data on a ground surface coordinate system projected from the photographing means as a viewpoint;
Among the bird's eye view images generated by the bird's eye view image generation means, obtain and accumulate a movement vector representing the movement distance and movement direction of the matching region in at least two temporally continuous bird's eye view images, and store the plurality of accumulated movements. A route prediction means for calculating a vehicle movement parameter representing a movement state of the vehicle based on a vector, and predicting a predicted route of the vehicle based on the vehicle movement parameter ;
Display processing means for displaying the predicted course predicted by the course prediction means on the display means;
A vehicle periphery display device comprising: An area for comparing the first bird's eye view image generated by the bird's eye view image generating means with the second bird's eye view image generated after the generation of the first bird's eye view image and discriminating between the matching area and the mismatch area Discrimination means;
Peripheral image creation means for creating a vehicle peripheral bird's-eye view image in which the mismatch region determined by the region determination means is added to the second bird's-eye view image,
The display processing means displaying on the display means a predicted course composite image in which the predicted course is superimposed on the vehicle periphery bird's-eye view image;
The vehicle periphery display device according to claim 1.   The vehicle periphery display device according to claim 1, wherein the image photographed by the photographing unit is an image behind the vehicle. When displaying the predicted course composite image on the display means, adding an image showing the host vehicle,
The vehicle periphery display device according to any one of claims 1 to 3, wherein:   The program for functioning a computer as each means in the vehicle periphery display apparatus in any one of the said Claims 1-4.   The computer-readable recording medium which recorded the program for functioning a computer as each means in the vehicle periphery display apparatus in any one of the said Claims 1-4.

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