Image display apparatus, method, and program for automotive vehicle

• US 7,145,519 B2
• Filed: 03/21/2003
• Issued: 12/05/2006
• Est. Priority Date: 04/18/2002
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Inoue, Hirofumi, Takahashi, Toshiaki, Yamamoto, Yasuhide
• Primary Examiner(s): Liang, Regina
• Application Number:
  US10/392,844
• Publication Number:
  US 20030197660A1
• Time in Patent Office: 1,355 Days
• Field of Search: 345 7- 9, 348/118, 348/143, 348/148, 701/36, 340/435, 340/901
• US Class Current: 345/7
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

In image display apparatus, method, and program for an automotive vehicle, a surrounding of the vehicle is photographed, a plurality of display images are generated from a photographed data supplied from a photographing section, viewing points of the respective display images and looking down angles thereof being different from one another, one of the images generated is displayed through a display, and the display image generated and displayed through the display is switched to another one of the generated display images.

Claims

1. An image display apparatus for an automotive vehicle, comprising:

a photographing section that photographs a field near the vehicle, the photographing section including a plurality of cameras disposed to photograph respective fields near the vehicle;

a display image generating section that includes an image synthesizing section configured to synthesize video images photographed by the plurality of cameras and that generates a top view display image looking down a whole part of the vehicle through an approximately vertical angle from a first viewing point on an upper sky of the vehicle and bird'"'"'s eye view display images looking down the whole part of the vehicle through a predetermined looking-down angle from a second viewing point at which the first viewing point is moved toward a front portion of a vehicular running direction and from a third viewing point at which the first viewing point is moved toward a backward portion of the vehicular running direction;

a display section configured to display one of the images generated by the display image generating section;

a display image switching section that switches the displayed image to another one of the generated display images; and

a running information receiving section that receives running information of the vehicle, the display image switching section switches the displayed image in accordance with the received information of the vehicle;

wherein;

the running information receiving section is configured to receive the running information related to a detected direction toward which the vehicle moves; and

the display image switching section is configured to switch the displayed image from a bird'"'"'s eye view image when the vehicle is running in a forward direction, to a top view image when the vehicle is running in a backward direction.

2. An image display apparatus for an automotive vehicle as claimed in claim 1, wherein:

the image display apparatus further comprises a running information receiving section that receives running information of the vehicle;

the display images include a top view image and a bird'"'"'s eye view image,

the running information receiving section receives the running information related to a history of vehicle movements, and

the display image switching section switches the displayed image from a bird'"'"'s eye view image when the vehicle stops after moving in a forward direction to a top view image when the vehicle stops after moving in a backward direction.

3. An image display apparatus for an automotive vehicle as claimed in claim 1, wherein:

the images generated by the display image generating section include a top view image and a bird'"'"'s eye view image,

the running information receiving section receives the running information related to a velocity of the vehicle,

the display image switching section switches the displayed image to a bird'"'"'s eye view image when the vehicle is running at a speed no less than a predetermined value, and switches the display image to display a top view image when the vehicle is running at a speed lower than the predetermined value.

4. An image display apparatus for an automotive vehicle as claimed in claim 1, wherein the running information receiving section receives the running information related to a vehicular running status from a shift position sensor to detect a shift position of the vehicle or a vehicular velocity sensor to detect a vehicular running velocity.

5. An image display apparatus for an automotive vehicle as claimed in claim 1, wherein:

the display image generating section further comprises a command reception section that receives an external switch command, and

the display image switching section switches the display image displayed through the display section to one of a top view image and a bird'"'"'s eye view image based on the external switch command.

6. An image display apparatus for an automotive vehicle as claimed in claim 5, wherein the display image switching section switches the display image displayed through the display section to one of the top view image and the bird'"'"'s eye view image in accordance with the switch command received by the command reception section and the running information received by the running information receiving section.

7. An image display apparatus for an automotive vehicle as claimed in claim 6, wherein:

the command reception section receives one of first, second, and third commands,

the first command is a command to display the bird'"'"'s eye view image through the display section when the vehicle is running in a forward direction and to display the top view image through the display section when the vehicle is running in a backward direction,

the second command is a command to display the top view image through the display section when the vehicle is running in the forward direction and to display the bird'"'"'s eye view image through the display section when the vehicle is running in the backward direction, and

the third command is a command to display one of the top view image and the bird'"'"'s eye view image through the display section irrespective of a vehicular running status.

8. An image display apparatus for an automotive vehicle as claimed in claim 1 further comprising a superposing section that superposes at least one of vehicular graphic data projected from a respective viewing point toward the vehicle, arrow mark graphic data indicating a direction toward which the vehicle moves, and a grid line indicating a reference line.

9. An image display apparatus for an automotive vehicle, comprising:

a photographing section that photographs a field near the vehicle;

a display image generating section that generates a plurality of display images based on photographed data supplied from the photographing section, each of the plurality of display images having a different viewing point and a looking down angle;

a display section configured to display one of the display images generated by the display image generating section;

a display image switching section that switches the displayed image to another one of the display images;

a surrounding vehicle detecting section that detects a surrounding vehicle near the vehicle based on the photographed data; and

a pseudo vehicular image drawing section configured to draw a pseudo vehicular image,

wherein at least one of the display images is synthesized with the pseudo vehicular image,

wherein;

the display image generating section comprises a perspective view transforming section that transforms a respective display image into a perspective view image, and

the surrounding vehicle detecting section detects a wheel of another vehicle based on at least one of a vehicular surrounding image generated by the perspective view transforming section and a vehicular surrounding image photographed by the photographing section to detect a position of the other vehicle.

10. An image display apparatus for an automotive vehicle as claimed in claim 9, wherein the pseudo vehicular image drawing section estimates a wheel base of the other vehicle based on a position of the wheel detected by the surrounding vehicle detecting section and draws the pseudo vehicular image matching the estimated wheel base.

11. An image display apparatus for an automotive vehicle as claimed in claim 10, wherein the pseudo vehicular image drawing section draws the pseudo vehicular image having a longitudinal length longer than that of the other vehicle corresponding to the estimated wheel base.

12. An image display apparatus for an automotive vehicle as claimed in claim 9, wherein the pseudo vehicular image drawing section draws the pseudo vehicular image having the same body color as another vehicle which is located at a front or rear area of the vehicle.

13. An image display apparatus for an automotive vehicle, comprising:

photographing means for photographing a field near the vehicle, the photographing section including a plurality of cameras disposed to photograph respective fields near the vehicle;

display image generating means including an image synthesizing section configured to synthesize video images photographed by the plurality of cameras, for generating a top view display image looking down a whole part of the vehicle through an approximately vertical angle from a first viewing point on an upper sky of the vehicle and bird'"'"'s eye view display images looking down the whole part of the vehicle through a predetermined looking-down angle from a second viewing point at which the first viewing point is moved toward a front portion of a vehicular running direction and from a third viewing point at which the first viewing point is moved toward a backward portion of the vehicular running direction;

display means through which one of the display images generated by the display image generating means is displayed;

display image switching means for switching the displayed image generated by the display image generating means and displayed through the display means to another one of the display images; and

a running information receiving section that receives running information of the vehicle, the display image switching section switches the displayed image in accordance with the received information of the vehicle;

wherein;

the running information receiving section is configured to receive the running information related to a detected direction toward which the vehicle moves; and

the display image switching section is configured to switch the displayed image from a bird'"'"'s eye view image when the vehicle is running in a forward direction, to a top view image when the vehicle is running in a backward direction.

14. An image display method for an automotive vehicle, comprising:

generating images of respective fields near the vehicle by using a plurality of cameras disposed to photograph the respective fields near the vehicle;

synthesizing the video images;

receiving running information related to a running status of the vehicle;

generating a top view display image looking down a whole part of the vehicle through an approximately vertical angle from a first viewing point on an upper sky of the vehicle and bird'"'"'s eye view display images looking down the whole part of the vehicle through a predetermined looking-down angle from a second viewing point at which the first viewing point is moved toward a front portion of a vehicular running direction and from a third viewing point at which the first viewing point is moved toward a backward portion of the vehicular running direction; and

switching the displayed image to another one of the generated display images in accordance with the running information;

wherein;

the running information relates to a detected direction toward which the vehicle moves; and

the displayed image is switched from a bird'"'"'s eye view image when the vehicle is running in a forward direction, to a top view image when the vehicle is running in a backward direction.

15. An image display method for an automotive vehicle, comprising:

generating images of respective fields near the vehicle using a plurality of cameras disposed to photograph the respective fields near the vehicle;

synthesizing the video images;

generating a top view display image looking down a whole part of the vehicle through an approximately vertical angle from a first viewing point on an upper sky of the vehicle and bird'"'"'s eye view display images looking down the whole part of the vehicle through a predetermined looking-down angle from a second viewing point at which the first viewing point is moved toward a front portion of a vehicular running direction and from a third viewing point at which the first viewing point is moved toward a backward portion of the vehicular running direction;

displaying one of the generated images;

switching the displayed image to another one of the generated images, wherein the displayed image is switched from a bird'"'"'s eye view image when the vehicle is running in a forward direction, to a top view image when the vehicle is running in a backward direction;

detecting a surrounding vehicle near the vehicle from the photographed data;

drawing a pseudo vehicular image; and

synthesizing the pseudo vehicle image with one of the images.

16. An image display program for a computer of an automotive vehicle, when executed by the computer, controlling the computer to:

receive images of respective fields near the vehicle obtained by a plurality of cameras disposed to photograph the respective fields near the vehicle;

synthesize images obtained by the plurality of cameras;

receive running information related to a vehicular running status, wherein the running information relates to a detected direction toward which the vehicle moves;

generate a top view display image looking down a whole part of the vehicle through an approximately vertical angle from a first viewing point on an upper sky of the vehicle and bird'"'"'s eye view display images looking down the whole part of the vehicle through a predetermined looking-down angle from a second viewing point at which the first viewing point is moved toward a front portion of a vehicular running direction and from a third viewing point at which the first viewing point is moved toward a backward portion of the vehicular running direction;

display the generated display image; and

switching the displayed image from a bird'"'"'s eye view image when the vehicle is moving in a forward direction, to a top view image when the vehicle is moving in a backward direction.

17. An image display apparatus for an automotive vehicle, comprising:

a plurality of cameras disposed to photograph respective fields near the vehicle;

a vehicular running state obtaining section that obtains a vehicular running state;

a display image generating section that generates a top view display image looking down a whole part of the vehicle through an approximately vertical angle from a first viewing point on an upper sky of the vehicle and bird'"'"'s eye view display images looking down the whole part of the vehicle through arbitrary looking-down angles and from arbitrary viewing points at which the first viewing point is moved toward front and backward portions of a vehicular running direction in accordance with the vehicular running state;

a display section configured to display one of the images generated by the display image generating section in accordance with the vehicular running state; and

a display image switching section that switches the displayed image to another one of the generated display images, wherein the displayed image is switched from a bird'"'"'s eye view image when the vehicle is moving in a forward direction, to a top view image when the vehicle is moving in a backward direction.