JP2018148348A - VEHICLE DISPLAY CONTROL DEVICE, VEHICLE DISPLAY CONTROL SYSTEM, VEHICLE DISPLAY CONTROL METHOD, AND PROGRAM - Google Patents

Abstract

An object of the present invention is to appropriately display a relative positional relationship between a vehicle and the surroundings of the vehicle.
A video data acquisition unit 41 that acquires video data from a camera unit 10 that captures the surroundings of a vehicle, an other vehicle information acquisition unit 43 that acquires information on another vehicle different from the vehicle, and vehicle information. An expected trajectory information generation unit 451 that generates a first predicted travel trajectory based on and a second predicted travel trajectory based on the information on the other vehicle acquired by the other vehicle information acquisition unit, and the video acquired by the video data acquisition unit 41, A video composition unit 452 that generates an image obtained by synthesizing the first predicted travel track and the second predicted travel track generated by the predicted trajectory information generation unit 451, and a display that displays the video synthesized by the video composition unit 452 on the display unit 20. And a control unit 49.
[Selection] Figure 1

Description

  The present invention relates to a vehicle display control device, a vehicle display control system, a vehicle display control method, and a program.

  A technique is known in which a vehicle surrounding is photographed with a camera installed around the vehicle, a viewpoint conversion process is performed on the photographed image, and an overhead image is displayed on a monitor. Furthermore, a technique for displaying an expected traveling locus of a vehicle on an overhead video is known (see, for example, Patent Document 1 and Patent Document 2).

JP 2011-116149 A JP 2012-066700 A

  However, even if the predicted driving trajectory of the vehicle is superimposed on the bird's-eye view image, if the size and shape of the vehicle with high driving frequency and the driving vehicle are different, the relative position between the vehicle and the surroundings of the vehicle It may be difficult to understand the relationship.

  The present invention has been made in view of the above, and an object thereof is to appropriately display the relative positional relationship between a vehicle and the surroundings of the vehicle.

  In order to solve the above-described problems and achieve the object, a vehicle display control device according to the present invention is different from the vehicle in which a video data acquisition unit that acquires video data from a camera that captures the surroundings of the vehicle is different from the vehicle. An other vehicle information acquisition unit that acquires information on another vehicle, a first predicted travel path based on the information on the vehicle, and a second predicted travel path based on information on the other vehicle acquired by the other vehicle information acquisition unit are generated. An image that generates an image obtained by synthesizing the first predicted travel track and the second predicted travel track generated by the predicted trajectory information generation unit with the video acquired by the predicted trajectory information generation unit and the video data acquisition unit. The image processing apparatus includes a combining unit, and a display control unit that displays the image combined by the image combining unit on a display unit.

  The vehicle display control system according to the present invention includes at least one of the vehicle display control device, the camera, and the display unit.

  The vehicle display control method according to the present invention includes a video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle, an other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle, A predicted trajectory information generating step for generating a first predicted travel path based on the vehicle information and a second predicted travel path based on the other vehicle information acquired in the other vehicle information acquiring step; and the video data acquiring step. A video composition step for generating a composite image of the first predicted travel track and the second predicted travel track generated in the predicted trajectory information generation step on the acquired video, and a video combined in the video composite step are displayed. A display control step to display on the screen.

  The program according to the present invention includes a video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle, an other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle, and the vehicle information A predicted trajectory information generating step for generating a first predicted travel trajectory based on the second travel predicted trajectory based on the information on the other vehicle acquired in the other vehicle information acquiring step, and an image acquired in the video data acquiring step. A video synthesizing step for synthesizing the first predicted travel trajectory and the second predicted trajectory generated in the predicted trajectory information generating step; and a video synthesized in the video synthesizing step is displayed on the display unit. The display control step is executed by a computer that operates as a vehicle display control device.

  According to the present invention, the relative positional relationship between the vehicle and the surroundings of the vehicle can be appropriately displayed.

FIG. 1 is a block diagram illustrating a configuration example of the vehicle display control system according to the first embodiment. FIG. 2 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the first embodiment. FIG. 3 is a diagram illustrating an example of a rear image generated by the vehicle display control system according to the first embodiment. FIG. 4 is a diagram illustrating another example of the rear image generated by the vehicle display control system according to the first embodiment. FIG. 5 is a diagram illustrating another example of a rear image generated by the vehicle display control system according to the first embodiment. FIG. 6 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the second embodiment. FIG. 7 is a diagram illustrating an example of a bird's-eye view image generated by the vehicle display control system according to the third embodiment. FIG. 8 is a diagram illustrating an example of an overhead video generated by the vehicle display control system according to the fourth embodiment. FIG. 9 is a diagram illustrating an example of a bird's-eye view image generated by the vehicle display control system according to the fifth embodiment. FIG. 10 is a diagram illustrating an example of an overhead video generated by the vehicle display control system according to the sixth embodiment. FIG. 11 is a diagram illustrating an example of a bird's-eye view image generated by the vehicle display control system according to the seventh embodiment. FIG. 12 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the eighth embodiment.

  Exemplary embodiments of a vehicle display control device 30, a vehicle display control system 1, a vehicle display control method, and a program according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, this invention is not limited by the following embodiment.

[First embodiment]
FIG. 1 is a block diagram illustrating a configuration example of the vehicle display control system according to the first embodiment. The vehicle display control system 1 is mounted on a vehicle. In addition to what is mounted on the vehicle, the vehicle display control system 1 may be a portable device that can be used in the vehicle. When the vehicle display control system 1 displays an image on the display unit 20, the vehicle display control system 1 displays the second travel predicted trajectory of another vehicle having a high driving frequency along with the first travel predicted trajectory of the host vehicle. In the present embodiment, a case will be described in which the size of the host vehicle that is the driving vehicle is larger than the size of the other vehicle.

  The vehicle to which the present invention is applied is not limited, but examples of the application object include a company-owned car and a rental car. Other vehicles with a high driving frequency include a vehicle owned by the driver and driven on a daily basis.

  The vehicle display control system 1 will be described with reference to FIG. The vehicle display control system 1 includes a camera unit (camera) 10, a display unit (display unit) 20, and a vehicle display control device 30.

  The camera unit 10 has a camera that captures the surroundings of the vehicle. In the present embodiment, the camera unit 10 has a rear camera (not shown).

  The rear camera is arranged at the rear of the vehicle and photographs a periphery around the rear of the vehicle. The rear camera captures a range including a confirmation range by a display panel or the like. The rear camera has a horizontal angle of view of, for example, 90 to 180 °, and a vertical angle of view of, for example, 50 to 100 °. The rear camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  The display unit 20 has a display panel (not shown).

  The display panel is, for example, a display device shared with other systems including a navigation system, and is a monitor for confirming the rear of the vehicle and the surroundings of the vehicle at a necessary timing such as when reversing. The display panel can take various forms as long as the rear of the vehicle can be confirmed when reversing. As an example of the display panel, an electronic room mirror can be used or a function of an instrument panel can be used. The display panel is, for example, a display including a liquid crystal display (LCD) or an organic EL-organic electroluminescence (EL) display.

  The display panel is disposed at a position that is easily visible to the driver. In the present embodiment, the display panel is disposed in front of the driver of the vehicle, such as a dashboard, an instrument panel, a center console, and the like.

  The display panel displays the rear image 100 of the vehicle based on the video signal output from the display control unit 49 of the control unit 40 of the vehicle display control device 30.

  The vehicle display control device 30 includes a control unit 40 and a storage unit 50.

  The control unit 40 is an arithmetic processing unit configured with, for example, a CPU (Central Processing Unit) and a video processing processor. The control unit 40 loads the program stored in the storage unit 50 into the memory and executes instructions included in the program. The control unit 40 includes a video data acquisition unit 41, a vehicle information acquisition unit 42, another vehicle information acquisition unit 43, a video processing unit 45, and a display control unit 49. The control unit 40 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 40. The control unit 40 may be composed of one or a plurality of devices.

  The video data acquisition unit 41 acquires peripheral video data obtained by photographing the periphery of the vehicle. More specifically, the video data acquisition unit 41 acquires peripheral video data output by the rear camera of the camera unit 10. The video data acquisition unit 41 outputs the acquired peripheral video data to the video processing unit 45.

  The vehicle information acquisition unit 42 is a vehicle information serving as a trajectory display trigger that is a trigger for displaying a trajectory such as gear operation information of the host vehicle, a controller area network (CAN), various sensors that sense the state of the host vehicle, and the like. Get from. The vehicle information acquisition unit 42 acquires, for example, steering information including steering operation information such as an operation amount of the steering operation of the host vehicle from various sensors including a CAN and a steering angle sensor that senses the state of the host vehicle. The vehicle information acquisition unit 42 outputs the acquired vehicle information to the video processing unit 45.

  The other vehicle information acquisition unit 43 acquires information of another vehicle different from the host vehicle through, for example, an input operation unit (not shown), a memory reading unit (not shown), and a communication device (not shown).

  In this embodiment, the other vehicle information acquisition part 43 acquires the information of the other vehicle which the driver input directly via the input operation part. Or the other vehicle information acquisition part 43 may acquire the information of the other vehicle memorize | stored in the memory | storage part 50 via a memory reading part. Or the other vehicle information acquisition part 43 may acquire the information of the other vehicle memorize | stored in the external storage device connected by radio | wireless via a communication apparatus (communication network). The other vehicle information acquisition unit 43 outputs the acquired other vehicle information to the video processing unit 45.

  The video processing unit 45 executes a process for synthesizing a predicted travel locus on the video acquired by the video data acquisition unit 41.

  The video processing unit 45 includes an expected trajectory information generation unit 451 and a video synthesis unit 452.

  The predicted trajectory information generation unit 451 generates a first travel predicted trajectory based on the information on the host vehicle and a second predicted travel trajectory based on the information on the other vehicle acquired by the other vehicle information acquisition unit 43.

  In the present embodiment, the first predicted travel path indicates the first width information of the host vehicle. The first predicted travel trajectory is a predicted travel trajectory at the end of the host vehicle in the vehicle width direction at the end of the host vehicle in the traveling direction. The predicted trajectory information generation unit 451 generates a first travel predicted trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the vehicle information stored in the storage unit 50. The predicted trajectory information generation unit 451 generates a first trajectory image 200 indicating the first predicted travel trajectory in the rear video 100 based on the generated first predicted travel trajectory.

  In the present embodiment, the second predicted travel path indicates the second width information of the other vehicle. The second predicted travel track is a predicted travel track at the end of the other vehicle in the vehicle width direction at the end of the other vehicle in the traveling direction. The predicted trajectory information generation unit 451 generates a second travel predicted trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the information of the other vehicle acquired by the other vehicle information acquisition unit 43. More specifically, the predicted trajectory information generation unit 451 calculates a second predicted travel trajectory on the assumption that another vehicle has traveled with the same steering information as the steering information of the host vehicle. The predicted trajectory information generation unit 451 generates a second trajectory image 300 indicating the second predicted travel trajectory in the rear video 100 based on the generated second predicted travel trajectory.

  The predicted trajectory information generation unit 451 outputs the generated first trajectory image 200 and the second trajectory image 300 to the video composition unit 452.

  The video synthesizing unit 452 performs a synthesizing process for synthesizing the first trajectory image indicating the first travel expected trajectory on the video acquired by the video data acquiring unit 41 to generate a rear video. In the present embodiment, the video composition unit 452 generates a rear video by performing a synthesis process for synthesizing a first trajectory image indicating a first travel expected trajectory on the peripheral video output from the rear camera.

  When the other vehicle information is set, the video composition unit 452 generates the rear video 100 in which the first trajectory image 200 and the second trajectory image 300 are synthesized with the video acquired by the video data acquisition unit 41. . In the present embodiment, when the other vehicle information acquisition unit 43 acquires the other vehicle information, the video composition unit 452 displays the first trajectory image 200 and the second trajectory image 300 on the peripheral video output by the rear camera. A rear image 100 is generated by performing a compositing process by matching the centers in the vehicle width direction.

  The video compositing unit 452 outputs the video data of the rear video or the rear video 100 synthesized in this way to the display control unit 49.

  The display control unit 49 displays the rear video or the rear video 100 on the display panel of the display unit 20.

  The storage unit 50 stores data and various processing results required for various processes in the vehicle display control device 30. The storage unit 50 is, for example, a semiconductor memory device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk. Alternatively, an external storage device that is wirelessly connected via a communication device (not shown) may be used.

  The memory | storage part 50 has memorize | stored the vehicle width of the own vehicle as vehicle information. The vehicle information is acquired via, for example, an input operation unit (not shown), a memory reading unit (not shown), and a communication device (not shown).

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described with reference to FIG. FIG. 2 is a flowchart showing a flow of processing in the vehicle display control apparatus of the vehicle display control system according to the first embodiment.

  When the vehicle display control system 1 is activated, the control unit 40 causes the video data acquisition unit 41 to acquire peripheral video data.

  The driver inputs information about other vehicles via the input operation unit, and sets other vehicle information. In the present embodiment, the driver directly inputs the vehicle width of the other vehicle as information on the other vehicle.

  The control unit 40 causes the other vehicle information input by the other vehicle information acquisition unit 43 to be acquired.

  The control unit 40 determines the presence or absence of a locus display trigger (step S11). In the present embodiment, the trajectory display trigger means that the shift position is “reverse”, for example. Or a locus | trajectory display trigger means that the advancing direction of the own vehicle became the back of the own vehicle. When there is no locus display trigger (No in Step S11), the control unit 40 executes the process of Step S11 again. When there is a locus display trigger (Yes in Step S11), the control unit 40 proceeds to Step S12. Arbitrary triggers such as user operations, obstacle detection results, and stoppages are applied to the locus display trigger.

  When it determines with there being a locus | trajectory display trigger by step S11 (it is Yes at step S11), the control part 40 determines the presence or absence of other vehicle information setting (step S12). More specifically, the control unit 40 determines whether or not the other vehicle information is acquired by the other vehicle information acquisition unit 43. When it is determined that the other vehicle information is acquired by the other vehicle information acquisition unit 43 (Yes in step S12), the control unit 40 proceeds to step S14. When the other vehicle information acquisition unit 43 determines that the other vehicle information is not acquired (No in Step S12), the control unit 40 proceeds to Step S13.

  The control unit 40 generates and displays a first predicted travel path (step S13). More specifically, the control unit 40 causes the predicted trajectory information generation unit 451 to generate a first predicted travel trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42. And the control part 40 is made to produce | generate the 1st locus | trajectory image which shows the 1st driving | running expected locus | trajectory in a back image | video based on the produced | generated estimated 1st driving | running locus | trajectory in the estimated locus | trajectory information generation part 451. Then, the control unit 40 causes the video synthesis unit 452 to generate a rear video in which the first trajectory image is synthesized with the video acquired by the video data acquisition unit 41. Then, the control unit 40 causes the display control unit 49 to display the rear video on the display panel. The control unit 40 proceeds to step S15.

  The control unit 40 generates a first predicted travel path and a second predicted travel path and displays them in combination (step S14). The control unit 40 causes the predicted trajectory information generation unit 451 to generate a first predicted travel trajectory based on the own vehicle steering information acquired by the vehicle information acquisition unit 42 and the vehicle information stored in the storage unit 50. . The control unit 40 causes the predicted trajectory information generation unit 451 to generate the first trajectory image 200 indicating the first predicted travel trajectory in the rear video 100. Based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the information on the other vehicle acquired by the other vehicle information acquisition unit 43, the control unit 40 is the second predicted travel track. Is generated. The control unit 40 causes the predicted trajectory information generation unit 451 to generate a second trajectory image 300 indicating the second predicted travel trajectory in the rear video 100. Then, the control unit 40 causes the video synthesis unit 452 to generate the rear video 100 in which the first trajectory image 200 and the second trajectory image 300 are synthesized with the video acquired by the video data acquisition unit 41. Then, the control unit 40 causes the display control unit 49 to display the rear video 100 on the display panel. The control unit 40 proceeds to step S15.

  The control unit 40 determines the presence / absence of a locus display end trigger (step S15). The locus display end trigger means, for example, that the shift position has changed from “reverse” to another position. If there is a locus display end trigger (Yes in step S15), the control unit 40 ends the process. When there is no locus display end trigger (No in Step S15), the control unit 40 executes the process of Step S15 again.

  The rear image 100 generated by the vehicle display control system 1 will be described with reference to FIGS. 3 to 5. This embodiment demonstrates the case where the vehicle width of the own vehicle is larger than the vehicle width of another vehicle.

  For example, a case where the host vehicle is moving straight back will be described with reference to FIG. In this case, the rear image 100 in which the first trajectory image 200 and the second trajectory image 300 extend linearly along the front-rear direction is generated.

  In the rear image 100 shown in FIG. 3, the center in the vehicle width direction of the first trajectory image 200 and the center in the vehicle width direction of the second trajectory image 300 coincide. The first trajectory image 200 has a pair of first trajectory lines 201 indicating the expected trajectory of the vehicle width of the host vehicle, and a second trajectory line 202 indicating the distance from the end of the host vehicle. A pair of first trajectory lines 201 are trajectories at both end portions of the host vehicle. The pair of first trajectory lines 201 extends along the traveling direction of the host vehicle. The pair of first trajectory lines 201 extends linearly along the front-rear direction. The second locus line 202 extends in the vehicle width direction between the pair of first locus lines 201. The second trajectory line 202 indicates, for example, positions where the distance from the rear end of the host vehicle is 1.0 m, 2.0 m, and 3.0 m.

  In the rear image 100 shown in FIG. 3, the second trajectory image 300 has a pair of first trajectory lines 301 indicating the expected trajectory of the vehicle width of the other vehicle. The pair of first trajectory lines 301 extends along the traveling direction of the host vehicle. The pair of first trajectory lines 301 are trajectories at both end portions of the other vehicle. The pair of first trajectory lines 301 extends linearly along the front-rear direction. Since the vehicle width of the host vehicle is larger than the vehicle width of the other vehicle, the pair of first trajectory lines 301 are located inside the pair of first trajectory lines 201. Thereby, it is recognized that the vehicle width of the own vehicle is wider than the vehicle width of the other vehicle.

  In FIG. 3, in order to distinguish the first trajectory image 200 and the second trajectory image 300, the first trajectory image 200 is shown as a solid line, and the second trajectory image 300 is shown as a two-dot chain line. In the rear video 100 displayed on the display panel, the first trajectory image 200 and the second trajectory image 300 may be displayed in different colors.

  For example, a case where the host vehicle is moving backward while being steered will be described with reference to FIG. The rear video 100A has the same basic configuration as the rear video 100 shown in FIG. In the following description, the same components as those in the rear video 100 shown in FIG. 3 are denoted by corresponding reference numerals, and detailed description thereof is omitted. A pair of first trajectory lines 201A of the first trajectory image 200A extends in the front-rear direction while curving. The second locus line 202A extends between the pair of first locus lines 201A. A pair of first trajectory lines 301A of the second trajectory image 300A extends in the front-rear direction while curving. The pair of first trajectory lines 301A is located inside the pair of first trajectory lines 201A. Accordingly, it is recognized from the rear image 100A that the vehicle width of the host vehicle is wider than the vehicle width of the other vehicle.

  For example, a case where the host vehicle is moving straight back will be described with reference to FIG. A pair of first trajectory lines 201B of the first trajectory image 200B extends linearly along the front-rear direction. The second trajectory image 300B represents the vehicle width by coloring it in a band shape. The second locus image 300B extends linearly along the front-rear direction. The second locus line 202B extends in the vehicle width direction between the pair of first locus lines 201B. The second trajectory image 300B is located inside the pair of first trajectory lines 201B. Thereby, it is recognized from the rear image 100B that the vehicle width of the own vehicle is wider than the vehicle width of the other vehicle.

  In the following description, when it is not necessary to distinguish each first trajectory image, the first trajectory image 200 will be described. When it is not necessary to distinguish each second trajectory image, the second trajectory image 300 will be described. When there is no need to distinguish each rear video, the rear video 100 will be described.

  In this way, the vehicle display control system 1 generates and displays the rear video 100 in which the first trajectory image 200 and the second trajectory image 300 are synthesized.

  As described above, in the present embodiment, when other vehicle information is set, the first trajectory image 200 indicating the trajectory of the vehicle width of the own vehicle and the second trajectory image 300 indicating the trajectory of the vehicle width of the other vehicle. The rear video 100 that is synthesized is generated and displayed. Thereby, the difference in the vehicle width between the host vehicle and the other vehicle can be easily recognized by the difference between the pair of first locus lines 201 and the pair of first locus lines 301 in the rear image 100. Thereby, this embodiment can display the relative positional relationship of the own vehicle and the circumference | surroundings of the own vehicle appropriately. In particular, the present embodiment makes it easy to grasp the overall size difference between the host vehicle and the other vehicle. For example, a useful display is displayed when the host vehicle has a larger width direction than the other vehicle with high driving frequency. Can be made.

  In the present embodiment, the rear image 100 is generated by combining and displaying the center of the first trajectory image 200 in the vehicle width direction and the center of the second trajectory image 300 in the vehicle width direction. Thereby, according to this embodiment, the display which can grasp | ascertain the relative magnitude difference of the 1st locus | trajectory image 200 and the 2nd locus | trajectory image 300 can be made easy.

  In the present embodiment, for example, when the host vehicle travels while turning, the rear video 100A in which the first trajectory image 200A and the second trajectory image 300A are combined and displayed is generated based on the steering information of the host vehicle. Can do. Thereby, the timing of the steering operation of the host vehicle can be appropriately recognized by comparing with the predicted trajectory of the other vehicle with high driving frequency. As described above, according to the present embodiment, it is possible to make a useful display when entering the garage where the host vehicle is steered while moving backward.

  In the present embodiment, the rear video 100B may be generated by combining and displaying the first trajectory image 200B and the strip-shaped second trajectory image 300B whose display mode is changed. Thereby, since the line with the 1st locus | trajectory image 200B and the 2nd locus | trajectory image 300B is suppressed, this embodiment can perform the display which can be distinguished easily.

[Second Embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 6 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the second embodiment. The vehicle display control system 1 has the same basic configuration as the vehicle display control system 1 of the first embodiment. In the following description, components similar to those of the vehicle display control system 1 are denoted by the same reference numerals or corresponding reference numerals, and detailed description thereof is omitted.

  The predicted trajectory information generation unit 451 uses the first travel predicted trajectory and other vehicle information acquired by the other vehicle information acquisition unit 43 when there is a difference of a predetermined width or more between the first width information and the second width information. Based on the second predicted travel path based on the generated travel path. This is to prevent the second trajectory image 300 from being displayed when the difference in vehicle width between the host vehicle and the other vehicle is small.

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described with reference to FIG. The processes in steps S21, S22, and S24 to S26 in the flowchart shown in FIG. 6 are the same as those in steps S11, S12, and S13 to S15 in the flowchart shown in FIG.

  If it is determined in step S22 that the other vehicle information is set (Yes in step S22), the control unit 40 determines whether there is a difference of a predetermined width or more (step S23). More specifically, when it is determined that the difference between the vehicle width of the host vehicle and the vehicle width of the other vehicle is equal to or greater than the predetermined width (Yes in step S23), the control unit 40 proceeds to step S25. When it is determined that the difference between the vehicle width of the host vehicle and the vehicle width of the other vehicle is less than the predetermined width (No in step S23), the control unit 40 proceeds to step S24. As an example of the difference more than the predetermined width of the vehicle width of the own vehicle and the vehicle width of the other vehicle, the difference is 20 cm or more.

  As described above, according to the present embodiment, when the difference between the vehicle width of the host vehicle and the vehicle width of the other vehicle is small, the first trajectory image 200 and the second trajectory image 300 are combined and displayed. It can be suppressed that the first trajectory image 200 and the second trajectory image 300 are overlapped and displayed, and the display is complicated and has poor visibility. According to this embodiment, it can suppress that the 1st locus | trajectory image 200 and the 2nd locus | trajectory image 200 overlap and become a video which is hard to visually recognize. The term “overlap” as used herein includes not only the first trajectory image 200 and the second trajectory image 200 being completely or partially overlapping but also being close to each other.

[Third embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 7 is a diagram illustrating an example of a bird's-eye view image generated by the vehicle display control system according to the third embodiment. The vehicle display control system 1 has the same basic configuration as the vehicle display control system 1 of the first embodiment.

  The vehicle display control system 1 according to the present embodiment is different from the first embodiment in that the first travel predicted trajectory and the second travel predicted trajectory are combined and displayed on a bird's-eye view video looking down from above.

  In the present embodiment, the first predicted travel path is a predicted travel path at the end of the host vehicle in the vehicle width direction, as in the first embodiment. In the present embodiment, the second predicted travel path is a predicted travel path at the end of the other vehicle in the vehicle width direction, as in the first embodiment.

  The camera unit 10 includes a front overhead camera, a rear overhead camera, a left side overhead camera, and a right side overhead camera (not shown).

  The front bird's-eye camera is disposed in front of the vehicle and photographs a periphery around the front of the vehicle. The front bird's-eye camera captures an imaging range of about 180 °, for example. The front overhead camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  The rear overhead camera has the same configuration as the rear camera in the first embodiment, and the same camera may be used, or different cameras may be used.

  The left side bird's-eye view camera is arranged on the left side of the vehicle and shoots the periphery around the left side of the vehicle. The left side overhead camera captures an imaging range of about 180 °, for example. The left side overhead camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  The right side overhead camera is arranged on the right side of the vehicle and shoots the periphery around the right side of the vehicle. The right side overhead camera captures an imaging range of about 180 °, for example. The right side overhead camera outputs the captured video to the video data acquisition unit 41 of the vehicle display control device 30.

  With such a front bird's-eye camera, a rear bird's-eye camera, a left-side bird's-eye camera, and a right-side bird's-eye camera, all directions of the vehicle are photographed.

  When the shape of the display panel is a horizontally long rectangle, the display panel may be divided into a plurality of display ranges. For example, the display panel has a display range for displaying the bird's-eye view video 110 and a display range for displaying a navigation screen or an audio screen arranged on the side of the display range of the bird's-eye view image 110. The display range for displaying the overhead image 110 is a vertically long rectangular shape.

  The video processing unit 45 performs viewpoint conversion processing and synthesis processing on the video acquired by the video data acquisition unit 41.

  The predicted trajectory information generation unit 451 generates a first trajectory image 210 indicating the first predicted travel trajectory in the overhead view image 110 based on the first predicted travel trajectory generated in the same manner as in the first embodiment.

  The predicted trajectory information generation unit 451 generates a second trajectory image 310 indicating the second predicted travel trajectory in the overhead view image 110 based on the second predicted travel trajectory generated in the same manner as in the first embodiment.

  The video composition unit 452 synthesizes the video acquired by the video data acquisition unit 41 with a plurality of videos that have undergone viewpoint conversion processing so that the vehicle is looked down from above, and combines the vehicle icon at the center thereof. Process. More specifically, the video composition unit 452 generates a video that has undergone viewpoint conversion processing based on peripheral video data captured by the front overhead camera, the rear overhead camera, the left side overhead camera, and the right side overhead camera. The method of viewpoint conversion processing may be any known method and is not limited. Then, the video synthesis unit 452 performs a synthesis process for synthesizing the first trajectory image with the synthesized video and generates an overhead video.

  When other vehicle information is set, the video composition unit 452 synthesizes a plurality of videos obtained by performing viewpoint conversion processing on the video acquired by the video data acquisition unit 41, and synthesizes the own vehicle icon at the center. Perform the synthesis process. Then, the video composition unit 452 generates an overhead image 110 in which the first trajectory image 210 and the second trajectory image 310 are synthesized with the synthesized video.

  The video composition unit 452 outputs the video data of the overhead view video or the overhead view video 110 generated in this way to the display control unit 49.

  The display control unit 49 displays the overhead view video or the overhead view video 110 on the display panel of the display unit 20.

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described. The control unit 40 executes processing according to the flowchart shown in FIG. In this embodiment, the process in step S11, step S12, and step S15 performs the same process as 1st embodiment.

  The control unit 40 generates and displays a first predicted travel path (step S13). More specifically, the control unit 40 generates a first trajectory image indicating a first travel expected trajectory in the overhead view video based on the first travel predicted trajectory generated in the same manner as in the first embodiment by the predicted trajectory information generation unit 451. Generate. Then, the control unit 40 synthesizes a plurality of videos obtained by performing viewpoint conversion processing on the video acquired by the video data acquisition unit 41 by the video synthesis unit 452 and synthesizes the vehicle icon at the center. To do. Then, the control unit 40 causes the video synthesis unit 452 to generate a bird's-eye view video obtained by synthesizing the first trajectory image with the synthesized video. Then, the control unit 40 causes the display control unit 49 to display the overhead view video on the display panel. The control unit 40 proceeds to step S15.

  The control unit 40 generates a first predicted travel path and a second predicted travel path and displays them in combination (step S14). The control unit 40 causes the predicted trajectory information generation unit 451 to generate a first trajectory image 210 indicating the first predicted travel trajectory in the overhead view image 110 based on the first predicted travel trajectory generated in the same manner as in the first embodiment. . The control unit 40 causes the second trajectory image 310 indicating the second predicted travel trajectory in the overhead view image 110 to be generated based on the second predicted travel trajectory generated as in the first embodiment. Then, the control unit 40 synthesizes a plurality of videos obtained by performing viewpoint conversion processing on the video acquired by the video data acquisition unit 41 by the video synthesis unit 452 and synthesizes the vehicle icon at the center. To do. Then, the control unit 40 causes the video composition unit 452 to generate a bird's-eye view image 110 in which the first trajectory image 210 and the second trajectory image 310 are synthesized with the synthesized video. Then, the control unit 40 causes the display control unit 49 to display the overhead view image 110 on the display panel. The control unit 40 proceeds to step S15.

  The overhead view image 110 generated by the vehicle display control system 1 will be described. In the present embodiment, the case where the host vehicle is moving backward while being steered will be described. This embodiment demonstrates the case where the vehicle width of the own vehicle is larger than the vehicle width of another vehicle.

  The bird's-eye view image 110 includes a front image 111, a rear image 112, a left side image 113, and a right side image 114. A host vehicle icon 120 is displayed at the center of the overhead view image 110. The own vehicle icon 120 is a vehicle shape image representing the form and size of the own vehicle.

  In the overhead view image 110 shown in FIG. 7, the center in the vehicle width direction of the first trajectory image 210 and the center in the vehicle width direction of the second trajectory image 310 coincide. The first trajectory image 210 and the second trajectory image 310 are superimposed on the rear video 112. The first trajectory image 210 and the second trajectory image 310 extend from the rear end of the host vehicle icon 120. The first trajectory image 210 has a pair of first trajectory lines 211 indicating the expected trajectory of the vehicle width of the host vehicle, and a second trajectory line 212 indicating the distance from the end of the host vehicle. The pair of first trajectory lines 211 extends in the front-rear direction while curving. The second trajectory line 212 extends in the vehicle width direction between the pair of first trajectory lines 211.

  In the bird's-eye view image 110 shown in FIG. 7, the second trajectory image 310 has a pair of first trajectory lines 311 indicating the expected trajectory of the vehicle width of the other vehicle. The pair of first trajectory lines 311 extends in the front-rear direction while curving. Since the vehicle width of the host vehicle is larger than the vehicle width of the other vehicle, the pair of first trajectory lines 311 are located inside the pair of first trajectory lines 211. Thereby, it is recognized from the overhead view image 110 that the vehicle width of the host vehicle is wider than the vehicle width of the other vehicle.

  In FIG. 7, oblique broken lines indicating boundaries between the front image 111, the rear image 112, the left side image 113, and the right side image 114 are shown for explanation, but the overhead view actually displayed on the display panel is shown. The broken line may or may not be displayed on the image 110. The same applies to the other figures.

  As described above, according to the present embodiment, when other vehicle information is set, the overhead image 110 in which the first trajectory image 210 and the second trajectory image 310 are combined and displayed is generated. Thereby, the difference in the vehicle width between the host vehicle and the other vehicle can be easily recognized based on the difference between the pair of first trajectory lines 211 and the pair of first trajectory lines 311 in the overhead view image 110. Thereby, this embodiment can display the relative positional relationship of the own vehicle and the circumference | surroundings of the own vehicle appropriately. In particular, the present embodiment makes it easy to grasp the overall size difference between the host vehicle and the other vehicle. For example, a useful display is displayed when the host vehicle has a larger width direction than the other vehicle with high driving frequency. Can be made.

[Fourth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. In the vehicle display control system 1 according to the present embodiment, the first predicted travel path is a predicted travel path of the wheels of the host vehicle, and the second predicted travel path is the predicted travel path of the wheels of the other vehicle. This is different from the third embodiment.

  The memory | storage part 50 has memorize | stored the width | variety between the wheels of the own vehicle as vehicle information.

  Other vehicle information acquisition part 43 acquires the width between the wheels of the vehicles of other vehicles inputted as information on other vehicles via the input operation part.

  The overhead view image 110A generated by the vehicle display control system 1 will be described. In the present embodiment, the case where the host vehicle is moving backward while being steered will be described. This embodiment demonstrates the case where the width | variety between the wheels of the own vehicle is larger than the width | variety between the wheels of other vehicles. The overhead image 110A has the same basic configuration as the overhead image 110 shown in FIG. In the following description, the same components as those in the bird's-eye view image 110 shown in FIG. 7 are denoted by corresponding reference numerals, and detailed description thereof is omitted.

  In the overhead view image 110A shown in FIG. 8, the center in the vehicle width direction of the first trajectory image 210A matches the center in the vehicle width direction of the second trajectory image 310A. Since the width between the wheels of the host vehicle is larger than the width between the wheels of the other vehicle, the pair of first trajectory lines 311A is located inside the pair of first trajectory lines 211A. Thereby, it is recognized from the overhead image 110A that the width between the wheels of the own vehicle is wider than the width between the wheels of the other vehicle.

  As described above, in the present embodiment, when other vehicle information is set, the overhead image 110A in which the first trajectory image 210A and the second trajectory image 310A are combined and displayed is generated. Thereby, the difference in the width between the wheels of the host vehicle and the other vehicle can be easily recognized by the difference between the pair of first track lines 211A and the pair of first track lines 311A in the overhead view image 110A. Thereby, this embodiment can display the relative positional relationship of the own vehicle and the circumference | surroundings of the own vehicle appropriately. In particular, the present embodiment is easy to grasp the difference in overall size between the host vehicle and the other vehicle, and is useful, for example, when the host vehicle has a larger width between wheels than the other vehicle having a high driving frequency. It can be displayed.

  In the present embodiment, the first predicted travel path is the predicted travel path of the wheels of the host vehicle, and the second predicted travel path is the predicted travel path of the wheels of the other vehicle. Thereby, for example, it is possible to display an easy-to-understand whether or not the vehicle is not derailed when traveling on a narrow alley with the host vehicle having a larger width between wheels than other vehicles with high driving frequency.

[Fifth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. The vehicle display control system 1 according to the present embodiment generates a bird's-eye view image 110B by performing a combining process for combining the first trajectory image 210B and the second trajectory image 310B by matching the driver seat position P1 and the driver seat position P2. This is different from the third embodiment.

  The memory | storage part 50 has memorize | stored the vehicle width of the own vehicle, and the driver's seat position P1 of the driver's seat of the own vehicle as vehicle information.

  The other vehicle information acquisition unit 43 acquires the vehicle width of the other vehicle and the driver seat position P2 of the driver seat of the other vehicle, which are input as information on the other vehicle via the input operation unit.

  When the other vehicle information acquisition unit 43 acquires the other vehicle information, the video synthesis unit 452 synthesizes a plurality of videos that have undergone viewpoint conversion processing on the video acquired by the video data acquisition unit 41, and in the central part thereof A synthesis process for synthesizing the vehicle icon is performed. Then, the video composition unit 452 synthesizes the first trajectory image 210B and the second trajectory image 310B with the synthesized video by matching the driver's seat position P1 of the own vehicle with the driver's seat position P2 of the other vehicle. The overhead view video 110B is generated by performing the combining process. The coincidence between the driver's seat position P1 of the own vehicle and the driver's seat position P2 of the other vehicle may be at least a positional relationship in the vehicle width direction.

  The overhead view image 110B generated by the vehicle display control system 1 will be described. In the present embodiment, the case where the host vehicle is moving backward while being steered will be described. This embodiment demonstrates the case where the vehicle width of the own vehicle is larger than the vehicle width of another vehicle. The overhead image 110B has the same basic configuration as the overhead image 110 shown in FIG.

  In the bird's-eye view image 110B shown in FIG. 9, the driver's seat position P1 of the own vehicle in the first trajectory image 210B and the driver's seat position P2 of the other vehicle in the second trajectory image 310B coincide. Since the vehicle width of the vehicle is larger than the vehicle width of the other vehicle, the pair of first trajectory lines 311B are located inside the pair of first trajectory lines 211B. Thereby, it is recognized from the overhead image 110B that the vehicle width of the host vehicle is wider than the vehicle width of the other vehicle.

  As described above, in the present embodiment, when other vehicle information is set, the driver's seat position P1 and the driver's seat position P2 are made to coincide with each other, and the first locus image 210B and the second locus image 310B are combined and displayed. An overhead image 110B is generated. Thereby, the difference in the vehicle width between the own vehicle and the other vehicle can be easily recognized by the difference between the pair of first trajectory lines 211B and the pair of first trajectory lines 311B in the overhead view image 110B based on the driver seat position. can do. Thereby, this embodiment can display appropriately the relative positional relationship of the own vehicle and the circumference | surroundings of the own vehicle with the sense close | similar to the eyes | visual_axis from a driver's seat. In particular, the present embodiment makes it easy to grasp the difference in the size of the vehicle on the side opposite to the position of the driver's seat, for example, the driver's seat in the own vehicle having a larger size in the width direction than other vehicles with high driving frequency. It is possible to display useful indications at the time of steering where an outer wheel difference occurs on the opposite side.

[Sixth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. The vehicle display control system 1 of the present embodiment generates a bird's-eye view image 110C by performing a synthesis process for synthesizing the first trajectory image 210C and the second trajectory image 310C by matching the wheel positions on the driver's seat side. Different from the third embodiment.

  The storage unit 50 stores the vehicle width of the host vehicle and the wheel position on the driver's seat side of the host vehicle as vehicle information.

  The other vehicle information acquisition unit 43 acquires the vehicle width of the other vehicle and the wheel position on the driver's seat side of the other vehicle, which are input as information on the other vehicle via the input operation unit.

  When the other vehicle information acquisition unit 43 acquires the other vehicle information, the video synthesis unit 452 synthesizes a plurality of videos that have undergone viewpoint conversion processing on the video acquired by the video data acquisition unit 41, and in the central part thereof A synthesis process for synthesizing the vehicle icon is performed. The video composition unit 452 then adds the first trajectory image 210C and the second trajectory image 310C to the synthesized video, the wheel position on the driver's seat side of the own vehicle, and the wheel position on the driver's seat side of the other vehicle. The overhead view video 110C is generated by performing a synthesis process of matching and synthesizing. Matching between the wheel position on the driver's seat side of the host vehicle and the wheel position on the driver's seat side of the other vehicle only needs to match at least the positional relationship in the vehicle width direction.

  The overhead view image 110C generated by the vehicle display control system 1 will be described. In the present embodiment, the case where the host vehicle is moving backward while being steered will be described. This embodiment demonstrates the case where the vehicle width of the own vehicle is larger than the vehicle width of another vehicle. The overhead image 110C has the same basic configuration as the overhead image 110 shown in FIG.

  In the overhead view image 110C shown in FIG. 10, the wheel position on the driver's seat side of the own vehicle in the first trajectory image 210C and the wheel position on the driver's seat side of the other vehicle in the second trajectory image 310C match. Since the vehicle width of the host vehicle is larger than the vehicle width of the other vehicle, the pair of first trajectory lines 311C are located inside the pair of first trajectory lines 211C. Thereby, it is recognized from the overhead image 110C that the vehicle width of the host vehicle is wider than the vehicle width of the other vehicle.

  As described above, in the present embodiment, when other vehicle information is set, the bird's-eye view image 110C in which the wheel position on the driver's seat side is matched and the first trajectory image 210C and the second trajectory image 310C are combined and displayed. Is generated. Thereby, the difference in the vehicle width between the own vehicle and the other vehicle is determined by the difference between the pair of first trajectory lines 211C and the pair of first trajectory lines 311C in the overhead view image 110C based on the wheel position on the driver's seat side. It can be easily recognized. Thereby, this embodiment can display appropriately the relative positional relationship of the own vehicle and the circumference | surroundings of the own vehicle with the sense close | similar to the eyes | visual_axis from a driver's seat. In particular, the present embodiment makes it easy to grasp the difference in the size of the vehicle on the side opposite to the position of the driver's seat, for example, the driver's seat in the own vehicle having a larger size in the width direction than other vehicles with high driving frequency. It is possible to display useful indications at the time of steering where an outer wheel difference occurs on the opposite side.

[Seventh embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. The vehicle display control system 1 according to the present embodiment is the third embodiment in that the overhead view image 110D is generated by performing a synthesis process that synthesizes the first trajectory image 210D and the second trajectory image 310D that clearly indicate the inner ring difference. And different.

  The storage unit 50 stores the vehicle width of the host vehicle and the length of the host vehicle as vehicle information.

  The other vehicle information acquisition unit 43 acquires the vehicle width of the other vehicle and the length of the other vehicle, which are input as information on the other vehicle via the input operation unit.

  In the present embodiment, the first predicted travel trajectory is a predicted travel trajectory of the end of the host vehicle in the vehicle width direction at the front end and the rear end of the host vehicle. The predicted trajectory information generation unit 451 generates a first travel predicted trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the vehicle information stored in the storage unit 50. The predicted trajectory information generation unit 451 generates a first trajectory image 210D showing the first predicted travel trajectory in the overhead view image 110D based on the generated predicted first travel trajectory.

  In the present embodiment, the second predicted travel path is a predicted travel path at the end of the other vehicle in the vehicle width direction at the front end and the rear end of the other vehicle. The predicted trajectory information generation unit 451 generates a second travel predicted trajectory based on the steering information of the host vehicle acquired by the vehicle information acquisition unit 42 and the information of the other vehicle acquired by the other vehicle information acquisition unit 43. More specifically, the predicted trajectory information generation unit 451 calculates a second predicted travel trajectory on the assumption that another vehicle has traveled with the same steering information as the steering information of the host vehicle. The predicted trajectory information generation unit 451 generates a second trajectory image 310D indicating the second predicted travel trajectory in the overhead view image 110D based on the generated second predicted travel trajectory.

  The overhead view image 110D generated by the vehicle display control system 1 will be described. In the present embodiment, the case where the host vehicle is moving backward while being steered will be described. This embodiment demonstrates the case where the vehicle width of both vehicles is larger than the vehicle width of other vehicles. The overhead view image 110D has the same basic configuration as the overhead view image 110 shown in FIG.

  In the bird's-eye view image 110D shown in FIG. 11, the first trajectory image 210D includes a pair of first trajectory lines 211D indicating the expected trajectory of the vehicle width at the rear end of the host vehicle, and a second indicating the distance from the end of the host vehicle. A trajectory line 212D and a pair of first trajectory lines 213D indicating an expected trajectory of the vehicle width at the front end of the host vehicle are provided. The pair of first trajectory lines 211 </ b> D extends from the rear end of the host vehicle icon 120. The pair of first trajectory lines 211D extends in the front-rear direction while curving. The second trajectory line 212D extends in the vehicle width direction between the pair of first trajectory lines 211D. The pair of first trajectory lines 213D extends from the front end of the host vehicle icon 120. The pair of first trajectory lines 213D extends in the front-rear direction while curving.

  In the bird's-eye view image 110D shown in FIG. 11, the second trajectory image 310D shows a pair of first trajectory lines 311D indicating the expected trajectory of the vehicle width at the rear end of the other vehicle and the expected trajectory of the vehicle width at the front end of the other vehicle. It has a pair of first trajectory lines 312D. The pair of first trajectory lines 311D extends from the rear end position of the other vehicle. The pair of first trajectory lines 311D extend in the front-rear direction while curving. The pair of first trajectory lines 312D extends from the front end position of the other vehicle. The pair of first trajectory lines 312D extends in the front-rear direction while curving. Since the vehicle width of the host vehicle is larger than the vehicle width of the other vehicle, the pair of first trajectory lines 311D are positioned inside the pair of first trajectory lines 211D, and the pair of first trajectory lines 312D are the pair of first trajectory lines 312D. It is located inside the locus line 213D. Thereby, it is recognized from the overhead image 110D that the vehicle width of the host vehicle is wider than the vehicle width of the other vehicle.

  As described above, in the present embodiment, when other vehicle information is set, the overhead image 110D in which the first trajectory image 210D and the second trajectory image 310D are combined and displayed is generated. As a result, the own vehicle is caused by the difference between the pair of first trajectory lines 211D and the pair of first trajectory lines 311D and the difference between the pair of first trajectory lines 213D and the pair of first trajectory lines 312D in the overhead view image 110D. It is possible to easily recognize the difference in vehicle width between the vehicle and other vehicles. Thereby, this embodiment can display the relative positional relationship of the own vehicle and the circumference | surroundings of the own vehicle appropriately. In particular, the present embodiment makes it easy to grasp the overall size difference between the host vehicle and the other vehicle. For example, a useful display is displayed when the host vehicle has a larger width direction than the other vehicle with high driving frequency. Can be made.

[Eighth embodiment]
The vehicle display control system 1 according to the present embodiment will be described with reference to FIG. FIG. 12 is a flowchart illustrating an example of a process flow in the vehicle display control device of the vehicle display control system according to the eighth embodiment. The vehicle display control system 1 of the present embodiment differs from the vehicle display control system 1 of the first embodiment in the processing in the video processing unit 45.

  Even if there is a locus display trigger, the image processing unit 45 generates and displays an image that does not synthesize and display the second locus image when a predetermined condition is satisfied.

  The predetermined condition refers to a condition estimated that the driver has become accustomed to driving the vehicle and can appropriately grasp the relative positional relationship between the vehicle and the surroundings of the vehicle. More specifically, the case where the predetermined condition is satisfied may be a case where the rear video 100 in which the first trajectory image 200 and the second trajectory image 300 are synthesized and displayed is generated and displayed a predetermined number of times or more after the start of driving. Alternatively, the case where the predetermined condition is satisfied may be a case where the vehicle has traveled for a predetermined travel distance from the start of driving. Alternatively, the case where the predetermined condition is satisfied may be a case where a predetermined time or more has elapsed since the start of operation. Alternatively, the case where the predetermined condition is satisfied may be a case where it is detected that the driver inputs that the second trajectory image 300 is not synthesized and displayed via the input operation unit.

  Next, the flow of processing in the vehicle display control device 30 of the vehicle display control system 1 will be described with reference to FIG. Steps S31 and S33 to S36 are the same as steps S11 and S12 to S15 in the first embodiment.

  If it is determined in step S31 that there is a trajectory display trigger (Yes in step S31), the control unit 40 determines whether or not to display the second predicted travel trajectory display (step S32). The control unit 40 determines whether or not a predetermined condition for not displaying the second predicted travel path display is satisfied. When it determines with the control part 40 satisfy | filling predetermined conditions (it is Yes at step S32), it progresses to step S34. When it is determined that the predetermined condition is not satisfied (No in Step S32), the control unit 40 proceeds to Step S33.

  As described above, according to the present embodiment, even if the other vehicle information acquisition unit 43 acquires other vehicle information, if the predetermined condition is satisfied, the second trajectory image is not synthesized and the first trajectory image is obtained. A rear image composed only of the images is generated and displayed. Thus, the second trajectory image is not synthesized after the predetermined condition is satisfied and the driver becomes accustomed to driving the vehicle and can appropriately grasp the relative positional relationship between the vehicle and the surroundings of the vehicle. A rear image can be generated and displayed. Thus, according to the present embodiment, when the driver gets used to driving the host vehicle, the relative positional relationship between the vehicle and the surroundings of the vehicle can be appropriately displayed.

[Ninth embodiment]
The vehicle display control system 1 of the present embodiment differs from the vehicle display control system 1 of the first embodiment in the processing in the other vehicle information acquisition unit 43.

  The other vehicle information acquisition unit 43 can refer to the other vehicle database storing the information of the other vehicle, and acquires information on the other vehicle selected by the driver via the input operation unit based on the other vehicle database. The other vehicle database may be stored in the storage unit 50 or may be stored in an external storage device that is wirelessly connected via a communication device (not shown). The information on the other vehicle includes information that can identify the other vehicle such as the vehicle name, year, and model of the other vehicle, and the size of the other vehicle. The other vehicle information acquisition unit 43 receives a corresponding other vehicle when the driver inputs the name, year, model, etc. of the other vehicle directly through the input operation unit or by selecting from a list. Information from other vehicle database.

  As described above, according to the present embodiment, information on other vehicles can be acquired accurately and easily. Thereby, this embodiment can display the 2nd locus image which shows the size of other vehicles correctly. Thus, this embodiment can appropriately display the relative positional relationship between the vehicle and the surroundings of the vehicle.

  Now, the vehicle display control system 1 according to the present invention has been described so far, but the present invention may be implemented in various different forms other than the above-described embodiment.

  Each component of the illustrated vehicle display control system 1 is functionally conceptual, and may not necessarily be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or a part of them is functionally or physically distributed or integrated in arbitrary units according to the processing load or usage status of each device. May be.

  The configuration of the vehicle display control system 1 is realized by, for example, a program loaded in a memory as software. The above embodiment has been described as a functional block realized by cooperation of these hardware or software. That is, these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

  The components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the structures described above can be appropriately combined. In addition, various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present invention.

  Even if the predetermined condition is satisfied in step S32, the rear video 100 in which the first trajectory image 200 and the second trajectory image 300 are synthesized and displayed may be generated if the exceptional condition is satisfied. For example, the case where the exception condition is satisfied is a case where it is determined that the road width of the current position of the own vehicle is a narrow place based on the current position information of the own vehicle and the map information. Alternatively, for example, the case where the exception condition is satisfied may be a case where an obstacle is detected around the host vehicle. In step S32, the control unit 40 determines whether or not a predetermined condition for not displaying the second predicted travel path display is satisfied and an exceptional condition is not satisfied. When determining that the predetermined condition is satisfied and the exception condition is not satisfied, the control unit 40 determines Yes in step S32. When it is determined that the predetermined condition is not satisfied, or when it is determined that the exception condition is satisfied, the control unit 40 determines No in step S32. In this way, even if the predetermined condition is satisfied, if the exception condition is satisfied, the rear video 100 in which the first trajectory image 200 and the second trajectory image 300 are combined and displayed can be generated. Thereby, this embodiment can support checking the circumference of vehicles more appropriately.

  When displaying the rear image 100 or the overhead image 110, the control unit 40 may notify the driver by an alarm sound or an alarm display when an obstacle around the host vehicle is detected. For the detection of obstacles around the host vehicle, for example, an obstacle within 2 m around the host vehicle is detected by an infrared sensor, an ultrasonic sensor, a millimeter wave sensor, a sensor based on image recognition, or the like. The sensor outputs obstacle information of the detected obstacle to the control unit 40. And the control part 40 alert | reports to a driver | operator by an alarm sound, an alarm display, etc., when an obstacle is detected with a sensor. The control part 40 may change the range which detects an obstruction by the difference between the own vehicle and another vehicle. For example, when the vehicle width of the own vehicle is larger than the vehicle width of the other vehicle, an obstacle within 2.2 m around the own vehicle may be detected. For example, when the vehicle width of the own vehicle is smaller than the vehicle width of the other vehicle, an obstacle within 1.8 m around the own vehicle may be detected. As described above, according to the present embodiment, when there is a difference between the vehicle width of the host vehicle and the vehicle width of the other vehicle, it is possible to notify the driver by changing the range in which the obstacle is detected. Thereby, this embodiment can support checking the circumference of vehicles more appropriately.

  In step S11, for example, the control unit 40 may determine whether or not to start the overhead video display based on whether or not the operation unit starts the overhead video display start operation.

  In the above-described embodiment, the case where the host vehicle moves backward has been described, but the present invention is also applicable to the case where the host vehicle moves forward. In this case, the rear video 100 may be generated by performing a synthesis process for synthesizing the first trajectory image 200 and the second trajectory image 300 with the center in the vehicle width direction matched to the peripheral video output by the front camera.

1 Vehicle display control system 10 Camera unit (camera)
20 Display unit (display unit)
DESCRIPTION OF SYMBOLS 30 Display control apparatus for vehicles 40 Control part 41 Image | video data acquisition part 42 Vehicle information acquisition part 43 Other vehicle information acquisition part 45 Image | video process part 451 Expected locus | trajectory information generation part 452 Image | video synthetic | combination part 49 Display control part 100 Back image | video 200 1st locus | trajectory Image 300 Second trajectory image

Claims (12)

A video data acquisition unit that acquires video data from a camera that captures the surroundings of the vehicle;
Other vehicle information acquisition unit for acquiring information of other vehicles different from the vehicle,
A predicted trajectory information generation unit that generates a first predicted travel trajectory based on the information on the vehicle and a second predicted travel trajectory based on information on the other vehicle acquired by the other vehicle information acquisition unit;
A video synthesizing unit that generates a video obtained by synthesizing the first predicted travel track and the second predicted travel track generated by the predicted trajectory information generation unit with the video acquired by the video data acquisition unit;
A display control unit for causing the display unit to display the video synthesized by the video synthesis unit;
A vehicle display control device comprising: The predicted trajectory information generation unit generates a first travel predicted trajectory indicating first width information of the vehicle and a second predicted travel trajectory indicating second width information of the other vehicle.
The vehicle display control apparatus according to claim 1. The predicted trajectory information generation unit generates the first travel predicted trajectory and the second travel predicted trajectory when there is a difference of a predetermined width or more between the first width information and the second width information.
The vehicle display control apparatus according to claim 2. The predicted trajectory information generation unit generates a second predicted travel trajectory whose center in the width direction matches the first predicted travel trajectory.
The display control apparatus for vehicles as described in any one of Claim 1 to 3. The predicted trajectory information generation unit generates a second predicted travel trajectory in which a driver seat position matches the first predicted travel trajectory.
The display control apparatus for vehicles as described in any one of Claim 1 to 3. The predicted trajectory information generation unit generates a second predicted travel trajectory in which the wheel position on the driver's seat side matches the first predicted travel trajectory.
The display control apparatus for vehicles as described in any one of Claim 1 to 3. A vehicle information acquisition unit that acquires steering information of the vehicle;
The predicted trajectory information generation unit includes a first predicted travel trajectory corresponding to the steering information, and a second predicted travel trajectory calculated based on the steering information and information on the other vehicle acquired by the other vehicle information acquisition unit. Generate,
The vehicle display control apparatus according to any one of claims 1 to 6. The video composition unit combines a video obtained by combining the video acquired by the video data acquisition unit while changing the display mode of the first predicted travel track and the second predicted travel track generated by the predicted trajectory information generation unit. Generate,
The display control apparatus for vehicles as described in any one of Claim 1 to 7. The other vehicle information acquisition unit can refer to another vehicle database storing information of other vehicles, and acquires information of other vehicles selected based on the other vehicle database.
The display control apparatus for vehicles as described in any one of Claim 1 to 8. The vehicle display control device according to any one of claims 1 to 9,
A vehicle display control system comprising at least one of the camera and the display unit. A video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle;
Other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle;
A predicted trajectory information generating step for generating a first predicted travel path based on the vehicle information and a second predicted travel path based on the other vehicle information acquired in the other vehicle information acquisition step;
A video synthesizing step for generating a video obtained by synthesizing the first travel predicted trajectory and the second travel predicted trajectory generated in the predicted trajectory information generating step on the video acquired in the video data acquiring step;
A display control step of displaying the video synthesized in the video synthesis step on a display unit;
The vehicle display control method characterized by including. A video data acquisition step of acquiring video data from a camera that captures the surroundings of the vehicle;
Other vehicle information acquisition step of acquiring information of another vehicle different from the vehicle;
A predicted trajectory information generating step for generating a first predicted travel path based on the vehicle information and a second predicted travel path based on the other vehicle information acquired in the other vehicle information acquisition step;
A video synthesizing step for generating a video obtained by synthesizing the first travel predicted trajectory and the second travel predicted trajectory generated in the predicted trajectory information generating step on the video acquired in the video data acquiring step;
A display control step of displaying the video synthesized in the video synthesis step on a display unit;
For causing a computer that operates as a display control device for a vehicle to execute.

Images