JP2009087228A - Image display device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a driver to intuitively recognize a spatial position of her or his own vehicle. <P>SOLUTION: An image conversion part 30 performs coordinate transformation of a photographed image photographed by an in-vehicle camera 10 into an image representing how a specific area on a ground surface looks from the driving seat of a vehicle. A three-dimensional modeling part 40 creates from a display parameter a three-dimensional model of right and left front wheels in a visual field when the specific area on the ground surface is viewed from the driver's seat of the vehicle. Then, an image composition part 50 composites the three-dimensional model created by the three-dimensional modeling part 40 into an image converted by the image conversion part 30. Moreover, a display 60 displays the image composited by the image composition part 50 instead of the image that has been displayed so far. Thus, the driver can intuitively recognize the spatial relation of her or his vehicle. For example, an effect that decision about clearing of the own vehicle becomes improved when passing through a narrow path or turning a steering wheel quickly in one direction and then the other, can be expected. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an image display device that captures the periphery of a vehicle with an in-vehicle camera attached to the periphery of the vehicle, and displays the captured image. In particular, the driver can intuitively grasp the spatial position of the vehicle. It is related to the technology.

2. Description of the Related Art Conventionally, an image display device that captures an image of the periphery of a vehicle with an in-vehicle camera attached to the periphery of the vehicle and displays the captured image is known.
For example, an in-vehicle camera video composition / transmission device that functions as an image display device described in Patent Document 1 captures the surrounding coordinates of a vehicle by photographing the periphery of the vehicle with the above-described in-vehicle camera and performing a matrix operation on the captured image. The image is converted into transparent coordinates, and the image subjected to the coordinate conversion is displayed on the display device. When there are a plurality of the above-described on-vehicle cameras, an image obtained by performing the coordinate conversion as described above is combined to generate one image, and the generated image is displayed on the display device.

Further, in the image display device described in Patent Document 2, the screen configuration switching unit selects the stop 1 mode for displaying a composite image without an all-around blind spot when the ignition is on, and the shift position detected by the shift position detection unit is selected. In the case of forward gear, select the low-speed driving mode that displays a composite image that allows you to check the situation in front and the surrounding vehicles at the same time. The reverse mode to be displayed is selected, and the stop 1 mode is maintained at other gears.
Japanese Patent Laid-Open No. 11-1144 JP 2002-109697 A

  However, in the image display device as described above, since the image captured by the in-vehicle camera is displayed as it is or after being subjected to coordinate conversion, it can be confirmed whether there is an obstacle around the vehicle. For example, there is a problem that it is difficult to intuitively grasp the spatial position of the own vehicle such as the wheel position of the own vehicle and the traveling direction of the own vehicle when passing through the canyon.

  The present invention has been made in view of such problems, and an object of the present invention is to enable the driver to intuitively grasp the spatial position of the own vehicle.

  The image display device according to claim 1, which has been made to solve the above-described problem, performs coordinate conversion of a captured image captured by an in-vehicle camera into an image representing an image obtained by viewing a specific region of the ground surface from a specific point, and It is characterized in that a three-dimensional model of a part of a vehicle that enters the field of view when the region is viewed from a specific point is synthesized with the image after the coordinate conversion.

  Specifically, the vehicle-mounted camera captures the periphery of the vehicle, and the image conversion means coordinates-converts the captured image captured by the vehicle-mounted camera into an image representing a video obtained by viewing a specific area of the ground surface from a specific point. On the other hand, the three-dimensional model creating means creates a three-dimensional model of a part of the vehicle that enters the field of view when the specific region is viewed from a specific point. Then, the image synthesizing unit synthesizes the three-dimensional model created by the three-dimensional model creating unit with the image converted by the image converting unit. Further, the display control means displays the composite image generated by the image composition means on the display means for displaying various information to the user.

  According to the image display device of the present invention configured as described above, the driver can intuitively grasp the spatial position of the vehicle. And, for example, the effect that the parting time is improved when passing through a narrow road or when switching is expected.

  In this case, there may be a plurality of the above-described on-vehicle cameras. Specifically, as in claim 2, there are a plurality of in-vehicle cameras, and image conversion means for generating a single image by linking a plurality of captured images respectively captured by the plurality of in-vehicle cameras, It is conceivable that the means performs coordinate conversion of the image generated by the image connecting means into an image representing an image obtained by viewing the specific area from a specific point. For example, the end portions are overlapped like a panoramic photograph, and image processing such as primary conversion is performed on the overlapped portion.

  In this way, it is possible to display a wider range on the display means than when using a photographed image taken by a single in-vehicle camera, and the driver can intuitively grasp the spatial position of the vehicle. I can do it.

  By the way, it is conceivable that the above-described three-dimensional model is created based on at least information indicating the traveling direction of the vehicle and information indicating the outer shape of the vehicle. Specifically, as in claim 3, the three-dimensional model creating means uses at least the information indicating the traveling direction of the vehicle and the information indicating the outer shape of the vehicle as a visual field when viewing the specific region from the specific point. It is conceivable to create a three-dimensional model of a part of the entering vehicle. In this way, a three-dimensional model can be created with higher accuracy, and the driver can more intuitively grasp the spatial position of the vehicle.

  By the way, as specific examples of the image of the above-mentioned specific area of the ground surface as viewed from a specific point, (a) an image viewed from the driver's seat of the vehicle (Claim 5) or (b) the ground surface in the vertical direction. An image looking down can be considered (claim 4).

  Among these, (a) As for the image viewed from the driver's seat of the vehicle, as in claim 4, the image converting means is an image obtained by viewing the specific area from the specific point with the image captured by the in-vehicle camera. The specific area as a coordinate is converted into an image viewed from the driver's seat of the vehicle, and the three-dimensional model creating means defines the specific area as a part of the vehicle that enters the field of view when the specific area is viewed from the specific point. It is conceivable to create a three-dimensional model of a part of the vehicle that enters the field of view when viewed from the driver seat of the vehicle. In this way, the situation around the vehicle can be grasped by the driver's line of sight, and the driver can more intuitively grasp the spatial position of the vehicle.

  In addition, (b) as to the image in which the ground surface is looked down in the vertical direction, as in claim 5, the image conversion means uses the image captured by the in-vehicle camera as an image in which the specific area is viewed from the specific point. The coordinate is converted into an image representing an image that looks down on the ground surface of the vehicle in the vertical direction, and the three-dimensional model creation means creates a vertical image of the ground surface as a part of the vehicle that enters the field of view when viewing the specific region from the specific point. It is conceivable to create a three-dimensional model of a part of the vehicle that enters the field of view when looking down. In this way, it is possible to grasp the situation around the vehicle as if seen from a bird's eye view, and it is easier for the driver to intuitively grasp the spatial position of the vehicle.

  By the way, it is conceivable to perform enlargement conversion or reduction conversion on a part of the image after coordinate conversion. Specifically, as in claim 6, it is conceivable that the image conversion means performs enlargement conversion for enlarging a part of the image after coordinate conversion or reduction conversion for reducing it. For example, the vicinity of the three-dimensional model in the image is enlarged and converted, and the portion of the image that does not need to consider the positional relationship with the vehicle is reduced and converted. This makes it easier for the driver to intuitively grasp the spatial position of the vehicle.

  In order to realize the functions of the image conversion means, the three-dimensional model creation means, the image composition means, and the display control means in the image display apparatus as described above in a computer system, the program may be provided as a program to be started on the computer system Good. Such a program is recorded on a computer-readable recording medium such as a magneto-optical disk, CD-ROM, DVD-ROM, hard disk, ROM, RAM, etc. Functions as conversion means, three-dimensional model creation means, image composition means, and display control means can be realized.

Embodiments of the present invention will be described below with reference to the drawings.
[First embodiment]
FIG. 1 is an explanatory diagram illustrating a schematic configuration of an image display device 1 according to the first embodiment. FIG. 2 is an explanatory diagram for explaining an imaging region of the in-vehicle camera 10 of the image display device 1.

[Description of Configuration of Image Display Device 1]
As shown in FIG. 1, the image display device 1 includes an in-vehicle camera 10, an information acquisition unit 20, an image conversion unit 30, a three-dimensional modeling unit 40, an image composition unit 50, and a display 60.

  The in-vehicle camera 10 is composed of a CCD camera and continuously photographs the front thereof. In the present embodiment, N in-vehicle cameras 10 are mounted on the vehicle, and three of the in-vehicle cameras 10 are installed at the front of the vehicle (see FIG. 2). The in-vehicle camera 10 installed in the center front of the vehicle images the front of the vehicle, the in-vehicle camera 10 installed in the left door mirror images the left front of the vehicle, and the in-vehicle camera 10 installed in the right door mirror is the vehicle. Shoot right front of.

  The information acquisition unit 20 acquires display parameters. Here, the display parameter refers to information indicating a steering angle of a steering device such as a steering and an outer shape of the vehicle. The information indicating the outer shape of the vehicle refers to information indicating the outer shape of the vehicle body, the shape of the left and right front wheels, and the like.

  The image conversion unit 30 generates a single image by connecting a plurality of captured images captured by the plurality of in-vehicle cameras 10, and the generated image is a video of a specific region of the ground surface viewed from the driver's seat of the vehicle. The coordinates are converted to an image that represents. In the present embodiment, the image conversion unit 30 superimposes the ends of the captured images, for example, like a panoramic photograph, and connects the overlapping portions by image processing such as primary conversion. In the present embodiment, the image conversion unit 30 performs a matrix operation using a determinant for converting the coordinate system, thereby converting the image into an image viewed from the driver's seat of the vehicle (FIG. 4A ) And FIG. 4 (b)). The image conversion unit 30 corresponds to an image conversion unit and an image connection unit.

  Based on the display parameters acquired by the information acquisition unit 20, the three-dimensional modeling unit 40 creates a three-dimensional model of the left and right front wheels as a part of the vehicle that enters the field of view when the specific region of the ground surface is viewed from the driver seat of the vehicle. To do. The three-dimensional modeling unit 40 corresponds to a three-dimensional model creation unit.

  The image synthesis unit 50 synthesizes the 3D model created by the 3D modeling unit 40 with the image converted by the image conversion unit 30. At this time, synthesis is performed so that the other side of the three-dimensional model can be seen through. For example, as illustrated in FIG. 4B, the vehicle stops that are present beyond the three-dimensional model of the left front wheel are combined so that they can be seen through.

  The display 60 is composed of a liquid crystal display, an organic EL display, or the like, and has a function of displaying various information to the user. A specific example of the various types of information includes a composite image generated by the image composition unit 50.

The display 60 corresponds to display means and display control means.
[Description of image composition / display processing]
Next, image composition / display processing executed by the image display apparatus 1 will be described with reference to the flowchart of FIG. 3 and FIG. FIG. 4 is an explanatory diagram for explaining image display processing.

First, the vehicle-mounted camera 10 images the front (S110).
Subsequently, the image conversion unit 30 generates a single image by connecting the captured images captured by the three in-vehicle cameras 10 at the front of the vehicle, and the generated image is used as a specific region of the ground surface. The coordinates are converted into an image representing the video viewed from the driver's seat (S120, see FIG. 4A).

Subsequently, the information acquisition unit 20 acquires information indicating the steering angle and the outer shape of the vehicle as display parameters (S130).
Subsequently, the three-dimensional modeling unit 40 synthesizes the three-dimensional model of the left and right front wheels from the display parameters acquired by the information acquisition unit 20 (see S140, the 3D model of the tire in FIG. 4B).

  Subsequently, the image composition unit 50 synthesizes the three-dimensional model of the left and right front wheels created by the three-dimensional modeling unit 40 with the image converted by the image conversion unit 30 (S150). At this time, synthesis is performed so that the other side of the three-dimensional model can be seen through (see FIG. 4B).

  Subsequently, the display 60 updates the display content (S160). Specifically, the display 60 displays the image that has been combined by the image combining unit 50 in place of the image that has been displayed so far.

  Then, the process returns to S110. Note that the image display apparatus 1 repeatedly executes the processing from S110 to S160 about 30 times per second in order to display the image on the display 60 in almost real time.

[Effect of the first embodiment]
(1) Thus, according to the image display apparatus 1 of 1st embodiment, there exist the following effects. That is, the image conversion unit 30 performs coordinate conversion of the captured image captured by the in-vehicle camera 10 into an image representing a state where a specific area of the ground surface is viewed from the driver's seat of the vehicle, and the three-dimensional modeling unit 40 A three-dimensional model of the left and right front wheels that enters the field of view when viewing a specific area from the driver's seat of the vehicle is created from the display parameters. Then, the image synthesis unit 50 synthesizes the 3D model created by the 3D modeling unit 40 with the image converted by the image conversion unit 30. Further, the display 60 displays the image after the composition by the image composition unit 50 instead of the image that has been displayed so far. As a result, the driver can intuitively grasp the spatial position of the vehicle. For example, it is possible to expect an effect that the parting time is improved when passing through a narrow road or switching.

  (2) Further, according to the image display device 1 of the first embodiment, the captured image captured by the in-vehicle camera 10 is coordinate-converted into an image representing a state in which the specific area of the ground surface is viewed from the driver's seat of the vehicle. . As a result, the situation around the vehicle can be grasped by the driver's line of sight, and the driver can more intuitively grasp the spatial position of the vehicle.

  (3) Also, according to the image display device 1 of the first embodiment, the image conversion unit 30 generates a single image by connecting a plurality of captured images captured by the plurality of in-vehicle cameras 10, and the generation thereof. The obtained image is coordinate-converted into an image representing an image obtained by viewing a specific area of the ground surface from the driver's seat of the vehicle. As a result, it is possible to display a wider range on the display 60 as compared with the case where a captured image taken by one in-vehicle camera 10 is used, and it is easier for the driver to intuitively grasp the spatial position of the vehicle. can do.

  (4) Further, according to the image display device 1 of the first embodiment, the three-dimensional modeling unit 40 specifies the ground surface based on display parameters including information indicating the steering angle of the steering device such as the steering and the outer shape of the vehicle. Create a three-dimensional model of the left and right front wheels as part of the vehicle that enters the field of view when the region is viewed from the driver's seat of the vehicle. As a result, the three-dimensional model can be created with higher accuracy, and the driver can more intuitively understand the spatial position of the vehicle.

[Other Embodiments]
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, It is possible to implement in the following various aspects.

  (1-1) In the above-described embodiment, the image conversion unit 30 generates a single image by connecting a plurality of captured images captured by the plurality of in-vehicle cameras 10, and specifies the generated image as a ground surface specification. The area is coordinate-converted into an image representing an image viewed from the driver's seat of the vehicle (see FIG. 4), but the present invention is not limited to this, and as illustrated in FIG. May be converted into an image representing an image of the ground surface looking down in the vertical direction. In this case, the three-dimensional modeling unit 40 creates a three-dimensional model of the left and right front wheels and the front part of the vehicle that enter the field of view when looking down a specific area of the ground surface in the vertical direction. In this way, it is possible to grasp the situation around the vehicle as if seen from a bird's eye view, and it is easier for the driver to intuitively grasp the spatial position of the vehicle.

  (1-2) Further, the image conversion unit 30 may convert the generated image into an image representing an image obtained by viewing a specific region of the ground surface from a specific point. In this case, the three-dimensional modeling unit 40 creates a three-dimensional model of the left and right front wheels and the front part of the vehicle that enters the field of view when the specific region of the ground surface is viewed from the specific point. Even in this way, the situation around the vehicle can be grasped, and the driver can more intuitively grasp the spatial position of the own vehicle.

  (2) In the above embodiment, the image conversion unit 30 performs a matrix operation using a determinant for converting the coordinate system. However, the present invention is not limited to this. For example, a determinant for rotating an image is used. The matrix calculation may be performed using the matrix calculation, the matrix calculation may be performed using a determinant for enlarging or reducing a part of the image, or the matrix calculation combining these may be performed. For example, the vicinity of the three-dimensional model in the image is enlarged and converted, and the portion of the image that does not need to consider the positional relationship with the vehicle is reduced and converted. This makes it easier for the driver to intuitively grasp the spatial position of the vehicle.

  (3) In the above embodiment, the display 60 is configured by a liquid crystal display, an organic EL display, or the like, but is not limited thereto, and is a display device of a navigation device mounted on a vehicle or a display embedded in a meter. You may implement | achieve using the display apparatus etc. which are comprised in an apparatus and an instrument panel whole surface.

It is explanatory drawing which shows schematic structure of the image display apparatus 1 of 1st embodiment. 3 is an explanatory diagram illustrating an imaging region of a camera of the image display device 1. FIG. 4 is a flowchart illustrating a procedure of image composition / display processing executed by the image display device 1. (A) is explanatory drawing (1) explaining an image display process, (b) is explanatory drawing (2) explaining an image display process. (A) is explanatory drawing (3) explaining an image display process, (b) is explanatory drawing (4) explaining an image display process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Image display apparatus, 10 ... Car-mounted camera, 20 ... Information acquisition part, 30 ... Image conversion part, 40 ... Three-dimensional modeling part, 50 ... Image composition part, 60 ... Display

Claims (7)

An in-vehicle camera that captures the area around the vehicle,
Image conversion means for coordinate-converting a photographed image photographed by the in-vehicle camera into an image representing an image obtained by viewing a specific region of the ground surface from a specific point;
Three-dimensional model creating means for creating a three-dimensional model of a part of the vehicle that enters a field of view when the specific region is viewed from the specific point;
Image synthesizing means for synthesizing the three-dimensional model created by the three-dimensional model creating means with the image converted by the image converting means;
Display means for displaying various information to the user;
Display control means for causing the display means to display the composite image generated by the image composition means;
An image display device comprising: The image display device according to claim 1,
There are a plurality of the in-vehicle cameras,
Comprising image linking means for linking a plurality of captured images respectively captured by the plurality of in-vehicle cameras to generate one image;
The image display device is characterized in that the image conversion unit performs coordinate conversion of the image generated by the image connection unit into an image representing an image obtained by viewing the specific region from the specific point. The image display device according to claim 1 or 2,
The three-dimensional model creating means is a three-dimensional model of a part of the vehicle that enters a field of view when the specific region is viewed from the specific point, based on at least information indicating a traveling direction of the vehicle and information indicating an outer shape of the vehicle. An image display device characterized by creating an image. In the image display apparatus in any one of Claims 1-3,
The image conversion means performs coordinate conversion of the captured image into an image of the specific area as viewed from the driver's seat of the vehicle as an image of the specific area as viewed from a specific point;
The three-dimensional model creating means is a part of the vehicle that enters the field of view when the specific region as a part of the vehicle that enters the field of view when the specific region is viewed from the specific point from the driver's seat of the vehicle. An image display device characterized by creating a three-dimensional model. In the image display apparatus in any one of Claims 1-3,
The image conversion means performs coordinate conversion of the photographed image into an image representing an image in which the ground surface as a video when the specific area is viewed from a specific point is viewed vertically.
The three-dimensional model creation means is a three-dimensional model of a part of the vehicle that enters the field of view when looking down on the ground surface as a part of the vehicle that enters the field of view when viewing the specific region from the specific point. An image display device characterized by creating In the image display apparatus in any one of Claims 1-5,
The image display device according to claim 1, wherein the image conversion means performs enlargement conversion for enlarging a part of the image after coordinate conversion or reduction conversion for reducing the image.   A program for causing a computer to function as image conversion means, three-dimensional model creation means, image composition means, and display control means in the image display device according to any one of claims 1 to 6.

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