VEHICLE SURROUNDING IMAGE DISPLAY CONTROL DEVICE, VEHICLE SURROUNDING IMAGE DISPLAY CONTROL METHOD, NON-TRANSITORY TANGIBLE COMPUTER-READABLE MEDIUM COMPRISING COMMAND INCLUDING THE METHOD, AND IMAGE PROCESSING METHOD EXECUTING TOP VIEW CONVERSION AND DISPLAY OF IMAGE OF VEHICLE SURROUNDINGS
First Claim
1. A vehicle surrounding image display control device comprising:
- an acquisition device that repetitively acquires a taken image around a vehicle from an in-vehicle camera mounted in the vehicle;
a bird'"'"'s-eye view conversion device that sequentially executes a bird'"'"'s-eye view conversion of the taken image and creates a bird'"'"'s-eye view image;
a division storage device that divides the bird'"'"'s-eye view image along a front-back direction of the vehicle to create a A bird'"'"'s-eye view image in a predetermined A area farther from the vehicle and a B bird'"'"'s-eye view image in a predetermined B area closer to the vehicle, stores the A bird'"'"'s-eye view image in a real area A of a memory, and stores the B bird'"'"'s-eye view image in a real area B of the memory;
a shadow determination device that determines whether a shadow is present in the B bird'"'"'s-eye view image stored in a part or all of the B real area;
a movement calculation device that calculates an amount of movement of the vehicle based on vehicle behavior information input from the vehicle;
a first history image configuration device that;
configures a C bird'"'"'s-eye view image in a C history area of the memory using the B bird'"'"'s-eye view image stored in the B real area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory for storing a bird'"'"'s-eye view image in an C area outside of a photographing area of the in-vehicle camera reflects a present surrounding layout of the vehicle; and
configures a B history bird'"'"'s-eye view image in a B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B bird'"'"'s-eye view image in the B history area of the memory for storing a bird'"'"'s-eye view image in a same area as the B real area reflects the present surrounding layout of the vehicle,when the shadow determination device determines that the shadow is not present in the B bird'"'"'s-eye view image;
a second history image configuration device that;
configures the C bird'"'"'s-eye view image in the C history area using the B history bird'"'"'s-eye view image stored in the B history area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory reflects the present surrounding layout of the vehicle; and
configures the B history bird'"'"'s-eye view image in the B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B bird'"'"'s-eye view image in the B history area reflects the present surrounding layout of the vehicle,when the shadow determination device determines that the shadow is present in the B bird'"'"'s-eye view image; and
a display control device that controls the image display device to display the A bird'"'"'s-eye view image in the A real area, the C bird'"'"'s-eye view image in the C history area, and the B bird'"'"'s-eye view image in the B real area or the B history bird'"'"'s-eye view image in the B history area.
1 Assignment
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Accused Products
Abstract
A vehicle surrounding image display control device includes: a vehicle surrounding image acquisition device; a bird'"'"'s-eye view image creating device; a division storage device storing A and B bird'"'"'s-eye view images; a shadow determination device; a vehicle movement amount calculation device; a first history image configuration device updating a C bird'"'"'s-eye view image with the B bird'"'"'s-eye view image, and updating a B history bird'"'"'s-eye view image with the A bird'"'"'s-eye view image when the shadow is not present in the B bird'"'"'s-eye view image; a second history image configuration device updating the C bird'"'"'s-eye view image using the B history bird'"'"'s-eye view image, and updating the B history bird'"'"'s-eye view image using the A bird'"'"'s-eye view image when the shadow is present in the B bird'"'"'s-eye view image; and a display control device.
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Citations
9 Claims
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1. A vehicle surrounding image display control device comprising:
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an acquisition device that repetitively acquires a taken image around a vehicle from an in-vehicle camera mounted in the vehicle; a bird'"'"'s-eye view conversion device that sequentially executes a bird'"'"'s-eye view conversion of the taken image and creates a bird'"'"'s-eye view image; a division storage device that divides the bird'"'"'s-eye view image along a front-back direction of the vehicle to create a A bird'"'"'s-eye view image in a predetermined A area farther from the vehicle and a B bird'"'"'s-eye view image in a predetermined B area closer to the vehicle, stores the A bird'"'"'s-eye view image in a real area A of a memory, and stores the B bird'"'"'s-eye view image in a real area B of the memory; a shadow determination device that determines whether a shadow is present in the B bird'"'"'s-eye view image stored in a part or all of the B real area; a movement calculation device that calculates an amount of movement of the vehicle based on vehicle behavior information input from the vehicle; a first history image configuration device that; configures a C bird'"'"'s-eye view image in a C history area of the memory using the B bird'"'"'s-eye view image stored in the B real area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory for storing a bird'"'"'s-eye view image in an C area outside of a photographing area of the in-vehicle camera reflects a present surrounding layout of the vehicle; and configures a B history bird'"'"'s-eye view image in a B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B bird'"'"'s-eye view image in the B history area of the memory for storing a bird'"'"'s-eye view image in a same area as the B real area reflects the present surrounding layout of the vehicle, when the shadow determination device determines that the shadow is not present in the B bird'"'"'s-eye view image; a second history image configuration device that; configures the C bird'"'"'s-eye view image in the C history area using the B history bird'"'"'s-eye view image stored in the B history area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory reflects the present surrounding layout of the vehicle; and configures the B history bird'"'"'s-eye view image in the B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B bird'"'"'s-eye view image in the B history area reflects the present surrounding layout of the vehicle, when the shadow determination device determines that the shadow is present in the B bird'"'"'s-eye view image; and a display control device that controls the image display device to display the A bird'"'"'s-eye view image in the A real area, the C bird'"'"'s-eye view image in the C history area, and the B bird'"'"'s-eye view image in the B real area or the B history bird'"'"'s-eye view image in the B history area. - View Dependent Claims (2, 3, 4)
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5. A vehicle surrounding image display method comprising:
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repetitively acquiring a taken image around a vehicle from an in-vehicle camera mounted in a vehicle; sequentially executing a bird'"'"'s-eye view conversion of the taken image to create a bird'"'"'s-eye view image; dividing the bird'"'"'s-eye view image along a front-back direction of the vehicle to create a A bird'"'"'s-eye view image in a predetermined A area farther from the vehicle, and a B bird'"'"'s-eye view image in a predetermined B area closer to the vehicle, storing the A bird'"'"'s-eye view image in a A real area of a memory, and storing the B bird'"'"'s-eye view image in a B real area of the memory; determining whether a shadow is present in the bird'"'"'s-eye view image stored in a part or all of the B real area; calculating an amount of movement of the vehicle based on vehicle behavior information input from the vehicle; configuring a C bird'"'"'s-eye view image in a C history area using the B bird'"'"'s-eye view image stored in the B real area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory for storing a bird'"'"'s-eye view image in an C area outside of a photographing area of the in-vehicle camera reflects a present surrounding layout of the vehicle, and configuring a B history bird'"'"'s-eye view image in the B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B history bird'"'"'s-eye view image in the B history area of the memory for storing a bird'"'"'s-eye view image in a same area as the B real area reflects the present surrounding layout of the vehicle, when the shadow is not present in the B bird'"'"'s-eye view image; configuring the C bird'"'"'s-eye view image in the C history area using the B history bird'"'"'s-eye view image stored in the B history area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory reflects a present surrounding layout of the vehicle, and configuring the B history bird'"'"'s-eye view image in the B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B history bird'"'"'s-eye view image in the B history area reflects the present surrounding layout of the vehicle, when the shadow is present in the B bird'"'"'s-eye view image; and controlling the image display device to display the A bird'"'"'s-eye view image in the A real area, the C bird'"'"'s-eye view image in the C history area, and the B bird'"'"'s-eye view image in the B real area or the B history bird'"'"'s-eye view image in the B history area.
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6. A non-transitory tangible computer-readable medium comprising instructions being executed by a computer, the instructions including a computer-implemented method for controlling to display a vehicle surrounding image, the instructions including:
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repetitively acquiring a taken image around a vehicle from an in-vehicle camera mounted in a vehicle; sequentially executing a bird'"'"'s-eye view conversion of the taken image to create a bird'"'"'s-eye view image; dividing the bird'"'"'s-eye view image along a front-back direction of the vehicle to create a A bird'"'"'s-eye view image in a predetermined A area farther from the vehicle, and a B bird'"'"'s-eye view image in a predetermined B area closer to the vehicle, storing the A bird'"'"'s-eye view image in a A real area of a memory, and storing the B bird'"'"'s-eye view image in a B real area of the memory; determining whether a shadow is present in the bird'"'"'s-eye view image stored in a part or all of the B real area; calculating an amount of movement of the vehicle based on vehicle behavior information input from the vehicle; configuring a C bird'"'"'s-eye view image in a C history area using the B bird'"'"'s-eye view image stored in the B real area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory for storing a bird'"'"'s-eye view image in an C area outside of a photographing area of the in-vehicle camera reflects a present surrounding layout of the vehicle, and configuring a B history bird'"'"'s-eye view image in the B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B history bird'"'"'s-eye view image in the B history area of the memory for storing a bird'"'"'s-eye view image in a same area as the B real area reflects the present surrounding layout of the vehicle, when the shadow is not present in the B bird'"'"'s-eye view image; configuring the C bird'"'"'s-eye view image in the C history area using the B history bird'"'"'s-eye view image stored in the B history area according to the amount of movement of the vehicle so that the C bird'"'"'s-eye view image in the C history area of the memory reflects the present surrounding layout of the vehicle, and configuring the B history bird'"'"'s-eye view image in the B history area using the A bird'"'"'s-eye view image stored in the A real area according to the amount of movement of the vehicle so that the B history bird'"'"'s-eye view image in the B history area reflects the present surrounding layout of the vehicle, when the shadow is present in the B bird'"'"'s-eye view image; and controlling the image display device to display the A bird'"'"'s-eye view image in the A real area, the C bird'"'"'s-eye view image in the C history area, and the B bird'"'"'s-eye view image in the B real area or the B history bird'"'"'s-eye view image in the B history area.
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7. An image processing method of sequentially acquiring an image around a vehicle from an in-vehicle camera mounted in the vehicle, executing a top view conversion of the image, and displaying the image on an image display device mounted in the vehicle, the image processing method comprising:
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dividing the image after executing the top view conversion into two image pieces; determining whether a shadow of the vehicle is included in a short-range image closer to the vehicle in divided image pieces; and replacing a present short-range image with a history image of a long-range image farther from the vehicle, which is taken before a predetermined time when the shadow of the vehicle is included in the short-range image.
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8. A vehicle surrounding image display control device that acquires an image around a vehicle from an in-vehicle camera mounted in the vehicle, executes a top view conversion of the image to store the image in a memory, and displays the image on an image display device, the vehicle surrounding image display control device comprising:
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an acquisition device that repetitively acquires a taken image around the vehicle; a top view conversion device that sequentially executes the top view conversion of the taken image to create a series of top view image group; a division storage device that; divides a latest top view image along a front-back direction of the vehicle when the latest top view image in a created series of top view image group is stored in the memory; stores a long-range top view image farther from the vehicle in an A real area; and stores a short-range top view image closer to the vehicle in a B real area; a shadow determination device that determines whether a shadow of the vehicle is reflected on the latest short-range top view image stored in the B real area); a movement calculation device that calculates an amount of movement of the vehicle based on vehicle behavior information input from the vehicle; a first history image configuration device that; sets a C history area, which stores the history image outside of a photographing area of the in-vehicle camera and corresponding to a surrounding layout of the vehicle, and a B history area, which stores a short-range top view image in a same area as the B real area in the memory; and overwrites the C history area with the short-range top view image stored in the B real area, and overwrites the B history area with the long-range top view image stored in the A real area, according to the amount of movement of the vehicle, when the shadow determination device determines that the shadow is not present; a second history image configuration device that overwrites the C history area with the short-range top view image stored in the B history area, and overwrites the B history area with the long-range top view image stored in the A real area, according to the amount of movement of the vehicle, when the shadow determination device determines that the shadow is present; and a display control device that controls the image display device to display the long-range top view image in the A real area, the history image in the C history area, and the short-range top view image in the B real area or in the B history area.
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9. A vehicle surrounding image display control device comprising:
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an acquisition device that repetitively acquires a taken image around a vehicle from an in-vehicle camera mounted in the vehicle; a bird'"'"'s-eye view conversion device that sequentially executes a bird'"'"'s-eye view conversion of the taken image and creates a bird'"'"'s-eye view image; a movement calculation device that calculates an amount of movement of the vehicle based on vehicle behavior information input from the vehicle; a memory that includes a B real area for storing a B bird'"'"'s-eye view image in a predetermined B area around the vehicle, an A real area for storing an A bird'"'"'s-eye view image A in a predetermined A area farther from the vehicle than the B area, a B history area for storing as a B history bird'"'"'s-eye view image, which is prepared by moving a relative position of the A bird'"'"'s-eye view image stored in the A real area with respect to the vehicle according to the amount of movement of the vehicle calculated by the movement calculation device, and a C history area for storing as a bird'"'"'s-eye view image C, which is prepared by moving a relative position of the B history bird'"'"'s-eye view image stored in the B history area or the B bird'"'"'s-eye view image stored in the B real area with respect to the vehicle according to the amount of movement of the vehicle calculated by the movement calculation device; a division storage device that divides the bird'"'"'s-eye view image along a front-back direction of the vehicle to create the A bird'"'"'s-eye view image and the B bird'"'"'s-eye view image, stores the A bird'"'"'s-eye view image in the A real area, and stores the B bird'"'"'s-eye view image in the B real area; a shadow determination device that determines whether a shadow is present in the B bird'"'"'s-eye view image stored in a part or all of the B real area; a first history image configuration device that configures the C bird'"'"'s-eye view image in the C history area using the B bird'"'"'s-eye view image stored in the B real area when the shadow determination device determines that the shadow is not presented in the B bird'"'"'s-eye view image; a second history image configuration device that configures the C bird'"'"'s-eye view image in the C history area using the B history bird'"'"'s-eye view image stored in the B history area when the shadow determination device determines that the shadow is present in the B bird'"'"'s-eye view image; and a display control device that controls the image display device to display the A bird'"'"'s-eye view image in the A real area, the C bird'"'"'s-eye view image in the C history area, and the B bird'"'"'s-eye view image in the B real area or the B history bird'"'"'s-eye view image in the B history area.
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Specification