Rendering device

• US 6,366,221 B1
• Filed: 06/28/2001
• Issued: 04/02/2002
• Est. Priority Date: 06/30/2000
• Status: Expired due to Term

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Yoshida, Takashi, Iisaka, Atsushi, Ishida, Akira, Yasui, Nobuhiko
• Primary Examiner(s): Lefkowitz, Edward
• Assistant Examiner(s): GOINS, DAVETTA WOODS
• Application Number:
  US09/892,744
• Time in Patent Office: 278 Days
• Field of Search: 340/932.2, 340/903, 340/435, 340/436, 340/461, 340/525, 348/115, 348/118, 348/119, 348/121, 348/135, 348/148, 348/149, 701/23, 701/25, 701/41, 180/204, 180/168, 180/446
• US Class Current: 340/932.2
• CPC Class Codes: B60Q 9/005 using a video camera
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/105 using multiple cameras
• CPC Class Codes: B60R 2300/30 characterised by the type of image processing
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/304 using merged images, e.g. merging camera image with stored images
• CPC Class Codes: B60R 2300/305 merging camera image with lines or icons
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60R 2300/8086 for vehicle path indication
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: B62D 15/0275 by overlaying a vehicle path based on present steering angle over an image without processing that image

Abstract

In a rendering device 10, ROM 4 stores a vehicle model. A rudder angle sensor 3 detects a rudder angle of the vehicle, and based thereon, CPU 6 calculates an estimated path for the vehicle. The CPU 6 receives captured images from cameras 2₁ to 2_N. The CPU 6 generates a display image based on those captured images, the estimated path, and the vehicle model. This display image includes the vehicle model arranged on the estimated path, and displayed on a display device 8 placed in the vehicle. In this manner, the display image generated by the rendering device 10 is indicative and helpful for a driver of the vehicle to exactly figure out a parking space available for the vehicle.

Claims

1. A rendering device for generating a display image of around a vehicle for drive assistance, comprising:

vehicle model storing means for storing a vehicle model representing said vehicle;

path calculating means for calculating an estimated path for said vehicle based on a rudder angle of the vehicle provided by rudder angle detecting means placed in the vehicle;

receiving means for receiving a captured image of around said vehicle from image capturing means placed in the vehicle; and

image processing means for generating the display image based on said captured image, said estimated path, and said vehicle model, wherein

the display image generated by said image processing means is displayed by display means placed in said vehicle, and includes said vehicle model arranged on said estimated path.

2. The rendering device according to claim 1, wherein said vehicle model is a 3D model, and

said image processing means comprises:

vehicle position determining means for determining a display position on said estimated path for said vehicle model;

vehicle model image generating means for generating a vehicle model image by viewing the vehicle model stored in said vehicle model storing means from a viewpoint of said image capturing means; and

vehicle merged image generating means for generating a vehicle merged image by overlaying said vehicle model image onto the captured image received by said receiving means, wherein

said display image is generated based on said vehicle merged image.

3. The rendering device according to claim 2, wherein

said image capturing means includes a plurality of cameras for capturing an image of around said vehicle from each viewpoint, and generating the captured image,

said image processing means further includes viewpoint converted image generating means for generating a viewpoint converted image by viewing said vehicle and therearound from a predetermined virtual viewpoint,

said vehicle merged image generating means generates the vehicle merged image based on the captured images received by said receiving means from said plurality of cameras,

said viewpoint converted image generating means generates said viewpoint converted image based on the vehicle merged image generated by said vehicle merged image generating means, and

said display image is generated based on said viewpoint converted image.

4. The rendering device according to claim 3, wherein said image processing means further includes display image generating means for generating the display image by overlaying said estimated path onto said viewpoint converted image.

5. The rendering device according to claim 1, further comprising specific pattern determining means for determining whether there is a specific pattern indicating a parking space available for said vehicle, wherein

when said pattern determining means determines that there is said specific pattern, said image processing means generates the display image which does not include said vehicle model.

6. The rendering device according to claim 2, wherein said vehicle merged image generating means merges said vehicle model image which is translucent to the captured image received by said receiving means, and generates the vehicle merged image.

7. The rendering device according to claim 2, wherein said vehicle merged image generating means merges said vehicle model image which is wire-framed to the captured image received by said receiving means, and generates the vehicle merged image.

8. A rendering method for generating a display image of around a vehicle for drive assistance, wherein a vehicle model representing said vehicle is previously stored, and

said method comprises the steps of:

a path calculation step of calculating an estimated path for said vehicle based on a rudder angle of the vehicle provided by rudder angle detecting means placed in the vehicle;

a reception step of receiving a captured image of around said vehicle from image capturing means placed in the vehicle; and

an image processing step of generating the display image based on said captured image, said estimated path, and said vehicle model, wherein

the display image generated in said image processing step is displayed by display means placed in said vehicle, and includes said vehicle model arranged on said estimated path.

9. According medium on which a program for generating a display image of around a vehicle for drive assistance is stored, wherein a vehicle model representing said vehicle is previously stored, and

said program comprises the steps of:

a path calculation step of calculating an estimated path for said vehicle based on a rudder angle of the vehicle provided by rudder angle detecting means placed in the vehicle;

a reception step of receiving a captured image of around said vehicle from image capturing means placed in the vehicle; and

an image processing step of generating the display image based on said captured image, said estimated path, and said vehicle model, wherein

the display image generated in said image processing step is displayed by display means placed in said vehicle, and includes said vehicle model arranged on said estimated path.

10. A program for generating a display image of around a vehicle for drive assistance, wherein a vehicle model representing said vehicle is previously stored, and

said program comprises the steps of:

a path calculation step of calculating an estimated path for said vehicle based on a rudder angle of the vehicle provided by rudder angle detecting means placed in the vehicle;

a reception step of receiving a captured image of around said vehicle from image capturing means placed in the vehicle; and

an image processing step of generating the display image based on said captured image, said estimated path, and said vehicle model, wherein

the display image generated in said image processing step is displayed by display means placed in said vehicle, and includes said vehicle model arranged on said estimated path.