JP2004260694A - Vehicle surrounding image processing system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately support drive of a user by providing the user with appropriate information. <P>SOLUTION: This vehicle surroundings image processing system 1 displays a synthetic birds-eye image on an on-vehicle monitor 5 by coloring the past birds-eye image in the synthetic birds-eye image generated by synthesizing the past birds-eye image with the present birds-eye image. The user is made to appropriately recognize the present status, attention to a region of the past birds-eye image is appropriately urged and the drive of the user is appropriately supported by clarifying a boundary between the past birds-eye image and the present birds-eye image. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle peripheral image processing system configured to combine a past bird's-eye view image and a current bird's-eye view image to generate and display a combined bird's-eye view image.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a situation behind a vehicle is photographed by a rear camera installed at a rear part of the vehicle, a coordinate of the photographed image is converted to generate a bird's-eye view (a plan view viewed from above), and the generated bird's-eye view image is generated. Is displayed on an in-vehicle monitor together with a vehicle figure (for example, see Patent Document 1).
[0003]
[Patent Document 1]
JP-A-10-211849
[Problems to be solved by the invention]
By the way, according to the technology described in Patent Document 1 described above, the situation behind the vehicle can be displayed as a bird's-eye view image, so that the user can easily recognize the positional relationship between the vehicle and, for example, a parking space (parking frame). Although it is possible, it is not possible to display even the area outside the field of view of the current rear camera on the vehicle-mounted monitor. Therefore, the applicant combines the past bird's-eye view image and the current bird's-eye view image to generate a composite bird's-eye view image so that the area outside the field of view of the current rear camera can be displayed on the vehicle-mounted monitor. The application to be indicated was filed as Japanese Patent Application No. 2001-394419.
[0005]
According to Japanese Patent Application No. 2001-394419, a past bird's-eye view image and a current bird's-eye view image are combined to generate and display a combined bird's-eye view image. If the camera is shooting, an area captured by the rear camera in the past is synthesized and displayed, so that even an area outside the field of view of the current rear camera can be displayed on the vehicle-mounted monitor.
[0006]
However, in the configuration described in Japanese Patent Application No. 2001-394419, since the past bird's-eye view image and the current bird's-eye view image are not separately displayed, the past bird's-eye view image and the current bird's-eye view image are confused. As a result, there is a problem that the user cannot recognize the current situation. In addition, there is a problem in that the user cannot recognize a stepwise change in the passage of time in a past bird's-eye view image. In addition, there is a problem in that the user can recognize an area outside the field of view of the current rear camera, but cannot recognize a region outside the field of view of the past rear camera. Further, there is a problem that the user cannot recognize the distance from the vehicle to the obstacle.
[0007]
The present invention has been made in view of the above circumstances, and an object of the present invention is to combine a past bird's-eye view image and a current bird's-eye view image to generate and display a combined bird's-eye view image. An object of the present invention is to provide a vehicle peripheral image processing system that can appropriately assist a user's driving by providing the system to a user.
[0008]
[Means for Solving the Problems]
According to the vehicle periphery image processing system described in claim 1, when the photographing means photographs the periphery of the vehicle, the bird's-eye view image generating means generates a bird's-eye view image by performing coordinate transformation on the image photographed by the photographing means. The storage unit stores the bird's-eye view image generated by the bird's-eye view image generation unit. When the vehicle moving state detecting means detects the moving state of the vehicle, the bird's-eye view image moving means detects the past bird's-eye view stored in the bird's-eye view image storing means based on the moving state of the vehicle detected by the vehicle moving state detecting means. The image is rotated or translated, and the combined bird's-eye view image generating means is coordinate-transformed by the bird's-eye view image generating means into a past bird's-eye view image rotated or translated by the bird's-eye view image moving means and an image taken by the photographing means. And a current bird's-eye view image generated as described above to generate a composite bird's-eye view image.
[0009]
Then, when the composite bird's-eye view image is generated in this way, the display control means adds a predetermined color to the past bird's-eye view image in the generated composite bird's-eye view image and causes the display means to display the composite bird's-eye view image. Thus, by clarifying the boundary between the past bird's-eye view image and the current bird's-eye view image, the current situation can be appropriately recognized by the user, and attention should be paid to the area where the past bird's-eye view image is displayed. It is possible to prompt the user appropriately and to appropriately support the driving of the user.
[0010]
According to the vehicle peripheral image processing system described in claim 2, when the photographing means photographs the periphery of the vehicle, the bird's-eye view image generating means performs coordinate transformation on the image photographed by the photographing means to generate a bird's-eye view image, and The storage unit stores the bird's-eye view image generated by the bird's-eye view image generation unit. When the vehicle moving state detecting means detects the moving state of the vehicle, the bird's-eye view image moving means detects the past bird's-eye view stored in the bird's-eye view image storing means based on the moving state of the vehicle detected by the vehicle moving state detecting means. The image is rotated or translated, and the combined bird's-eye view image generating means is coordinate-transformed by the bird's-eye view image generating means into a past bird's-eye view image rotated or translated by the bird's-eye view image moving means and an image taken by the photographing means. And a current bird's-eye view image generated as described above to generate a composite bird's-eye view image.
[0011]
Then, when the composite bird's-eye view image is generated in this way, the display control means attaches a stepwise change in the time lapse due to shading, gradation, mosaic, etc. to the past bird's-eye view image in the generated composite bird's-eye view image. To display the composite bird's-eye view image on the display means. This allows the user to appropriately recognize the gradual change in the time lapse in the past bird's-eye view image by adding the gradual change in the time lapse in the past bird's-eye view image by shading, gradation, mosaic, or the like. It is possible to appropriately support the driving of the user.
[0012]
According to the vehicle periphery image processing system described in claim 3, when the photographing means photographs the periphery of the vehicle, the bird's-eye view image generating means performs coordinate transformation of the image photographed by the photographing means to generate a bird's-eye view image, and The storage unit stores the bird's-eye view image generated by the bird's-eye view image generation unit. When the vehicle moving state detecting means detects the moving state of the vehicle, the bird's-eye view image moving means detects the past bird's-eye view stored in the bird's-eye view image storing means based on the moving state of the vehicle detected by the vehicle moving state detecting means. The image is rotated or translated, and the combined bird's-eye view image generating means is coordinate-transformed by the bird's-eye view image generating means into a past bird's-eye view image rotated or translated by the bird's-eye view image moving means and an image taken by the photographing means. And a current bird's-eye view image generated as described above to generate a composite bird's-eye view image.
[0013]
When the synthetic bird's-eye view image is generated in this way, the display control means applies a predetermined color to an area outside the field of view of the photographing means in the display area of the display means and generates the composite bird's-eye view image by the synthetic bird's-eye view image generating means The displayed composite bird's-eye view image is displayed on the display means. This makes it possible for the user to appropriately recognize an area outside the field of view of the past rear camera by clarifying the area outside the field of view of the past rear camera. Attention can be appropriately given to the outside area, and the driving of the user can be appropriately supported.
[0014]
According to the vehicle peripheral image processing system described in claim 4, when the photographing means photographs the periphery of the vehicle, the bird's-eye view image generating means performs coordinate transformation on the image photographed by the photographing means to generate a bird's-eye view image, The storage unit stores the bird's-eye view image generated by the bird's-eye view image generation unit. When the vehicle moving state detecting means detects the moving state of the vehicle, the bird's-eye view image moving means detects the past bird's-eye view stored in the bird's-eye view image storing means based on the moving state of the vehicle detected by the vehicle moving state detecting means. The image is rotated or translated, and the combined bird's-eye view image generating means is coordinate-transformed by the bird's-eye view image generating means into a past bird's-eye view image rotated or translated by the bird's-eye view image moving means and an image taken by the photographing means. And a current bird's-eye view image generated as described above to generate a composite bird's-eye view image.
[0015]
When the combined bird's-eye view image is generated in this way, the display control means draws a mark indicating the distance from the vehicle on the generated combined bird's-eye view image and causes the display means to display the combined bird's-eye view image. Accordingly, by drawing the mark indicating the distance from the vehicle, the user can appropriately recognize the distance from the vehicle to the obstacle, and can appropriately prompt the user to pay attention to the obstacle. Can be properly supported.
[0016]
According to the vehicle periphery image processing system described in claim 5, when the photographing means photographs the periphery of the vehicle, the bird's-eye view image generating means generates a bird's-eye view image by performing coordinate transformation on the image photographed by the photographing means. The storage unit stores the bird's-eye view image generated by the bird's-eye view image generation unit. When the vehicle moving state detecting means detects the moving state of the vehicle, the bird's-eye view image moving means detects the past bird's-eye view stored in the bird's-eye view image storing means based on the moving state of the vehicle detected by the vehicle moving state detecting means. The image is rotated or translated, and the combined bird's-eye view image generating means is coordinate-transformed by the bird's-eye view image generating means into a past bird's-eye view image rotated or translated by the bird's-eye view image moving means and an image taken by the photographing means. And a current bird's-eye view image generated as described above to generate a composite bird's-eye view image.
[0017]
When the combined bird's-eye view image is generated in this way, the display control means draws a frame along the outline of the vehicle figure on the generated combined bird's-eye view image and causes the display means to display the combined bird's-eye view image. Thus, by drawing the frame along the outer shape of the vehicle figure, the position of the vehicle can be appropriately recognized by the user, and attention to an obstacle can be appropriately promoted. Can help.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. The first embodiment corresponds to claims 1 to 3 of the present invention. First, FIG. 2 schematically shows a configuration of the vehicle periphery image processing system. The vehicle peripheral image processing system 1 includes a rear camera 3 (photographing means in the present invention) for photographing a situation behind the vehicle 2 and an in-vehicle monitor 5 (in the present invention) disposed in a vehicle compartment 4, for example, on a dashboard. Display means) and an image processing unit 6 for performing image processing.
[0019]
FIG. 1 shows a functional block diagram of the vehicle peripheral image processing system 1. The vehicle peripheral image processing system 1 includes, as functional blocks, a CPU 7 (vehicle moving state detecting means, bird's-eye view image moving means, synthetic bird's-eye view image generating means, display control means) controlling the operation of the entire system, and a rear camera. 3, a bird's-eye view image generation circuit 8 (bird's-eye view image generation means in the present invention), a first image memory 9 (bird's-eye view image storage means in the present invention), a second image memory 10, and a display image memory 11, an on-board monitor 5, a steering wheel signal input circuit 12, a vehicle speed signal input circuit 13, a yaw rate signal input circuit 14, an ultrasonic sensor signal input circuit 15, and a shift position signal input circuit 16 Have been.
[0020]
When an image is input from the rear camera 3, the bird's-eye view image generation circuit 8 generates a bird's-eye view image by performing coordinate conversion on the input image, and outputs the generated bird's-eye view image to the first image memory 9. When a bird's-eye view image is input from the bird's-eye view image generation circuit 8, the first image memory 9 temporarily stores the input bird's-eye view image as a current bird's-eye view image.
[0021]
When the bird's-eye view image is transferred from the first image memory 9, the second image memory 10 stores the transferred bird's-eye view image as a past bird's-eye view image. The display image memory 11 displays a combined bird's-eye view image in which the current bird's-eye view image stored in the first image memory 9 and the past bird's-eye view image stored in the second image memory 10 are combined. To be stored. The in-vehicle monitor 5 displays the composite bird's-eye view image stored in the display image memory 11 as the display image.
[0022]
The handle angle signal input circuit 12 causes the CPU 7 to input data regarding the handle operation of the user. The vehicle speed signal input circuit 13 causes the CPU 7 to input data relating to the vehicle speed. The yaw rate signal input circuit 14 causes the CPU 7 to input data relating to the turning state of the vehicle 2. The ultrasonic sensor signal input circuit 15 detects the presence or absence of an obstacle present around the vehicle 2 and causes the CPU 7 to input data on the presence or absence of the obstacle and data on the distance between the obstacle and the vehicle 2. The shift position signal input circuit 16 causes the CPU 7 to input data relating to the operation of the shift lever by the user.
[0023]
In the above configuration, the CPU 7, the bird's-eye view image generation circuit 8, the first image memory 9, the second image memory 10, the display image memory 11, the steering wheel angle signal input circuit 12, the vehicle speed signal input circuit 13, the yaw rate signal The input circuit 14, the ultrasonic sensor signal input circuit 15, and the shift position signal input circuit 16 can be configured as a single LSI by integrating all or part of them. Instead of providing the bird's-eye view image generation circuit 8 as a dedicated image processing circuit for generating a bird's-eye view image, the CPU 7 can also generate the bird's-eye view image by software. Further, the in-vehicle monitor 5 can also be used as a display of a navigation device.
[0024]
Here, a procedure in which the bird's-eye view image generation circuit 8 generates a bird's-eye view image will be briefly described. As a precondition, it is assumed that the rear camera 3 has an autofocus function, and its mounting height and mounting angle are set in advance. In addition, the ground is assumed to be a plane as a calculation precondition. Here, the image taken by the rear camera 3 is decomposed in pixel units, the distance to each pixel and the width direction position are calculated using the rear end of the vehicle 2 as a reference line, and the position coordinates of each pixel after bird's-eye conversion are calculated. calculate. Then, each pixel is rearranged based on the calculated position coordinates. Thereby, a bird's-eye view image can be generated from an image captured by the rear camera 3.
[0025]
By performing the bird's-eye view conversion in this manner, in the bird's-eye view image, it is assumed that a gap may occur between pixels or the pixels may overlap with each other. In some cases, it is assumed that the image displayed on the in-vehicle monitor 5 is an image that is somewhat thinned out, and the operability is lower than the original image (raw image) captured by the rear camera 3 is displayed. Good thing.
[0026]
Next, the operation of the above configuration will be described with reference to FIGS. The CPU 7 initializes the first image memory 9, the second image memory 10, and the display image memory 11, and also initializes various parameters (step S1). Next, the CPU 7 detects that the image captured by the rear camera 3 is coordinate-transformed by the bird's-eye view image generation circuit 8 to generate a bird's-eye view image, and that the bird's-eye view image is stored in the first image memory 9 (step S2). It is determined whether or not the bird's-eye view image is stored in the second image memory 10 (step S3).
[0027]
Here, when the CPU 7 detects that the bird's-eye view image is stored in the second image memory 10 (“YES” in step S3), the data input from the steering wheel angle signal input circuit 12, the vehicle speed signal input It is determined whether the vehicle 2 is moving based on the data input from the circuit 13, the data input from the yaw rate signal input circuit 14, and the data input from the ultrasonic sensor signal input circuit 15 ( Step S4).
[0028]
When detecting that the vehicle 2 is moving (“YES” in step S4), the CPU 7 reads the bird's-eye view image stored as the past bird's-eye view image from the second image memory 10 (step S5). Then, image processing for rotating or translating the read bird's-eye view image based on the moving state of the vehicle 2 is performed (step S6). At this time, if the vehicle 2 is moving in a curve, the CPU 7 performs image processing for rotating and moving the bird's-eye view image stored in the second image memory 10, and the vehicle 2 moves straight and moves. If so, the image processing for translating the bird's-eye view image stored in the second image memory 10 is performed.
[0029]
Next, the CPU 7 reads a bird's-eye view image stored as a current bird's-eye view image from the first image memory 9 (step S7), and reads a past bird's-eye view image read from the second image memory 10 and subjected to image processing. And the current bird's-eye view image read from the first image memory 9 to generate a combined bird's-eye view image (step S8).
[0030]
Now, when the composite bird's-eye view image is generated in this way, the CPU 7 colors the latest past bird's-eye view image in the generated composite bird's-eye view image (step S9). More specifically, the CPU 7 applies a reddish color to the latest past bird's-eye view image by applying an RGB color filter to the latest past bird's-eye view image, for example, by increasing the R value by a certain amount. At this time, it is desirable that the color added to the latest past bird's-eye view image be a color that draws the user's attention.
[0031]
Next, the CPU 7 determines whether or not there is an area outside the field of view of the rear camera 3 in the display area of the vehicle-mounted monitor 5 (step S10). When it is detected that an area outside the field of view is present ("YES" in step S10), the area outside the field of view of rear camera 3 is colored (step S11). More specifically, the CPU 7 increases the B value by a certain amount, for example, in a region outside the field of view of the rear camera 3 and applies an RGB color filter to the area outside the field of view of the rear camera 3 so that the bluish color is obtained. wear. At this time, it is desirable that the color applied to the region outside the field of view of the rear camera 3 also be a color that draws the user's attention.
[0032]
Then, the CPU 7 outputs the latest past bird's-eye view image and the composite bird's-eye view image in which an area outside the field of view of the rear camera 3 is colored to the display image memory 11 and causes the in-vehicle monitor 5 to display the image. (Step S12), the combined bird's-eye view image is stored in the second image memory 10 as a past bird's-eye view image (Step S13), the process returns to Step S2, and the processes after Step S2 are repeated.
[0033]
Through the series of processes described above, the CPU 7 displays the current bird's-eye view image in the display area behind the vehicle graphic 17 (the area indicated by “P” in FIG. 4) as shown in FIG. A colored past bird's-eye view image is displayed in a display area (areas indicated by “Q1” and “Q2” in FIG. 4) on the side of the vehicle graphic 17 and the rear camera 3 with a bluish color is displayed. An area outside the field of view is displayed in a predetermined display area (areas indicated by “R1” and “R2” in FIG. 4).
[0034]
Also, in this case, the CPU 7 applies a predetermined color to the latest past bird's-eye view image. Display. That is, the CPU 7 displays an area in the past bird's-eye view image where the time lapse is relatively large with a darker color and displays an area in the past bird's-eye view image where the time lapse is relatively small with a lighter color. Display is performed (in FIG. 4, a dark-colored area is indicated by dense hatching, and a light-colored area is indicated by coarse hatching).
[0035]
When detecting that the bird's-eye view image is not stored in the second image memory 10 (“NO” in step S3), the CPU 7 stores the bird's-eye view image stored in the first image memory 9 as the current bird's-eye view image. The image is transferred to the second image memory 10 (step S14), the process returns to step S2, and the processes after step S2 are repeated.
[0036]
Further, when detecting that the vehicle 2 is not moving ("NO" in step S4), the CPU 7 reads the bird's-eye view image read from the second image memory 10 and subjected to the image processing, and the first image The bird's-eye view image stored in the first image memory 9 as the current bird's-eye view image is directly displayed in the display area behind the vehicle graphic 17 without generating a combined bird's-eye view image by combining the bird's-eye view image read from the memory 9. (Step S15), the process returns to Step S2, and the processes after Step S2 are repeated.
[0037]
When the CPU 7 detects that there is no area outside the field of view of the rear camera 3 in the display area of the on-vehicle monitor 5 (“NO” in step S10), the area outside the field of view of the rear camera 3 is detected. A composite bird's-eye view image in which only the latest past bird's-eye view image is colored is output to the display image memory 11 and displayed on the in-vehicle monitor 5 without coloring the region (step S12). A second bird's-eye view image is stored in the second image memory 10 (step S13).
[0038]
By the way, the case where the past bird's-eye view image is colored is described above with the gradual change of the time lapse due to shading. good. Alternatively, one of the processing of coloring the past bird's-eye view image and the processing of coloring an area outside the field of view of the rear camera 3 may be selectively performed.
[0039]
As described above, according to the first embodiment, in the vehicle periphery image processing system 1, the past bird's-eye view image and the current bird's-eye view image are combined to generate a color in the past bird's-eye view image in the combined bird's-eye view image. , The composite bird's-eye view image is displayed, so that the boundary between the past bird's-eye view image and the current bird's-eye view image is clarified, so that the user can appropriately recognize the current situation. It is possible to appropriately call attention to the area where the bird's-eye view image is displayed, and to appropriately support the driving of the user.
[0040]
In addition, since a composite bird's-eye view image in the past bird's-eye view image is displayed by adding a gradual change of the time lapse by shading, gradation, mosaic, etc. to the past bird's-eye view image in the composite bird's-eye view image, The user can appropriately recognize the elapse of time, and can appropriately support the driving of the user.
[0041]
Further, since the composite bird's-eye view image is displayed by adding a color to the area outside the field of view of the rear camera 5 in the display area of the vehicle-mounted monitor 5, the area outside the field of view of the rear camera 5 is clarified. This makes it possible for the user to appropriately recognize an area outside the field of view of the past rear camera 5, appropriately alert the user to an area outside the field of view of the past rear camera 5, and appropriately drive the user. Can help.
[0042]
(Second embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. This second embodiment corresponds to claim 4 of the present invention. Here, the description of the same parts as those in the first embodiment will be omitted, and different parts will be described.
[0043]
In the second embodiment, the CPU 7 combines the bird's-eye view image read from the second image memory 10 and subjected to the image processing with the bird's-eye view image read from the first image memory 9 to form a combined bird's-eye view image. Is generated (step S8), a mark indicating the distance from the vehicle 2 is drawn on the generated synthesized bird's-eye view image (step S21). Then, the CPU 7 outputs the synthesized bird's-eye view image on which the mark indicating the distance from the vehicle 2 is drawn to the display image memory 11 and displays the image on the in-vehicle monitor 5 (step S22).
[0044]
By the above-described series of processes, the CPU 7 indicates the distance from the vehicle 2 based on the rear end of the vehicle graphic 17 as shown in FIG. Markers (in FIG. 6, lines indicated by “A1” to “A4”) are drawn, and, for example, when the outer shape of the vehicle 2 is used as a reference, as shown in FIG. A mark indicating the distance from the vehicle 2 (lines indicated by “B1” to “B4” in FIG. 7) is drawn as a reference, and further, for example, a sonar installation position set at a predetermined portion of the vehicle 2 is used as a reference. If so, as shown in FIG. 8, as shown in FIG. 8, a mark (“C1”, “C2”, “C2”, “C2”, D1 ”and“ D2 ”) and draw distances from these vehicles 2. And displays the synthesized bird's-eye view marker has been drawn showing.
[0045]
As described above, according to the second embodiment, in the vehicle surrounding image processing system 1, the distance from the vehicle 2 is indicated by the synthesized bird's-eye view image generated by synthesizing the past bird's-eye view image and the current bird's-eye view image. Since the synthesized bird's-eye view image is displayed by drawing the mark, the user can appropriately recognize the distance from the vehicle 2 to the obstacle by drawing the mark indicating the distance from the vehicle 2. Therefore, it is possible to appropriately prompt attention to an obstacle, and to appropriately support the driving of the user.
[0046]
(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIGS. The third embodiment corresponds to claim 5 of the present invention. Here, the description of the same parts as those in the first embodiment is omitted, and different parts will be described.
[0047]
In the third embodiment, the CPU 7 combines the bird's-eye view image read from the second image memory 10 and subjected to the image processing with the bird's-eye view image read from the first image memory 9 to generate a combined bird's-eye view image. Is generated (step S8), a frame is drawn on the generated composite bird's-eye view image so as to follow the outer shape of the vehicle figure 17 (step S31). Then, the CPU 7 outputs the synthesized bird's-eye view image in which the frame is drawn along the outer shape of the vehicle graphic 17 to the display image memory 11 and displays it on the in-vehicle monitor 5 (step S32).
[0048]
Through the series of processes described above, the CPU 7 draws a frame (indicated by “E” in FIG. 10) along the outer shape of the vehicle graphic 17 as shown in FIG. A composite bird's-eye view image in which a frame is drawn along the direction is displayed.
[0049]
As described above, according to the third embodiment, in the vehicle peripheral image processing system 1, the combined bird's-eye view image generated by combining the past bird's-eye view image and the current bird's-eye view image follows the outer shape of the vehicle graphic 17. The composite bird's-eye view image is displayed by drawing the frame as described above, so that the user can appropriately recognize the position of the vehicle 2 by drawing the frame along the outer shape of the vehicle graphic 17. Therefore, it is possible to appropriately prompt attention to an obstacle, and to appropriately support the driving of the user.
[0050]
(Other Examples)
The present invention is not limited to the above-described embodiment, but can be modified or expanded as follows.
A configuration in which some of the first, second, and third embodiments are combined may be employed.
In the second embodiment, when the user selects a drawing mode, a process of drawing a mark indicating a distance from the vehicle 2 based on the rear end of the vehicle graphic 17 is performed. A configuration in which a process of drawing a mark indicating a distance and a process of drawing a mark indicating a distance from the vehicle 2 based on the installation position of the sonar may be selectable.
[Brief description of the drawings]
FIG. 1 is a functional block diagram showing a first embodiment of the present invention. FIG. 2 is a diagram schematically showing the entire configuration of a system. FIG. 3 is a flowchart. FIG. 4 is a diagram showing an example of a display screen of an on-vehicle monitor. FIG. 5 is a flowchart showing a second embodiment of the present invention. FIG. 6 is a diagram corresponding to FIG. 4 FIG. 7 is a diagram corresponding to FIG. 4 FIG. 8 is a diagram corresponding to FIG. 4 FIG. 9 shows a third embodiment of the present invention Flow chart [FIG. 10] FIG. 4 equivalent diagram [Description of reference numerals]
In the drawings, 1 is a vehicle peripheral image processing system, 2 is a vehicle, 3 is a rear camera (photographing means), 5 is an on-vehicle monitor (display means), 7 is a CPU (vehicle moving state detecting means, bird's-eye view image moving means, synthetic bird's-eye view) 8 is a bird's-eye view image generation circuit (bird's-eye view image generation means), 9 is a first image memory (bird's-eye view image storage means).

Claims (5)

Photographing means for photographing around the vehicle;
Bird's-eye view image generating means for generating a bird's-eye view image by performing coordinate conversion on an image shot by the shooting means,
Bird's-eye view image storage means for storing a bird's-eye view image generated by the bird's-eye view image generation means,
Vehicle moving state detecting means for detecting a moving state of the vehicle;
A bird's-eye view image moving means for rotating or translating a past bird's-eye view image stored in the bird's-eye view image storage means based on the moving state of the vehicle detected by the vehicle moving state detecting means,
A past bird's-eye view image rotated or translated by the bird's-eye view image moving means is combined with a current bird's-eye view image generated by performing coordinate transformation on the image photographed by the photographing means by the bird's-eye view image generating means. A vehicle-surrounding image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
Vehicle peripheral image processing, comprising: display control means for applying a predetermined color to a past bird's-eye view image in the synthetic bird's-eye view image image generated by the synthetic bird's-eye view image generating means and displaying the synthesized bird's-eye view image on a display means. system. Photographing means for photographing around the vehicle;
Bird's-eye view image generating means for generating a bird's-eye view image by performing coordinate conversion on an image shot by the shooting means,
Bird's-eye view image storage means for storing a bird's-eye view image generated by the bird's-eye view image generation means,
Vehicle moving state detecting means for detecting a moving state of the vehicle;
A bird's-eye view image moving means for rotating or translating a past bird's-eye view image stored in the bird's-eye view image storage means based on the moving state of the vehicle detected by the vehicle moving state detecting means,
A past bird's-eye view image rotated or translated by the bird's-eye view image moving means is combined with a current bird's-eye view image generated by performing coordinate transformation on the image photographed by the photographing means by the bird's-eye view image generating means. A vehicle-surrounding image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
Display control means for displaying a composite bird's-eye view image on a display means by adding a stepwise change in time lapse by shading, gradation, mosaic, etc. to a past bird's-eye view image in the composite bird's-eye view image image generated by the composite bird's-eye view image generating means A vehicle peripheral image processing system comprising: Photographing means for photographing around the vehicle;
Bird's-eye view image generating means for generating a bird's-eye view image by performing coordinate conversion on an image shot by the shooting means,
Bird's-eye view image storage means for storing a bird's-eye view image generated by the bird's-eye view image generation means,
Vehicle moving state detecting means for detecting a moving state of the vehicle;
A bird's-eye view image moving means for rotating or translating a past bird's-eye view image stored in the bird's-eye view image storage means based on the moving state of the vehicle detected by the vehicle moving state detecting means,
A past bird's-eye view image rotated or translated by the bird's-eye view image moving means is combined with a current bird's-eye view image generated by performing coordinate transformation on the image photographed by the photographing means by the bird's-eye view image generating means. A vehicle-surrounding image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
Display control means for displaying a composite bird's-eye view image generated by the composite bird's-eye view image generating means on the display area by applying a predetermined color to an area outside the field of view of the photographing means in the display area of the display means; A vehicle peripheral image processing system, characterized in that: Photographing means for photographing around the vehicle;
Bird's-eye view image generating means for generating a bird's-eye view image by performing coordinate conversion on an image shot by the shooting means,
Bird's-eye view image storage means for storing a bird's-eye view image generated by the bird's-eye view image generation means,
Vehicle moving state detecting means for detecting a moving state of the vehicle;
A bird's-eye view image moving means for rotating or translating a past bird's-eye view image stored in the bird's-eye view image storage means based on the moving state of the vehicle detected by the vehicle moving state detecting means,
A past bird's-eye view image rotated or translated by the bird's-eye view image moving means is combined with a current bird's-eye view image generated by performing coordinate transformation on the image photographed by the photographing means by the bird's-eye view image generating means. A vehicle-surrounding image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
A vehicle peripheral image processing system, comprising: display control means for drawing a mark indicating the distance from the vehicle on the synthetic bird's-eye view image generated by the synthetic bird's-eye view image generating means and displaying the synthetic bird's-eye view image on the display means. . Photographing means for photographing around the vehicle;
Bird's-eye view image generating means for generating a bird's-eye view image by performing coordinate conversion on an image shot by the shooting means,
Bird's-eye view image storage means for storing a bird's-eye view image generated by the bird's-eye view image generation means,
Vehicle moving state detecting means for detecting a moving state of the vehicle;
A bird's-eye view image moving means for rotating or translating a past bird's-eye view image stored in the bird's-eye view image storage means based on the moving state of the vehicle detected by the vehicle moving state detecting means,
A past bird's-eye view image rotated or translated by the bird's-eye view image moving means is combined with a current bird's-eye view image generated by performing coordinate transformation on the image photographed by the photographing means by the bird's-eye view image generating means. A vehicle-surrounding image processing system comprising a synthetic bird's-eye view image generating means for generating a synthetic bird's-eye view image,
A vehicle peripheral image, comprising: display control means for drawing a frame on the composite bird's-eye view image image generated by the composite bird's-eye view image generation means along the outline of the vehicle figure and displaying the composite bird's-eye view image on the display means. Processing system.

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