JP2020088511A - Display device, display method, and display program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device capable of displaying an image in which the left and right sides of a rear image are inverted when displaying a captured image according to a display angle. A display device 100 of the present invention includes an imaging unit 110 that captures an omnidirectional image of a vehicle, an input unit 120 that receives operation information from a user, a display unit 130 that displays captured images, and a storage unit 140. , A control unit 150 that controls each unit. The control unit 150 determines a display angle when displaying the captured image on the display unit 130, cuts out an image from the captured image based on the display angle, and inverts the cut out image to the left and right. Process into an image. Further, the control unit 150 controls the display unit 130 to display the inverted rear image when the display angle indicates the rear of the vehicle. [Selection diagram] Fig. 3

Description

The present invention relates to a display device that displays an image around a vehicle captured by an imaging camera.

In recent years, various imaging cameras are mounted on vehicles. For example, an imaging camera is installed to detect obstacles around the vehicle for driving assistance, an imaging camera is installed to record events such as an accident while driving, and an optical system such as a door mirror is installed. An imaging camera is installed instead of a mirror.

For example, the vehicle periphery visual recognition device disclosed in Patent Document 1 captures an image of the vehicle periphery with a camera having a wide field of view such as a fisheye lens, and uses the captured image instead of a mirror image of a door mirror or together with the mirror image. This provides the driver with an image with less blind spots than when looking at the mirror image of the door mirror. At this time, if the image of the rear of the vehicle is displayed as it is, the positional relationship between the mirror image and the vertical direction when the driver looks at the door mirror is reversed, so in order to eliminate this discomfort, it is necessary to correspond to the mirror image of the door mirror. , The image of the rear of the vehicle is reversed. Further, Patent Document 2 relates to a peripheral image display device using an omnidirectional camera, and enables switching of display images in accordance with user operation.

JP, 2006-50246, A JP, 2013-034142, A

Among imaging camera systems, an omnidirectional camera system that images all directions (360 degrees) of a vehicle is becoming common. For example, two imaging cameras with a wide field of view (about 180 degrees) like a fisheye lens are prepared, one of the imaging cameras images the front of the vehicle, and the other imaging camera images the rear of the vehicle, or omnidirectional. Drive recorders and the like capable of capturing images have also been put into practical use.

An outline of a conventional display device using such an omnidirectional camera system is shown in FIG. As shown in FIG. 1A, the image pickup camera 10 is attached to, for example, an upper portion of a windshield 20 of the vehicle M, and the omnidirectional (360 degrees) in the front, side, and rear of the vehicle M is substantially horizontal. To image. An image corresponding to the display angle is cut out from the images picked up in all directions, and the cut out image is displayed on the display 30 installed in the vehicle. The user can determine the display angle by flicking the touch panel of the display 30. For example, when the user performs a flick operation L to the left as shown in FIG. 1(B), the display angle is switched according to the direction and the amount of movement, and is displayed on the display 30 as shown in FIG. 1(C). The captured image can be moved clockwise to the front, right side, rear side, left side, and front side. With such a display function, the user can easily fine-tune the direction and the display angle to be confirmed.

With conventional camera systems (rear camera, side camera rear view, room camera, drive recorder camera, etc.), when displaying a rear image, basically the rear image is processed and displayed as an inverted image with the left and right reversed. is doing. Visual confirmation of the rear image on the display is the same as when the driver visually recognizes the mirror image of the rearview mirror or the side mirror. In order to maintain the compatibility/matching of the two, the rear image is processed in reverse, as if through the mirror. The image is as you see it.

However, in the display device using the omnidirectional camera system described above, in order to seamlessly switch the image according to the display angle, the process of horizontally flipping the rear image is not performed, and the image is simply in the shooting direction. Was just displayed. That is, when the rear image is displayed, the captured image is displayed as it is because the seamless switching is prioritized, as shown in FIG. 2A, and the left and right are confused by the driver's sense in the vehicle interior. It can be very dangerous. Originally, in consideration of the driver's feeling in the vehicle interior, a left-right inverted rear image should be displayed as shown in FIG. As described above, the display device using the conventional omnidirectional camera system lacks consideration for the driver as an in-vehicle device and has a serious problem in safety.

The present invention is to solve such a conventional problem, and when displaying a captured image according to a display angle, a display device, a display method, and a display capable of displaying an image in which the rear image is horizontally reversed. The purpose is to provide the program.

A display device according to the present invention includes at least image pickup means for picking up images of the front and the rear of a vehicle, display means, deciding means for deciding a display angle when the picked-up image is displayed on the display means, and the display angle. A cutout unit that cuts out an image from the captured image based on the above, a processing unit that processes the cutout image into an inverted image in which the left and right sides thereof are reversed, and the image cut out according to the display angle is displayed. Display control means for displaying the inverted rear image on the display means when the display angle indicates the rear of the vehicle.

In one embodiment, the display control unit causes the display unit to display a clipped image that is not inverted when the display angle indicates the front of the vehicle. In one embodiment, the cutout unit cuts out a first cutout image corresponding to the display angle and a second cutout image in a direction opposite to the display angle, and the processing unit sets the first cutout image and the second cutout image. One of the cutout images is processed into an inverted image, and the display control means causes the display means to simultaneously display the first cutout image and the second cutout image. In one embodiment, the display control unit enlarges the first cutout image or the second cutout image based on the display angle. In one embodiment, the display control unit reduces the first clipped image or the second clipped image based on the display angle. In one embodiment, the display control unit causes the background screen of the display unit to display the first or second cutout image, and causes the foreground screen included in the background screen to display the second or first cutout image. .. In one embodiment, the display control means displays a non-inverted front image on the background screen and an inverted rear image on the foreground screen. In one embodiment, the display device further includes a display mode determination unit that determines a display mode based on the display angle, and the display control unit displays the cutout image based on the display mode determined by the display mode determination unit. Control size. In one embodiment, the display modes include a front view mode and a rear view mode, and the display control means magnifies an image in front of the vehicle in the front view mode and magnifies an image in the rear of the vehicle in the rear view mode. In one embodiment, the display control means displays the background screen as a main display and the foreground screen as a sub display in the front view mode, and displays the background screen as a sub display and the foreground screen as a main display in the rear view mode. .. In one embodiment, the display control unit enlarges the image behind the vehicle stepwise or continuously when switching from the front view mode to the rear view mode. In one embodiment, the size of the foreground screen is increased stepwise or continuously. In one embodiment, the display control unit reduces the image behind the vehicle stepwise or continuously when switching from the rear view mode to the front view mode. In one embodiment, the size of the foreground screen is reduced stepwise or continuously. In one embodiment, the display device further includes input means for inputting operation information of the user, and the determining means determines the display angle based on the operation information input from the input means. In one embodiment, the input unit includes a touch panel mounted on the display unit, and the determination unit determines the display angle based on a direction and a movement amount operated on the touch panel. In one embodiment, the foreground screen has a shape simulating a room mirror. In one embodiment, the image pickup unit includes an image pickup camera that picks up images of all directions of the vehicle, the display angle can indicate all directions of the vehicle, and the display control unit corresponds to the display angle. The image is displayed on the display means.

A display method according to the present invention is that of a display device including at least an image pickup means for picking up an image of a front side and a rear side of a vehicle, and a display means capable of displaying the picked-up image. A step of determining a display angle when displaying the image, a step of cutting out an image from the imaged image based on the display angle, and a step of processing the cut out image into a reversed image in which the left and right sides thereof are reversed. A step of displaying an image cut out according to the display angle on the display means, and displaying an inverted rear image on the display means when the display angle indicates the rear of the vehicle.

A display program according to the present invention is the control means for a display device, which includes at least image pickup means for picking up images of the front and rear of the vehicle, display means for displaying the picked-up image, and control means for controlling the display means. Determining the display angle when the captured image is displayed on the display means, cutting out the image from the captured image based on the display angle, and cutting out the image. The processed image into an inverted image in which the left and right are inverted, and an image cut out according to the display angle is displayed on the display means, and when the display angle indicates the rear of the vehicle, the inverted rear Displaying the image on the display means.

According to the present invention, when the display angle indicates the rear of the vehicle, the inverted rear image is displayed, so that the driver can recognize the image that matches his or her sense, and therefore the vehicle can be recognized. It is possible to improve safety when checking the rear image.

It is a figure explaining the outline of the display using the conventional omnidirectional camera system. It is a figure explaining the subject of the conventional display device. It is a block diagram which shows one structural example of the display apparatus using the omnidirectional camera system which concerns on the Example of this invention. It is a figure which shows the functional structure of the display control program which concerns on the Example of this invention. It is a figure explaining the example of operation of the operation information primary detecting element of this example. It is a figure explaining the relationship between a display angle and a display mode. 7A shows an example of display sizes of the background screen and foreground screen in the front view mode, and FIG. 7B shows an example of display sizes of the background screen and foreground screen in the rear view mode. 6 is a table for explaining a relationship among a display angle, a display mode, a background screen, and a foreground screen when display control is performed according to the embodiment of the present invention. It is a figure explaining the example of a display of the specific picked-up image of the display concerning the example of the present invention. FIG. 8 is a diagram showing an example of gradually increasing or decreasing the display size of the foreground screen according to the embodiment of the present invention.

Next, an embodiment of the present invention will be described. In one embodiment, the display device includes an imaging camera capable of imaging all directions of the vehicle in 360 degrees, and a captured image corresponding to a display angle selected by a user operation from the captured omnidirectional captured images. It has a function of cutting out and displaying it on the display. Although the number of image pickup cameras and the mounting positions thereof are arbitrary, for example, by attaching the image pickup cameras to the upper part of the windshield of the vehicle, it is possible to pick up images in all directions including the front, side, and inside of the vehicle. Further, as one example, an imaging camera of a drive recorder that can image in all directions can be used. The display for displaying the captured image is arbitrary, and may be, for example, a dedicated monitor, may be shared with a display used for an in-vehicle device such as a navigation device, or may be a vehicle instrument. It may be a display in the panel or a display for the periphery of the vehicle.

FIG. 3 is a block diagram showing the configuration of the display device according to the embodiment of the present invention. The display device 100 of the present embodiment includes an image capturing unit 110 capable of capturing an image of all directions of a vehicle, an input unit 120 receiving an input from a user, a display unit 130 capable of displaying an image captured by the image capturing unit 110, It is configured to include a storage unit 140 capable of storing various data and software, and a control unit 150 controlling each unit. When the display device 100 also serves as a display output of another electronic device, the display device 100 may include an interface for connecting to another electronic device.

The image capturing unit 110 includes, for example, one or a plurality of image capturing cameras capable of capturing images of all directions of the vehicle. The omnidirectional direction of the vehicle includes the front, left and right sides, and the rear of the vehicle. The mounting position of the imaging unit 110 may be outside or inside the vehicle. For example, as shown in FIG. 1, the imaging unit 110 can be mounted on the upper part of the windshield 20 of the vehicle M, and the front side and the side from the mounting position. In all directions, one direction and the other direction are imaged. In this case, the captured image at the rear includes the interior space of the vehicle such as the driver's seat, the passenger seat, and the rear seat. The image captured by the image capturing unit 110 is provided to the control unit 150, where necessary image processing is performed. Further, the captured image or the processed image can be held in the storage unit 140.

The input unit 120 receives an input from the user and provides it to the control unit 150. The input unit 120 includes, for example, a touch panel mounted on the display unit 130, a remote controller, operation buttons, voice input, and the like. In one mode of this embodiment, the user operates the touch panel of the display unit 130 to instruct the display angle of the captured image displayed on the display unit 130. Of course, the user can also instruct the display angle by another input method.

The display unit 130 is attached at an arbitrary position inside the vehicle and can display the image captured by the image capturing unit 110. The display unit 130 includes, for example, a display panel such as liquid crystal or organic EL, and a touch panel stacked on the display panel. The touch panel detects the contact of the user's finger or the like and the movement thereof, and transmits the detection result to the control unit 150. That is, the user can instruct the input by flicking on the touch panel.

The storage unit 140 can temporarily store the image captured by the image capturing unit 110, the image cut from the captured image, the image processed by left-right inversion, and the like. The storage unit 140 can also store software, data, and the like necessary for the operation of the display device 100.

The control unit 150 controls each unit of the display device 100, and includes, for example, a microprocessor or a microcomputer including a ROM/RAM or the like, and controls each unit of the display device 100 by executing a display control program installed therein. To do. FIG. 4 shows a functional configuration of the display control program. The display control program 200 according to the present embodiment includes an operation information detection unit 210, a display angle determination unit 220, a display mode determination unit 230, an image cutout unit 240, an image processing unit 250, and a display control unit 260. ..

The operation information detection unit 210 detects operation information input by the user to instruct the display angle of the captured image. In one aspect, the operation information detection unit 210 detects operation information when the user performs a flick operation on the touch panel of the display unit 130. For example, as shown in FIGS. 5A and 5B, the operation information detection unit 210 detects the horizontal component of the user's flick operation and the amount of movement thereof. In the example of FIG. 5A, the user has moved the finger in a substantially horizontal direction by a distance L, and the operation information detection unit 210 detects the distance L as a horizontal movement amount. In the example of FIG. 5B, the user has moved his/her finger in a diagonal direction by a distance L, and the operation information detection unit 210 detects L cos θ as a horizontal movement amount.

In another aspect, the operation information detection unit 210 may detect operation information from voice input, remote control operation, or the like. For example, when there is a voice input such as “display rotated 90 degrees”, “display right side of vehicle”, “display rear of vehicle”, the operation information detection unit 210 outputs the input voice. Analysis is performed and operation information is detected from the analysis result.

The display angle determination unit 220 determines the display angle of the captured image based on the detection result detected by the operation information detection unit 210. The display angle represents the angle or azimuth of the image displayed on the display unit 130 from the panoramic image captured in all directions of 360 degrees. For example, as shown in FIG. 6, the display angle is defined as 0 degree in the front direction of the host vehicle and 360 degrees clockwise from the direction. The default value (initial value) of the display angle is set to, for example, 0 degree, and in this case, when the power is turned on or when the display device 100 is started, an image with a display angle of 0 degree is selected from the 360 degree panoramic image. Is cut out and displayed on the display unit 130.

For example, when a flick operation as shown in FIG. 5 is detected, the display angle determination unit 220 converts the operation direction and the movement amount into a display angle according to an algorithm prepared in advance. For example, when the flick operation is a leftward movement as shown in FIG. 5A, the display angle is determined from 0 degree in a clockwise direction at an angle corresponding to the movement amount of the flick. Further, when the operation information detection unit 210 inputs a voice such as “rotate by 90° and display”, the display angle determination unit 220 causes the display angle to be 90° clockwise from the current display angle. To decide.

The display mode determination unit 230 determines the display mode of the display unit 130 based on the display angle determined by the display angle determination unit 220. In this embodiment, the display mode determination unit 230 determines either the front view mode or the rear view mode based on the display angle. As an example, as shown in FIG. 6, when 0 degree of the display angle is in front of the vehicle, the front view mode is set when the display angle is in the range of 270 degrees to 90 degrees, and the rear view mode is set when the display angle is 90 degrees to 270 degrees. Become.

In one embodiment of this embodiment, when displaying a captured image on the display unit 130, two captured images are simultaneously displayed in a picture-in-picture (PinP) format. An example of the PinP format is shown in FIGS. As shown in the figure, the entire display 132 is assigned to the background screen 134, and the foreground screen 136 is assigned to the background screen 134. A captured image of the front of the vehicle is displayed on the background screen 134, and a captured image of the rear of the vehicle is displayed on the foreground screen 136. In this example, the foreground screen 136 has the shape of a rearview mirror, and the rear image of the vehicle interior space including the driver's seat and the passenger seat in the vehicle interior is displayed on the foreground screen 136. In a region where the background screen 134 and the foreground screen 136 overlap, a rear image of the foreground screen 136 is displayed, and the front image is covered by the rear image. As will be described later, the foreground screen 136 always displays a left-right inverted rear image, while the background screen 134 displays a front-left image that is not horizontally inverted.

In the front view mode, as shown in FIG. 7A, in order to make the background screen 134 displaying the front image easy to see, the background screen 134 becomes a main display having a relatively large display area and The foreground screen 136 displaying an image becomes a sub-display having a relatively small display area. On the other hand, in the rear view mode, this relationship is reversed, and as shown in FIG. 7B, the foreground screen 136 for displaying the rear image is made easier to see, so that the foreground screen 136 has a relatively large display area. Is switched to the main display, and the background screen 134 is switched to the sub-display having a relatively small display area.

The image cutout unit 240 cuts out an image to be displayed from the omnidirectional panoramic images captured by the image capturing unit 110, based on the display angle determined by the display angle determination unit 220. In this example, the image cutout unit 240 cuts out a set of images corresponding to the front image and the rear image in order to display the front image and the rear image on the background screen 134 and the foreground screen 136, respectively. Here, the first clipped image is an image corresponding to the display angle, and the second clipped image is an image in a direction opposite to the first clipped image, that is, an image in a direction different from the display angle by 180 degrees. .. For example, if the display angle is 30 degrees, the first clipped image corresponds to the display angle of 30 degrees, and the second clipped image corresponds to the display angle of 210 degrees. The size of the image to be cut out is set in advance from the relationship with the display range of the display unit 130 and the like.

The first and second cutout images cut out by the image cutout unit 240 are provided to the image processing unit 250. The image processing unit 250 performs trimming processing, size adjustment, left-right inversion processing, and the like on the first and second clipped images. The display control unit 260 controls the first and second cutout images displayed on the background screen 134 and the foreground screen 136. The contents of display control by the display control unit 260 are shown in the table of FIG.

First, when the display angle is 0 to 90 degrees, the display mode is the front view mode. In the front view mode, the background screen 134 is the main display, and the background screen 134 displays the first cutout image cut out according to the display angle. The first clipped image is a front image that is not horizontally reversed. On the other hand, the foreground screen 136 becomes a sub-display, and the foreground screen 136 displays a second cutout image cut out in a direction different from the display angle and 180. The second clipped image is a rearward image in which the left and right are inverted.

When the display angle is 90 to 180 degrees, the display mode is the rear view mode. In the rear view mode, the foreground screen 136 having the shape of a rearview mirror is the main display, and the foreground screen 136 displays the first cutout image cut out according to the display angle. At this time, the first clipped image is a rear image in which the left and right are inverted. On the other hand, the background screen 134 becomes a sub-display, and the background screen 134 displays a second cutout image cut out in a direction different from the display angle and 180. At this time, the second clipped image is a front image in which the left and right are not inverted.

When the display angle is 180 to 270 degrees, the display mode is the rear view mode, and the same display control as when it is 90 to 180 degrees is performed. When the display angle is 270 to 0 degrees, the display mode is the front view mode, and the same display control is performed when the display angle is 0 to 90 degrees.

Next, a specific display operation of the display device 100 of this embodiment will be described with reference to the screen transition diagram shown in FIG. When the display device 100 is activated, the display angle determination unit 220 determines the initial setting (for example, 0 degree) as the display angle, and the display mode determination unit 230 determines the front view mode. As a result, the background screen 134 of the display 132 becomes the main display, and the front image of the vehicle is displayed there. A reverse image of the rear of the vehicle is displayed on the rear-view mirror-shaped foreground screen 136.

From this state, for example, when the user performs a flick operation to the left, the direction and the amount of movement are detected, and the display angle rotated clockwise from 0 degree is determined accordingly. Of the first clipped image is displayed on the background screen 134, and an inverted rear image of the second clipped image is displayed on the foreground screen 136.

When the user further continues the flick operation to the left, the display angle advances further in the clockwise direction, a non-inverted forward image corresponding to the display angle is displayed on the background screen 134, and the opposite image is inverted on the foreground screen 136. The displayed rear image is displayed.

In one embodiment, when the display angle reaches a certain angle, the size of the foreground screen 136 is gradually increased thereafter. For example, when the display angle reaches 75 degrees, as shown in FIGS. 10A to 10D, the size of the foreground screen 136 is gradually increased from 75 degrees to 90 degrees. Alternatively, the size of the foreground screen 136 is continuous and can be enlarged.

When the leftward flick operation is further continued and the display angle reaches 90 degrees, the display mode is switched from the front view mode to the rear view mode. At this time, the foreground screen 136 is completely switched from the sub display to the main display, and the background screen 134 is completely switched from the main display to the sub display, as shown in FIG.

When the leftward flick operation is further continued, the inverted rear image corresponding to the display angle is displayed on the foreground screen 136 of the main display, and the non-inverted front image is displayed on the background screen 134 of the sub display. Is displayed. When the display angle is in the range of 90 to 270 degrees, the display size of the foreground screen 136 is constant.

When the leftward flick operation is further continued and the display angle reaches 270 degrees, the display mode is switched from the rear view mode to the front view mode. The foreground screen 136 is switched from the main display to the sub display, and the background screen 134 is switched from the sub display to the main display. In one embodiment, for example, when the display angle is between 270 degrees and 285 degrees, the size of the foreground screen 136 is reduced stepwise or continuously as shown in FIGS. It

When the leftward flick operation is further continued and the display angle is in the range of 285 to 0 degrees, the non-inverted front image corresponding to the display angle is displayed on the background screen 134, and the foreground screen 136 is displayed in a direction different by 180 degrees. The inverted rear image of is displayed. The above display control is similarly performed when the user performs a flick operation to the right and rotates the display angle counterclockwise.

As described above, according to the present embodiment, it is possible to display the horizontally-reversed rear image when switching to the rear mode while maintaining the seamless movement of the display angle. This will provide a display function that contributes to safety without compromising the convenience of the user, maintaining the consistency with the image when looking at the mirror image with the room mirror, and causing no misunderstanding or confusion to the driver. You can

In the above-described embodiment, an example is shown in which all directions of the vehicle are imaged and an arbitrary image is displayed, but the present invention is not limited to this, and the present invention captures at least the front and the rear of the vehicle, and the front and the rear. An arbitrary image may be displayed from among the above.

In the above embodiment, the range of 270 to 90 degrees is set to the front view mode, and the range of 90 to 270 degrees is set to the rear view mode. However, this is an example, and the range can be arbitrarily set arbitrarily. Is. For example, when a front camera that captures the front of the vehicle and a rear camera that captures the rear of the vehicle are installed, the front view mode is set to an angle according to the view range of the front camera (for example, 300 The rear view mode is set to an angle according to the visual field range of the rear camera (for example, 190 to 260 degrees).

Further, although the above-described embodiment exemplifies the PinP format including the background screen and the foreground screen displayed therein, the PinP format is not always used, and the non-inverted front image is switched to the inverted rear image on one screen. You may make it display. For example, a non-inverted front image corresponding to the display angle is displayed in the front view mode, and an inverted rear image corresponding to the display angle is displayed in the rear view mode.

Further, in the above-described embodiment, the example in which the image pickup camera is attached to the upper part of the windshield of the vehicle and the image of the vehicle interior is displayed as the rear image of the vehicle is shown. It may be attached to either the rear or the side. The rear image is not necessarily the image inside the vehicle interior, but may be an image of the space behind the vehicle. In the above embodiment, the entire screen of the display is the background screen and the room mirror shape is the foreground screen, but the shapes and sizes of the background screen and the foreground screen can be set arbitrarily.

Although the preferred embodiments of the present invention have been described above in detail, the present invention is not limited to the specific embodiments, and various modifications are made within the scope of the gist of the invention described in the claims. It can be changed.

100: display device 110: imaging unit 120: input unit 130: display unit 132: display 134: background screen 136: foreground screen 140: storage unit 150: control unit 200: display control program

Claims (20)

Imaging means for imaging at least the front and rear of the vehicle;
Display means,
Determining means for determining a display angle when the captured image is displayed on the display means;
Cropping means for cropping an image from the captured image based on the display angle,
Processing means for processing the clipped image into an inverted image in which the left and right are inverted,
Display control means for displaying an image cut out according to the display angle on the display means, and for displaying an inverted rear image on the display means when the display angle indicates the rear of the vehicle;
Display device having a. The display device according to claim 1, wherein the display control unit causes the display unit to display a clipped image that is not inverted when the display angle indicates the front of the vehicle. The cutout unit cuts out a first cutout image corresponding to the display angle and a second cutout image in a direction opposite to the display angle,
The processing means processes one of the first clipped image and the second clipped image into a reverse image,
The display device according to claim 1, wherein the display control unit causes the display unit to simultaneously display the first clipped image and the second clipped image. The display device according to claim 3, wherein the display control unit enlarges the first clipped image or the second clipped image based on the display angle. The display device according to claim 3, wherein the display control unit reduces the first clipped image or the second clipped image based on the display angle. 4. The display control means causes the background screen of the display means to display the first or second cutout image, and causes the foreground screen included in the background screen to display the second or first cutout image. 5. The display device according to any one of 5. 7. The display device according to claim 6, wherein the display control unit displays a non-inverted front image on the background screen and an inverted rear image on the foreground screen. The display device further includes display mode determination means for determining a display mode based on the display angle,
The display device according to claim 1, wherein the display control unit controls the display size of the cutout image based on the display mode determined by the display mode determination unit. The display modes include a front view mode and a rear view mode,
The display device according to claim 8, wherein the display control unit enlarges an image in front of the vehicle in the front view mode and enlarges an image in the rear of the vehicle in the rear view mode. 10. The display control means displays the background screen as a main display and the foreground screen as a sub display in the front view mode, and displays the background screen as a sub display and the foreground screen as a main display in the rear view mode. Display device described. 10. The display device according to claim 9, wherein the display control unit enlarges an image behind the vehicle stepwise or continuously when switching from the front view mode to the rear view mode. The display device according to claim 11, wherein the size of the foreground screen is increased stepwise or continuously. 13. The display device according to claim 9, wherein the display control unit reduces the image behind the vehicle stepwise or continuously when switching from the rear view mode to the front view mode. The display device according to claim 13, wherein the size of the foreground screen is reduced stepwise or continuously. The display device further includes input means for inputting user operation information,
The display device according to claim 1, wherein the determination unit determines the display angle based on the operation information input from the input unit. The input means includes a touch panel mounted on the display means,
The display device according to claim 15, wherein the determination unit determines the display angle based on a direction operated on the touch panel and a movement amount. The display device according to claim 6, wherein the foreground screen has a shape imitating a rearview mirror. The image pickup means includes an image pickup camera for picking up images of all directions of the vehicle,
The display angle can indicate all directions of the vehicle,
18. The display device according to claim 1, wherein the display control unit causes the display unit to display an image corresponding to the display angle. A display method for a display device, comprising at least an image pickup means for picking up images of a front side and a rear side of a vehicle, and a display means capable of displaying the picked-up image,
Determining a display angle when the captured image is displayed on the display means;
Cutting out an image from the captured image based on the display angle,
Processing the clipped image into an inverted image in which the left and right are inverted,
Displaying the image cut out according to the display angle on the display means, and displaying the inverted rear image on the display means when the display angle indicates the rear of the vehicle,
A display method having. A display program executed by the control means of a display device including at least image pickup means for picking up an image of the front and rear of the vehicle, a display means capable of displaying the picked-up image, and a control means for controlling the display means. ,
Determining a display angle when the captured image is displayed on the display means;
Cutting out an image from the captured image based on the display angle,
Processing the cropped image into a reversed image in which the left and right are reversed,
Displaying the image cut out according to the display angle on the display means, and displaying the inverted rear image on the display means when the display angle indicates the rear of the vehicle,
A display program having.

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