JP2018182373A - Overhead video generation apparatus, overhead video display apparatus, overhead video generation method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately confirm a relative positional relationship between a vehicle and its surroundings. SOLUTION: A bird's-eye view of displaying a predetermined display range from an own vehicle by performing a viewpoint conversion process and a synthesis process including an own vehicle icon indicating a vehicle on a peripheral image acquired by the video data acquisition unit 42 and the video data acquisition unit 42. A bird's-eye view image generation unit 44 that generates an image, a reference object detection unit 45 that detects a reference object that exists farther than the display range around the vehicle, and a relative between the reference object and the own vehicle detected by the reference object detection unit 45. In the bird's-eye view image generated by the bird's-eye view image generation unit 44, the direction specifying unit 46 for specifying the target direction and the information indicating the relative direction between the reference target and the own vehicle are set as the relative orientation with respect to the own vehicle icon. It is characterized by including a superimposing processing unit 47 that generates a superimposing superimposed image and a display control unit 48 that displays the superimposing image generated by the superimposing processing unit 47 on the display panel 31. [Selection diagram] Fig. 1

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an overhead view video generation device, an overhead view video display device, an overhead view video generation method and program.

  When the vehicle is parked, the driver parks the vehicle in a direction to the reference object such as, for example, a parking lot line, a vehicle stop, a roadway outside line, and a curb. There is known a technique related to a vehicle peripheral display device that supports parking by displaying a bird's-eye image of the vehicle together with a vehicle image when the vehicle is parked (see, for example, patent documents 1 and 2). In the parking lot in which a white line is not drawn on the road surface as a boundary between parking areas, the technology described in Patent Document 1 sets boundaries between adjacent parking areas from a car stop extending in the vehicle width direction Display superimposed. According to the technique described in Patent Document 2, when the predetermined portion of the parking frame is out of the display range, an extension line image indicating an extension line of the parking frame is superimposed and displayed on the overhead image.

JP, 2013-116696, A JP, 2008-083990, A

  The technology described in Patent Document 1 requires a demarcation between adjacent parking areas, such as a car stop extending in the vehicle width direction. The technique described in Patent Document 2 requires the parking frame to extend in the vehicle direction. For example, when the straight frame line which does not extend in the vehicle direction exists out of the display range, neither technique can be applied. Thus, there is room for improvement in appropriately displaying the relative positional relationship between the vehicle and the surroundings in the overhead image so as to be able to be confirmed.

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

  In order to solve the problems described above and achieve the object, the overhead view video image generating apparatus according to the present invention is an image data acquisition unit for acquiring surrounding image data captured by a plurality of cameras capturing an area around a vehicle; The overhead image generator for performing a viewpoint conversion process and a composition process including an own vehicle icon indicating a vehicle on the peripheral image acquired by the data acquisition unit, and generating an overhead image for displaying a predetermined display range from the vehicle; A reference object detection unit that detects a reference object that is located farther than the display range in the surroundings, a direction identification unit that specifies a relative direction between the reference object detected by the reference object detection unit and the vehicle A superimposed image obtained by superimposing the information indicating the relative orientation of the object and the vehicle on the overhead image generated by the overhead image generating unit as the relative orientation based on the host vehicle icon A superimposition processing unit to be generated, characterized by comprising a display control unit for displaying a superimposed image of the superposition processing unit has generated to the display unit.

  The overhead view video display apparatus according to the present invention includes at least one of the above-described overhead view video generation apparatus, a photographing unit that supplies the video data to the video data acquisition unit, and a display unit that causes the display control unit to display superimposed images. It is characterized by having.

  The overhead view video generation method according to the present invention includes a video data acquisition step of acquiring surrounding video data captured by a plurality of cameras capturing the periphery of the vehicle, a viewpoint conversion process and vehicle conversion to the peripheral video acquired in the video data acquisition step. Performing a synthesis process including an own vehicle icon indicating the overhead view image generating step of generating an overhead view image for displaying a predetermined display range from the vehicle, and detecting a reference target located far from the display range around the vehicle Information indicating the relative orientation between the reference object and the vehicle, the direction identification step for identifying the relative orientation of the reference object and the vehicle detected in the reference object detection step; The superimposed image superimposed on the overhead-view image generated in the overhead-view image generation step as a relative direction based on the host vehicle icon It includes a superimposition processing step of forming, and a display control step of displaying the superimposed image generated by the superimposition processing step on a display unit.

  A program according to the present invention is an image data acquisition step for acquiring surrounding image data captured by a plurality of cameras that capture the periphery of the vehicle, and a viewpoint conversion process and a vehicle showing the surrounding image acquired in the image data acquisition step. An overhead image generation step of performing composition processing including a vehicle icon and generating an overhead image for displaying a predetermined display range from the vehicle, and a reference object for detecting a reference object located far from the display range around the vehicle The vehicle indicates information indicating the relative orientation between the reference object and the vehicle, and the direction identification step for identifying the relative orientation between the reference object and the vehicle detected in the reference object detection step. Generating a superimposed image superimposed on the overhead image generated in the overhead image generation step as a relative direction based on the icon A superimposition processing step to execute a display control step of displaying on the display unit a superimposed image generated by the superimposition processing step on a computer that acts as the overhead image generating apparatus.

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

FIG. 1 is a block diagram showing an example of the configuration of a bird's-eye view video generation apparatus according to the first embodiment. FIG. 2 is a view showing an example of a bird's-eye view video generated by the bird's-eye view video generation device according to the first embodiment. FIG. 3 is a view showing an example of a superimposed image generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 4 is a view showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 5 is a flowchart showing the flow of processing in the overhead view video image generating apparatus according to the first embodiment. FIG. 6 is a view showing an example of the positional relationship among the host vehicle, the reference object, the display range, and the imaging range in the first embodiment. FIG. 7 is a diagram showing another example of the positional relationship between the host vehicle, the reference object, the display range, and the imaging range in the first embodiment. FIG. 8 is a diagram showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 9 is a view showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 10 is a diagram showing another example of the positional relationship among the host vehicle, the reference object, the display range, and the imaging range in the first embodiment. FIG. 11 is a view showing an example of the positional relationship among the host vehicle, the reference object, the display range, and the photographing range in the second embodiment. FIG. 12 is a diagram showing an example of a superimposed image generated by the overhead view video image generating apparatus according to the second embodiment. FIG. 13 is a view showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the second embodiment. FIG. 14 is a diagram showing another example of the positional relationship between the vehicle, the reference object, the display range, and the imaging range in the second embodiment. FIG. 15 is a view showing an example of a bird's-eye view video generated by the bird's-eye view video generation device according to the second embodiment. FIG. 16 is a diagram showing an example of the positional relationship among the host vehicle, the reference object, the display range, and the imaging range in the third embodiment.

  DETAILED DESCRIPTION OF THE INVENTION Embodiments of the overhead view video generation device 40, the overhead view video generation device 1, the overhead view video generation method, and the program according to the present invention will be described in detail with reference to the attached drawings. Note that the present invention is not limited by the following embodiments.

First Embodiment
FIG. 1 is a block diagram showing an example of the configuration of a bird's-eye view video generation apparatus according to the first embodiment. The overhead view video generation device 1 generates an overhead view video 100 (see FIG. 2) of a vehicle. The overhead image generating device 40 and the overhead image generating device 1 are mounted on a vehicle. The overhead image generating device 40 and the overhead image generating device 1 may be portable and usable in a vehicle, in addition to those mounted on the vehicle.

  The overhead view video generation apparatus 1 will be described with reference to FIG. The overhead view video generation device 1 includes a front camera (shooting unit) 11, a rear camera (shooting unit) 12, a left side camera (shooting unit) 13, a right side camera (shooting unit) 14, and a display panel (display unit) 31) and an overhead view video generation device 40.

  The front camera 11 is disposed in front of the vehicle and captures an area around the front of the vehicle. The front camera 11 shoots, for example, a first shooting range A1 (see FIG. 6) of about 180 °. The first shooting range A1 includes a wider range in front of the host vehicle V than the display range A (see FIG. 6) of the overhead image 100. The front camera 11 outputs the captured video to the video data acquisition unit 42 of the overhead video generating device 40.

  The rear camera 12 is disposed at the rear of the vehicle and captures an area around the rear of the vehicle. The rear camera 12 shoots a second shooting range A2 (see FIG. 6) of, for example, about 180 °. The second shooting range A2 includes a wider range behind the vehicle V than the display range A of the overhead image 100. The rear camera 12 outputs the captured video to the video data acquisition unit 42 of the overhead video generating device 40.

  The left side camera 13 is disposed on the left side of the vehicle and captures an image of the area around the left side of the vehicle. The left side camera 13 captures, for example, a third imaging range A3 (see FIG. 6) of about 180 °. The third shooting range A3 includes a wider range on the left side of the host vehicle V than the display range A of the overhead image 100. The left side camera 13 outputs the captured video to the video data acquisition unit 42 of the overhead video generating device 40.

  The right side camera 14 is disposed on the right side of the vehicle and captures an area around the right side of the vehicle. The right side camera 14 captures, for example, a fourth imaging range A4 (see FIG. 6) of about 180 °. The fourth shooting range A4 includes a wider range on the right side of the host vehicle V than the display range A of the overhead image 100. The right-side camera 14 outputs the captured video to the video data acquisition unit 42 of the overhead view video generation device 40.

  The front camera 11, the rear camera 12, the left side camera 13 and the right side camera 14 capture images of all directions of the vehicle.

  The display panel 31 is a display including, for example, a liquid crystal display (LCD: Liquid Crystal Display) or an organic EL (Organic Electro-Luminescence) display. The display panel 31 displays the overhead image 100 (see FIG. 2) or the superimposed image 100A (see FIG. 3) based on the video signal output from the overhead image generating device 40 of the overhead image generating device 1. The display panel 31 may be dedicated to the overhead view video generation device 1 or may be used jointly with other systems including, for example, a navigation system. The display panel 31 is disposed at a position easily visible by the driver.

  The overhead view video generation device 40 includes a control unit 41 and a storage unit 49.

  The control unit 41 is, for example, an arithmetic processing unit configured by a CPU (Central Processing Unit) or the like. The control unit 41 loads the program stored in the storage unit 49 into the memory and executes an instruction included in the program. The control unit 41 includes a video data acquisition unit 42, a vehicle information acquisition unit 43, an overhead video generation unit 44, a reference target detection unit 45, a direction identification unit 46, a superposition processing unit 47, and a display control unit 48. Have. The control unit 41 includes an internal memory (not shown), and the internal memory is used for temporary storage of data in the control unit 41 and the like.

  The video data acquisition unit 42 acquires peripheral video data obtained by photographing the periphery of a vehicle. More specifically, the video data acquisition unit 42 acquires video data output from the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. The video data acquisition unit 42 outputs the acquired video data to the overhead video generation unit 44 and the reference target detection unit 45. Video data acquired from each camera is, for example, a moving image composed of images at 30 frames per second.

  The vehicle information acquisition unit 43 acquires vehicle information indicating the condition of the vehicle serving as a trigger to start displaying the overhead view image, such as gear operation information of the vehicle, from a controller area network (CAN) or various sensors that sense the condition of the vehicle. Do. The vehicle information acquisition unit 43 acquires, for example, a reverse trigger. The vehicle information acquisition unit 43 acquires, for example, vehicle speed information. The vehicle information acquisition unit 43 outputs the acquired vehicle information to the overhead view video generation unit 44.

  The overhead view video generation unit 44 performs viewpoint conversion processing and synthesis processing including the own vehicle icon 110 indicating the vehicle so as to look down the vehicle from above from the peripheral image acquired by the image data acquisition unit 42, and the predetermined processing from the own vehicle V is performed. A bird's-eye-view video 100 displaying the display range A is generated. More specifically, the overhead view video generation unit 44 generates the overhead view video 100 based on the images captured by the front camera 11, the rear side camera 12, the left side camera 13 and the right side camera 14. The method of generating the overhead view image 100 may be any known method and is not limited. The overhead view video generation unit 44 outputs the generated overhead view video 100 to the superimposition processing unit 47 and the display control unit 48.

  The overhead image generation unit 44 includes a viewpoint conversion processing unit 441, a clipping processing unit 442, and a combining processing unit 443.

  The viewpoint conversion processing unit 441 performs viewpoint conversion processing on the surrounding video data acquired by the video data acquisition unit 42 so as to look down on the host vehicle V from above. More specifically, the viewpoint conversion processing unit 441 generates an image on which viewpoint conversion processing has been performed, based on surrounding image data captured by the front camera 11, the rear camera 12, the left direction camera 13 and the right direction camera 14. The method of viewpoint conversion processing may be any known method and is not limited. The viewpoint conversion processing unit 441 outputs the peripheral video data subjected to the viewpoint conversion processing to the clipping processing unit 442.

  The clipping processing unit 442 performs clipping processing on a video within a predetermined range from the peripheral video data subjected to the viewpoint conversion processing. Which range is to be cut out is registered and stored in advance. The clipping processing unit 442 outputs the video data of the video subjected to the clipping processing to the combining processing unit 443.

  The combining processing unit 443 performs combining processing to combine the video data subjected to the clipping processing. The composition processing unit 443 generates the overhead view image 100 in which the vehicle icon 110 is displayed on the combined image.

  The reference object detection unit 45 detects a reference object B present at a distance from the display range A around the vehicle. The reference target detection unit 45 performs an object recognition process on the peripheral video acquired by the video data acquisition unit 42, and detects the reference target B present far from the display range A. The reference object detection unit 45 may detect, as the reference object B, an object to be photographed having a linearity equal to or greater than a predetermined length from the peripheral image by edge detection processing. The reference target detection unit 45 may detect the reference target B from the surrounding image using a recognition dictionary storing the reference target B. The object recognition processing may use or be used in combination with existing white line detection processing, specific object detection processing using a recognition dictionary, or the like.

  The reference target B is a target having linearity of a predetermined length or more and serving as a reference for aligning the direction of the host vehicle V at the time of parking. The reference object B is, for example, a curb, a vehicle stop, a parking lot line, a road outside line, and a line drawn on the road surface. The reference subject B is directional. In other words, the reference object B exists on a straight line along the predetermined direction. The reference object B extends straight along a predetermined direction without bending or curving. The object recognition process detects an object having a condition as a reference object B.

  When the reference object detection unit 45 detects a plurality of reference objects B, the reference object detection unit 45 may set a reference object B having a small distance from the host vehicle V. Alternatively, the reference object detection unit 45 may select the reference object B present in the traveling direction of the host vehicle V when detecting a plurality of reference objects B. In this case, the reference object detection unit 45 detects the reference object B from the surrounding image in the traveling direction of the host vehicle V. Alternatively, when a plurality of reference objects B are detected, the reference object detection unit 45 may use one having a large linear continuity as the reference object B. Alternatively, the reference object detection unit 45 may set the rear frame line as the reference object B, for example, when a U-shaped parking frame line is detected.

  The peripheral image in the traveling direction of the own vehicle V means the image data output by at least one of the front camera 11, the rear camera 12, the left side camera 13 and the right side camera 14 facing the traveling direction of the own vehicle V It is. For example, when the traveling direction of the host vehicle V is the rear, video data of a range behind the vehicle among video data captured by the rear camera 12 and video data captured by the left side camera 13 and the right side camera 14 It is.

  The peripheral image in the traveling direction of the host vehicle V may give priority to the image data output from the camera that has turned in the direction in which the possibility of contact with the host vehicle V is higher. For example, when the traveling direction of the host vehicle V is the rear, the video data taken by the rear camera 12 is the video data of the range behind the vehicle among the video data taken by the left side camera 13 and the right side camera 14 It may be prioritized. Alternatively, for example, when the traveling direction of the host vehicle V is steered at the rear, the video data captured by the rear camera 12 or the video data captured by the left direction camera 13 or the right direction camera 14 in the steering direction The video data of the range behind the side and the video data captured by the right side camera 14 or the left side camera 13 in the direction opposite to the steering direction may be prioritized in order of the video data of the range behind the vehicle.

  The direction specifying unit 46 specifies the relative direction between the reference object B detected by the reference object detection unit 45 and the host vehicle V. More specifically, the direction specifying unit 46 specifies a relative direction with respect to the host vehicle V from the direction and the position in the image data of the reference object B detected by the reference object detection unit 45. For example, the direction specifying unit 46 specifies a relative direction with respect to the host vehicle V based on the direction and position in the image data of the reference object B detected by the reference object detection unit 45 and the direction of the optical axis of the captured camera. You may For example, the direction specifying unit 46 specifies a relative direction with respect to the host vehicle V based on the direction and position in the image data of the reference object B detected by the reference object detection unit 45 and the direction of the object to be photographed of the image data. You may The relative orientation with respect to the host vehicle V is a relative orientation with respect to the direction L of extension of the host vehicle in the front-rear direction. In the present embodiment, the relative orientation of the reference object B with respect to the vehicle V is an angle θ between the extension direction of the reference object B and the extension direction L in the front-rear direction of the vehicle V.

  The superimposition processing unit 47 superimposes the information indicating the relative orientation of the reference object B and the host vehicle V on the overhead image 100 generated by the overhead image creation unit 44 as a relative orientation based on the host vehicle icon 110. The superimposed video 100A is generated. In the present embodiment, the superimposition processing unit 47 indicates the information indicating the relative orientation of the reference target B and the vehicle V detected by the orientation identification unit 46 by the reference orientation icon (information indicating the orientation) 120, and displays the overhead image A superimposed image 100A superimposed on the image 100 is generated. More specifically, the superimposition processing unit 47 superimposes the reference orientation icon 120 so that an angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the vehicle V is θ in the superimposed image 100A. .

  The reference orientation icon 120 is an icon for notifying of the orientation of the reference object B. In the present embodiment, the reference orientation icon 120 is a dashed line extending along the extension direction of the reference object B.

  The superimposition processing unit 47 superimposes the reference orientation icon 120 on the side where the reference target B is present with respect to the host vehicle icon 110 in the overhead image 100. For example, when the reference target B is detected behind the host vehicle V, the superimposition processing unit 47 superimposes the reference orientation icon 120 on the rear image 102 that is the rear with respect to the host vehicle icon 110 in the overhead image 100. More specifically, for example, when the reference object B is detected behind the host vehicle V, the superimposition processing unit 47 sets the reference orientation icon 120 on the basis of the center of the rear image 102, in other words, the center of the rear image 102. May be superimposed to pass through. For example, when the reference target B is detected behind the host vehicle V, the superimposition processing unit 47 may superimpose the reference orientation icon 120 so that only the rear image 102 passes. For example, when the reference object B is detected behind the host vehicle V, the superimposition processing unit 47 passes the reference orientation icon 120 at a position away from the end on the traveling direction side of the host vehicle icon 110 by a predetermined distance. You may make it overlap.

  Alternatively, the superimposition processing unit 47 may superimpose the reference direction icon 120 on the basis of the center of the host vehicle icon 110 so as to pass through the center of the host vehicle icon 110.

  The display control unit 48 causes the display panel 31 to display the overhead image 100 or the superimposed image 100A generated by the superimposition processing unit 47.

  The overhead image 100 and the superimposed image 100A generated by the overhead image generating device 1 will be described with reference to FIGS. 2 to 4. FIG. 2 is a view showing an example of a bird's-eye view video generated by the bird's-eye view video generation device according to the first embodiment. FIG. 3 is a view showing an example of a superimposed image generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 4 is a view showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the first embodiment.

  The overhead view image 100 will be described with reference to FIG. The overhead view video 100 is in the shape of a vertically long rectangle. The overhead image 100 is located at a central portion surrounded by the front image 101, the rear image 102, the left side image 103, the right side image 104, the front image 101, the rear image 102, the left direction image 103, and the right side image 104. And an own vehicle icon 110. In the rear image 102, a vehicle stop B1 and a rear frame line B2 are displayed as objects to be photographed. The front image 101, the rear image 102, the left side image 103, the right side image 104, and the host vehicle icon 110 may be separated by a frame-like border. The host vehicle icon 110 indicates the position and the direction of the host vehicle V. The driver knows the position and the direction of the vehicle stop B1 and the rear frame line B2. Thus, the driver steers the vehicle V in accordance with the vehicle stop B1 and the rear frame line B2.

  In FIG. 2, diagonal broken lines indicating the boundaries between the front image 101, the rear image 102, the left side image 103, and the right side image 104 are illustrated for the sake of explanation, but they are actually displayed on the display panel 31. The broken line may not be displayed in the overhead image 100. The same applies to the other figures.

  The superimposed image 100A will be described with reference to FIG. The superimposed image 100A has the same rectangular shape as the overhead image 100, which is vertically long. The superimposed image 100A includes a front image 101A, a rear image 102A, a left direction image 103A, a right direction image 104A, an own vehicle icon 110, and a reference direction icon 120 superimposed as the overhead image 100. The reference orientation icon 120 is superimposed on the rear image 102A. The reference orientation icon 120 indicates the orientation with the reference object B, for example, the rear border B2. The reference orientation icon 120 indicates that the driver has a reference object B along the orientation of the reference orientation icon 120 in the traveling direction of the vehicle. Thus, the driver steers the vehicle V in accordance with the reference orientation icon 120.

  The superimposed image 100A will be described with reference to FIG. The superimposed image 100A differs from the superimposed image 100A illustrated in FIG. 3 in that the reference orientation icon 120 is superimposed so as to pass through the center of the host vehicle icon 110.

  The storage unit 49 stores data required for various processes in the overhead view video generation device 40 and various process results. The storage unit 49 is, for example, a semiconductor memory device such as a random access memory (RAM), a read only memory (ROM), a flash memory, or a storage device such as a hard disk or an optical disk.

  Next, the flow of processing in the overhead view video generation device 40 will be described using FIG. 5. FIG. 5 is a flowchart showing the flow of processing in the overhead view video image generating apparatus according to the first embodiment.

  The control unit 41 determines whether to start the overhead view image display (step S11). As an example of the determination to start the overhead view video display, the control unit 41 determines whether to disclose the overhead view video display based on the presence or absence of the backward trigger. The reverse trigger means, for example, that the shift position is "reverse". Alternatively, the reverse trigger means that the traveling direction of the vehicle is behind in the longitudinal direction of the vehicle. When there is no reverse trigger, the control unit 41 determines that the overhead view image display is not to be started (No in Step S11), and executes the process of Step S11 again. When the backward trigger is present, the control unit 41 determines to start the overhead view video display (Yes in step S11), and proceeds to step S12.

  The control unit 41 generates and displays the overhead view video 100 (step S12). More specifically, the control unit 41 causes the overhead view video generation unit 44 to generate an overhead view video 100 obtained by performing viewpoint conversion so as to look down on the vehicle from above in the peripheral video acquired by the video data acquisition unit 42. The control unit 41 proceeds to step S13.

  The control unit 41 determines whether the reference target B has been detected (step S13). More specifically, the control unit 41 determines whether the reference target B is detected by the reference target detection unit 45. When the control unit 41 determines that the reference object B is detected by the reference object detection unit 45 (Yes in step S13), the process proceeds to step S14. When the control unit 41 determines that the reference target B is not detected by the reference target detection unit 45 (No in step S13), the process proceeds to step S18.

  The control unit 41 determines whether the reference target B is present in the display range A of the overhead view video 100 (step S14). More specifically, the control unit 41 determines whether or not the position at which the reference object B is detected by the reference object detection unit 45 is included in the display range A of the overhead image 100. If the control unit 41 determines that the reference target B is included in the display range A of the overhead view video 100 (Yes in step S14), the process proceeds to step S18. If the control unit 41 determines that the reference target B is not included in the display range A of the overhead view video 100 (No in step S14), the process proceeds to step S15.

  The control unit 41 specifies a relative direction (step S15). More specifically, the control unit 41 causes the direction specifying unit 46 to specify a relative direction with respect to the host vehicle V based on the direction and the position of the video data of the reference object B detected by the reference object detection unit 45. The control unit 41 proceeds to step S16.

  The control unit 41 generates the superimposed image 100A (step S16). More specifically, the control unit 41 causes the superimposition processing unit 47 to superimpose the reference orientation icon 120 on the overhead view video 100 generated by the overhead view video generation unit 44 as a relative orientation based on the host vehicle icon 110. Generate 100A. The control unit 41 causes the superimposition processing unit 47 to superimpose the reference orientation icon 120 on the side where the reference target B exists with respect to the host vehicle icon 110 in the overhead image 100. Alternatively, the control unit 41 may cause the superposition processing unit 47 to superimpose the reference orientation icon 120 so as to pass through the center of the host vehicle icon 110. The control unit 41 proceeds to step S17.

  The control unit 41 displays the superimposed image 100A (step S17). More specifically, the control unit 41 causes the display control unit 48 to display the superimposed image 100A generated by the superimposition processing unit 47 on the display panel 31. The control unit 41 proceeds to step S19.

  The control unit 41 displays the overhead view image 100 (step S18). More specifically, the control unit 41 causes the display control unit 48 to display the overhead view video 100 generated by the overhead view video generation unit 44 on the display panel 31. The control unit 41 proceeds to step S19.

  The control unit 41 determines whether to end the overhead view video display (step S19). More specifically, the control unit 41 determines whether to end the overhead video display including the display of the overhead video 100 and the display of the superimposed video 100A based on the presence or absence of the reverse end trigger. The reverse end trigger means, for example, that the shift position has changed from "reverse" to another position. In step S19, the displayed video is overhead view video 100 or superimposed video 100A. When the reverse end trigger is present, the control unit 41 determines to end the display of the overhead view video 100 or the superimposed video 100A (Yes in step S19), and ends the process. When there is no reverse termination trigger, the control unit 41 determines that the display of the overhead view video 100 or the superimposed video 100A is not finished (No in step S19), and executes the processing in step S12 again.

  In this manner, when the reference object B is detected farther than the display range A of the overhead video 100, the overhead video image generating apparatus 1 causes the display panel 31 to display the superimposed video 100A on which the reference orientation icon 120 is superimposed. Output The display panel 31 displays, for example, the superimposed image 100A together with the navigation screen on the basis of the video signal output from the overhead view video generation device 1.

  For example, when the vehicle is moving backward, an example in the case where the vehicle stop B1 and the rear frame line B2 exist in the rear will be described with reference to FIGS. 2 to 4 and 6 to 10. In the present embodiment, there is no dividing line that divides adjacent parking positions. FIG. 6 is a view showing an example of the positional relationship among the host vehicle, the reference object, the display range, and the imaging range in the first embodiment. FIG. 7 is a diagram showing another example of the positional relationship between the host vehicle, the reference object, the display range, and the imaging range in the first embodiment. FIG. 8 is a diagram showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 9 is a view showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the first embodiment. FIG. 10 is a diagram showing another example of the positional relationship among the host vehicle, the reference object, the display range, and the imaging range in the first embodiment.

  First, the vehicle is positioned near the parking position, and the shift position is set to "reverse". The vehicle information acquisition unit 43 acquires a reverse trigger. At this time, as shown in FIG. 6, it is assumed that the host vehicle V, the vehicle stop B1, and the rear frame line B2 are separated. The vehicle stop B1 and the rear frame line B2 exist in the first imaging range A2 and are located farther than the display range A of the overhead image 100. In the present embodiment, in the reference object detection unit 45, a reference object B that exists in the traveling direction of the host vehicle V and has a large linear continuity is used. Therefore, in the present embodiment, the rear frame line B2 is set as the reference object B. The angle between the extending direction of the rear frame line B2 which is the reference object B and the direction of the extending direction L in the front-rear direction of the vehicle V is θ1.

  In step S11, the control unit 41 determines that there is a reverse trigger and the overhead image display is to be started. Then, in step S12, the control unit 41 causes the overhead view video generation unit 44 to generate the overhead view video 100.

  In step S13, the control unit 41 determines that, for example, the rear frame line B2 is detected as the reference target B.

  Then, in step S14, the control unit 41 determines that the reference target B does not exist in the display range A of the overhead image 100. Then, in step S15, the control unit 41 specifies the relative orientation of the reference object B. Then, in step S16, the control unit 41 generates a superimposed image 100A in which the reference orientation icon 120 is superimposed on the overhead image 100. Then, in step S17, the control unit 41 causes the display panel 31 to display the generated superimposed image 100A.

  For example, the control unit 41 causes the display panel 31 to display the superimposed image 100A as shown in FIG. The reference orientation icon 120 is superimposed on the rear image 102A. The angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the host vehicle V is θ1.

  Alternatively, for example, the control unit 41 may cause the display panel 31 to display the superimposed image 100A as illustrated in FIG. 4. The reference orientation icon 120 is superimposed so as to pass through the center of the host vehicle icon 110. The angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the host vehicle V is θ1.

  FIG. 7 shows a state in which the host vehicle V and the reference object B approach each other as the host vehicle V retreats from the state shown in FIG. The vehicle stop B1 and the rear frame line B2 exist in the first imaging range A2 and are located farther than the display range A of the overhead image 100. The angle between the extension direction of the reference object B and the direction of the extension direction L in the front-rear direction of the vehicle V is θ2. The angle θ2 is larger than the angle θ1.

  In step S13, the control unit 41 determines that the reference target B has been detected. Then, in step S14, the control unit 41 determines that the reference target B does not exist in the display range A of the overhead image 100. Then, in step S15, the control unit 41 specifies the relative orientation of the reference object B. Then, in step S16, the control unit 41 generates a superimposed image 100A in which the reference orientation icon 120 is superimposed on the overhead image 100. Then, in step S17, the control unit 41 causes the display panel 31 to display the generated superimposed image 100A.

  For example, the control unit 41 causes the display panel 31 to display the superimposed image 100A as shown in FIG. The reference orientation icon 120 is superimposed on the rear image 102A. The angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the vehicle V is θ2.

  Alternatively, for example, the control unit 41 causes the display panel 31 to display a superimposed image 100A as illustrated in FIG. The reference orientation icon 120 is superimposed so as to pass through the center of the host vehicle icon 110. The angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the vehicle V is θ2.

  FIG. 10 shows a state in which the host vehicle V is moved backward from the state shown in FIG. The vehicle stop B1 and the rear frame line B2 exist in the first imaging range A2 and exist in the display range A of the overhead image 100. The angle between the extension direction of the reference object B and the direction of the extension direction L in the front-rear direction of the host vehicle V is 90 °.

  In step S13, the control unit 41 determines that the reference target B has been detected. Then, in step S14, the control unit 41 determines that the reference target B is present in the display range A of the overhead view video 100. Then, in step S18, the control unit 41 causes the display panel 31 to display the overhead image 100.

  For example, the control unit 41 causes the display panel 31 to display the overhead view image 100 as shown in FIG. In the rear image 102, a vehicle stop B1 and a rear frame line B2 are displayed as objects to be photographed. By switching the video displayed on the display panel 31 from the superimposed video 100A to the overhead video 100, a vehicle stop B1 and a rear frame line B2 are displayed as an object to be photographed, instead of the reference orientation icon 120.

  As described above, when the reference target B is detected at a distance further than the display range A of the overhead view video 100, the superimposed image 100A on which the reference orientation icon 120 is superimposed is displayed on the display panel 31. As described above, the present embodiment can display the orientation of the reference object B that is farther than the display range A of the overhead image 100. This embodiment can appropriately confirm the relative positional relationship between the vehicle and the surroundings.

  According to the present embodiment, the orientation of the reference orientation icon 120 with respect to the host vehicle icon 110 makes it possible to check whether or not the host vehicle V matches the orientation of the reference target B. In particular, at the time of parking, the change of the direction of the reference orientation icon 120 with respect to the host vehicle icon 110 makes it possible to check that the host vehicle V is suitable for the direction of the reference target B and how much it is. It can be manipulated to be oriented.

  In the present embodiment, the reference orientation icon 120 is superimposed on the side where the reference target B exists with respect to the host vehicle icon 110. According to the present embodiment, the display position of the reference orientation icon 120 makes it possible to confirm the direction in which the reference object B is present.

  In particular, the reference orientation icon 120 may be superimposed on the host vehicle icon 110 so as to pass through the center of the image on the side where the reference target B exists. For example, when the reference object B is detected behind the host vehicle V, the superimposition processing unit 47 may superimpose the reference orientation icon 120 so as to pass through the center of the rear image 102. By displaying the reference orientation icon 120 in this manner, when the orientation of the reference orientation icon 120 with respect to the host vehicle icon 110 changes, the relative orientation and the change of the orientation of the host vehicle V and the reference target B are grasped You can make it easy to display.

  In the present embodiment, the reference orientation icon 120 may be superimposed so as to pass through the center of the host vehicle icon 110. According to the present embodiment, since the reference orientation icon 120 is displayed superimposed on the host vehicle icon 110, it is possible to make it possible to display the orientation of the host vehicle V and the reference target B more easily.

Second Embodiment
The overhead view video image generating apparatus 1 according to the present embodiment will be described with reference to FIGS. 11 to 15. FIG. 11 is a view showing an example of the positional relationship among the host vehicle, the reference object, the display range, and the photographing range in the second embodiment. FIG. 12 is a diagram showing an example of a superimposed image generated by the overhead view video image generating apparatus according to the second embodiment. FIG. 13 is a view showing another example of the superimposed video generated by the overhead view video image generating apparatus according to the second embodiment. FIG. 14 is a diagram showing another example of the positional relationship between the vehicle, the reference object, the display range, and the imaging range in the second embodiment. FIG. 15 is a view showing an example of a bird's-eye view video generated by the bird's-eye view video generation device according to the second embodiment. The basic configuration of the overhead view video generation device 1 is the same as that of the overhead view video generation device 1 of the first embodiment. In the following description, the same reference numerals or the corresponding reference numerals are given to the same constituent elements as the overhead view video generation device 1, and the detailed description thereof is omitted.

  In the present embodiment, it is assumed that the vehicle V is parked in parallel along the roadway outside line B3 which is the reference object B. The other vehicle V1 and the other vehicle V2 exist across the space where the vehicle V is to be parked.

  The reference object detection unit 45 performs an object recognition process on the peripheral image acquired by the image data acquisition unit 42, and detects a roadway outside line B3 as a reference object B present at a distance from the display range A.

  For example, when the reference target B is detected at the left rear of the host vehicle V, the superimposition processing unit 47 sets the reference orientation icon 120 to the left image and the rear image 102 that is the left rear with respect to the host vehicle icon 110 in the overhead image 100 It is superimposed on the image 103. More specifically, for example, when the reference object B is detected at the left rear of the host vehicle V, the superimposition processing unit 47 sets the reference orientation icon 120 to the middle point of the boundary between the rear image 102A and the left side image 103A. It may be superimposed to pass through. For example, when the reference object B is detected at the left rear of the host vehicle V, the superimposition processing unit 47 passes the reference orientation icon 120 a position away from the left rear end of the host vehicle icon 110 by a predetermined distance. You may make it overlap.

  Alternatively, the superimposition processing unit 47 may superimpose the reference orientation icon 120 so as to pass through the center of the host vehicle icon 110.

  For example, when parallel parking of a vehicle, a roadway outside line B3 which is a reference object B is present at the left rear will be described with reference to FIGS.

  First, the vehicle is positioned near the parking position, and the shift position is set to "reverse". The vehicle information acquisition unit 43 acquires a reverse trigger. At this time, as shown in FIG. 11, it is assumed that the host vehicle V and the roadway outer line B3 are separated. The roadway outer line B3 exists across the second imaging range A2 and the third imaging range A3 and is located farther than the display range A of the overhead image 100. The angle between the extending direction of the roadway outer line B3 and the direction of the extending direction L in the front-rear direction of the vehicle V is θ3.

  In step S11, the control unit 41 determines that there is a reverse trigger and the overhead image display is to be started. Then, in step S12, the control unit 41 causes the overhead view video generation unit 44 to generate the overhead view video 100.

  In step S13, the control unit 41 determines that the roadway outside line B3 is detected as the reference target B. Then, in step S14, the control unit 41 determines that the roadway outer line B3 does not exist in the display range A of the overhead image 100. And control part 41 specifies relative direction of roadway outside line B3 in Step S15. Then, in step S16, the control unit 41 generates a superimposed image 100A in which the reference orientation icon 120 is superimposed on the overhead image 100. Then, in step S17, the control unit 41 causes the display panel 31 to display the generated superimposed image 100A.

  For example, the control unit 41 causes the display panel 31 to display a superimposed image 100A as shown in FIG. The reference orientation icon 120 is superimposed on the rear image 102A and the left side image 103A. The angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the vehicle V is θ3.

  Alternatively, for example, the control unit 41 may cause the display panel 31 to display a superimposed image 100A as shown in FIG. The reference orientation icon 120 is superimposed so as to pass through the center of the host vehicle icon 110. The angle between the reference orientation icon 120 and the direction of the extension direction L in the front-rear direction of the vehicle V is θ3. In FIG. 13, the extending direction L of the own vehicle V in the front-rear direction is parallel to the left border of the superimposed image 100A, so the angle θ3 is illustrated as an angle between the reference orientation icon 120 and the left border. There is.

  FIG. 14 shows a state in which the host vehicle V is retracted from the state shown in FIG. 11 and the host vehicle V is located near the roadway outer line B3. The roadway outer line B3 exists across the first imaging range A1, the second imaging range A2, and the third imaging range A3, and exists in the display range A of the overhead image 100. The other vehicle V1 exists in the display range A, and exists in the first imaging range A1. The other vehicle V2 exists in the display range A and exists in the second imaging range A2. The angle between the extending direction of the roadway outer line B3 and the direction of the extending direction L in the front-rear direction of the vehicle V is θ4.

  In step S13, the control unit 41 determines that the roadway outside line B3 has been detected. Then, in step S14, the control unit 41 determines that the roadway outer line B3 exists in the display range A of the overhead image 100. Then, in step S18, the control unit 41 causes the display panel 31 to display the overhead image 100.

  For example, the control unit 41 causes the display panel 31 to display the overhead view image 100 as shown in FIG. A roadway outside line B3 is displayed on the rear image 102 and the left direction image 103 as an object to be photographed. Another vehicle V1 and another vehicle V2 are displayed. By switching the video displayed on the display panel 31 from the superimposed video 100A to the overhead video 100, a roadway outside line B3 is displayed as an object to be photographed instead of the reference orientation icon 120.

  As described above, when the roadway outside line B3 is detected farther than the display range A of the overhead view video 100, the display panel 31 displays the superimposed video 100A on which the reference orientation icon 120 is superimposed. Thus, the present embodiment can display the direction of the roadway outer line B3 farther from the display range A of the overhead image 100. The present embodiment can appropriately confirm the relative positional relationship between the vehicle and the surroundings even in parallel parking.

Third Embodiment
The overhead view video image generating apparatus 1 according to the present embodiment will be described with reference to FIG. FIG. 16 is a diagram showing an example of the positional relationship among the host vehicle, the reference object, the display range, and the imaging range in the third embodiment.

  In the present embodiment, it is assumed that parallel parking is performed along a roadway outer line B3 which is the reference target B, in a narrow alley. A roadway outside line B4 opposite to the roadside line B3 is present. The distance between the roadway outer line B3 and the roadway outer line B4 is d. The other vehicle V1 and the other vehicle V2 exist across the space where the vehicle V is to be parked.

  The reference object detection unit 45 performs an object recognition process on the peripheral image acquired by the image data acquisition unit 42, and detects a roadway outside line B3 as a reference object B present at a distance from the display range A. The roadway outer line B4 is not detected as the reference object B because it is on the opposite side to the traveling direction of the host vehicle V.

  Alternatively, the reference object detection unit 45 performs an object recognition process on the peripheral image acquired by the image data acquisition unit 42, and is a reference object B that is farther from the display range A and is closer to the host vehicle V Detect line B3. The roadway outside line B4 is not detected as the reference object B because the distance to the host vehicle V is longer than the roadway outside line B3.

  Thus, since the roadway outside line B3 is detected as the reference object B by the reference object detection unit 45, the processing according to the flowchart is executed as in the second embodiment, and the overhead image 100 or the superimposed image 100A is It is displayed on the display panel 31.

  As described above, this embodiment can appropriately confirm the relative positional relationship between the vehicle and the surroundings even when parallel parking is performed in a narrow alley.

  By the way, although the overhead view video image generating apparatus 1 according to the present invention has been described, the present invention may be implemented in various different modes other than the above-described embodiment.

  Each component of the overhead view image generation device 1 shown in the drawings is functionally conceptual, and may not necessarily be physically configured as shown in the drawings. That is, the specific form of each device is not limited to the illustrated one, and all or a part thereof is functionally or physically dispersed or integrated in an arbitrary unit according to the processing load and use condition of each device, etc. May be

  The configuration of the overhead view video generation device 1 is realized by, for example, a program loaded into 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 above-described components include those which can be easily conceived by those skilled in the art and those substantially the same. Furthermore, the configurations described above can be combined as appropriate. In addition, various omissions, substitutions, or modifications of the configuration are possible without departing from the scope of the present invention.

  The superimposition processing unit 47 may superimpose the reference orientation icon 120 by changing the display mode in accordance with the distance between the reference target B and the host vehicle V. For example, the reference orientation icon 120 may change at least one of the thickness, the color, and the line type in accordance with the distance between the reference object B and the host vehicle V. The reference orientation icon 120 may be displayed as a thicker line as the distance between the reference target B and the host vehicle V is shorter. The reference orientation icon 120 may be displayed in a darker color as the distance between the reference object B and the host vehicle V is shorter. The reference orientation icon 120 may be displayed as a broken line when the distance between the reference object B and the host vehicle V is long, and may be displayed as a solid line when the distance is short.

  The superimposition processing unit 47 may superimpose the reference orientation icon 120 by changing the display mode in accordance with the relative orientation of the reference object B and the host vehicle V. For example, the reference orientation icon 120 may change at least one of thickness, color, and line type in accordance with the orientation of the host vehicle V with respect to the extension direction of the reference object B. The reference orientation icon 120 is indicated by a thin line when the deviation of the orientation of the vehicle V with respect to the extension direction of the reference object B is larger than a predetermined value, and the deviation of the orientation of the vehicle V with respect to the extension direction of the reference object B It may be displayed as a thick line as the The reference orientation icon 120 is displayed in red when the deviation of the orientation of the vehicle V with respect to the extension direction of the reference object B is larger than a predetermined value, and the deviation of the orientation of the vehicle V with respect to the extension direction of the reference object B It may be displayed to change to green as 小 さ く な る becomes smaller. The reference orientation icon 120 is displayed as a broken line when the deviation of the orientation of the vehicle V with respect to the extension direction of the reference object B is larger than a predetermined value, and the deviation of the orientation of the vehicle V with respect to the extension direction of the reference object B It may be displayed to be changed to a solid line as becomes smaller.

  When the deviation of the direction of the vehicle V is zero with respect to the extending direction of the reference object B, the direction of the vehicle V matches with the extending direction of the reference object B. The orientation of the host vehicle V being aligned with the extension direction of the reference target B is when the orientation of the host vehicle V becomes parallel or perpendicular to the extension direction of the reference target B is there. In other words, that the direction of the vehicle V matches the extending direction of the reference object B is when the direction of the vehicle V with respect to the reference object B is correct.

  The own vehicle icon 110 may color and display an end of the traveling direction of the own vehicle V, in other words, a target portion of the own vehicle V whose direction matches the reference orientation icon 120. This makes it easier to check the directions of the reference object B and the host vehicle V by the superimposed image 100A. The target unit that aligns with the reference orientation icon 120 performs a relative positional relationship between the traveling direction of the host vehicle V and the reference target B, and image processing on shooting data, and a positional relationship with surrounding objects to be photographed. It may be specified by Alternatively, a target unit whose orientation matches the reference orientation icon 120 may specify, as a target unit, a portion selected on the host vehicle icon 110 displayed on the display panel 31 by the user.

  Although the reference orientation icon 120 has been described as being configured by a dashed line, it is not limited thereto. The reference orientation icon 120 may be, for example, a strip shape.

1 1 Video generation device 11 Front camera (shooting unit)
12 Rear camera (shooting unit)
13 Left side camera (shooting unit)
14 Right side camera (shooting unit)
31 Display panel (display section)
DESCRIPTION OF SYMBOLS 40 overhead view video generation apparatus 41 control part 42 video data acquisition part 43 vehicle information acquisition part 44 overhead view video generation part 441 viewpoint conversion processing part 442 clipping processing part 443 combining processing part 45 reference object detection part 46 direction identification part 47 superimposition processing part 48 display control unit 49 storage unit 100 overhead view image 100A superimposed image 110 own vehicle icon 120 reference orientation icon (information indicating orientation)

Claims (10)

A video data acquisition unit that acquires peripheral video data captured by a plurality of cameras that capture the periphery of the vehicle;
An overhead view video generation unit that performs viewpoint conversion processing and synthesis processing including a host vehicle icon indicating a vehicle on the peripheral video acquired by the video data acquisition unit, and generates an overhead video displaying a predetermined display range from the vehicle;
A reference target detection unit configured to detect a reference target located far from the display range around the vehicle;
A direction specifying unit that specifies a relative direction between the reference object detected by the reference object detection unit and the vehicle;
Superimposing processing for generating a superimposed image in which information indicating the relative orientation of the reference object and the vehicle is superimposed on the overhead image generated by the overhead image generating unit as the relative orientation based on the host vehicle icon Department,
A display control unit that causes a display unit to display the superimposed image generated by the superposition processing unit;
A bird's-eye view image generation apparatus comprising: The superimposition processing unit superimposes information indicating the relative orientations of the reference object and the vehicle on the side where the reference object exists with respect to the host vehicle icon.
The overhead view image generation apparatus according to claim 1. The superimposition processing unit superimposes information indicating the relative orientations of the reference object and the vehicle with reference to the center of the host vehicle icon.
The overhead view image generation apparatus according to claim 1. The reference object detection unit selects a reference object closest to the vehicle when there are a plurality of reference objects located farther from the display range around the vehicle.
The bird's-eye view image production | generation apparatus as described in any one of Claim 1 to 3. The reference object detection unit selects a reference object existing in the traveling direction of the vehicle if there are a plurality of reference objects located farther from the display range around the vehicle.
The bird's-eye view image production | generation apparatus as described in any one of Claims 1-4. The superimposition processing unit superimposes information indicating the relative orientation between the reference object and the vehicle, changing a display mode according to the distance between the reference object and the vehicle.
The bird's-eye view image generation apparatus according to any one of claims 1 to 5. The superimposition processing unit superimposes information indicating the relative orientations of the reference object and the vehicle, changing a display mode according to the relative orientations of the reference object and the vehicle.
The bird's-eye view image generation apparatus according to any one of claims 1 to 6. An overhead-view image generation apparatus according to any one of claims 1 to 7,
An overhead view video display apparatus comprising: at least one of a photographing unit for supplying video data to the video data acquisition unit; and a display unit for causing the display control unit to display a superimposed video. An image data acquisition step of acquiring surrounding image data captured by a plurality of cameras capturing an area around the vehicle;
An overhead video generation step of performing viewpoint conversion processing and synthesis processing including a host vehicle icon indicating a vehicle on the peripheral video acquired in the video data acquisition step, and generating an overhead video displaying a predetermined display range from the vehicle;
A reference object detection step of detecting a reference object located far from the display range around the vehicle;
A direction specifying step of specifying a relative direction between the reference object detected in the reference object detection step and the vehicle;
Superimposing processing for generating a superimposed image in which information indicating the relative orientation of the reference object and the vehicle is superimposed on the overhead image generated in the overhead image generation step as the relative orientation based on the host vehicle icon Step and
A display control step of causing the display unit to display the superimposed video generated in the superimposing processing step;
An overhead video generation method including An image data acquisition step of acquiring surrounding image data captured by a plurality of cameras capturing an area around the vehicle;
An overhead video generation step of performing viewpoint conversion processing and synthesis processing including a host vehicle icon indicating a vehicle on the peripheral video acquired in the video data acquisition step, and generating an overhead video displaying a predetermined display range from the vehicle;
A reference object detection step of detecting a reference object located far from the display range around the vehicle;
A direction specifying step of specifying a relative direction between the reference object detected in the reference object detection step and the vehicle;
Superimposing processing for generating a superimposed image in which information indicating the relative orientation of the reference object and the vehicle is superimposed on the overhead image generated in the overhead image generation step as the relative orientation based on the host vehicle icon Step and
A display control step of causing the display unit to display the superimposed video generated in the superimposing processing step;
A program for causing a computer that operates as a bird's-eye view video generation device to execute.

Images