JP2018195935A - Overhead image generation device, overhead image display system, overhead image generating method and program - Google Patents

Abstract

To enable a driver to properly confirm relative positional relationship between a vehicle and surroundings.SOLUTION: An overhead image generation device comprises: an image data acquisition unit 42; an overhead image generation unit 44 which performs viewpoint conversion processing and synthesis processing of the periphery image acquired by the image data acquisition unit 42 to generate an overhead image; a parking section detection unit 45 detecting a parking section on a periphery of a vehicle; a determination unit 46 determining discontinuity of stop position in a cross direction with respect to a plurality of parking sections arranged next to each other on the basis of the parking sections detected by the parking section detection unit 45; a superimposition processing unit 47 generating, when the determination unit 46 determines discontinuity of stop position in the cross direction of the vehicle with respect to the parking sections arranged next to each other, an overlapping image superimposing a virtual section sign indicating stop position in the cross direction of the vehicle with respect to the parking sections over the overhead image generated by the overhead image generation unit 44; and a display control unit 48 displaying the overlapping image generated by the superimposition processing unit 47 on a display panel 31.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an overhead video generation apparatus, an overhead video display system, an overhead video generation method, and a program.

  When the vehicle is parked, the driver displays a bird's-eye view of the vehicle as seen from above, confirming the safety around the vehicle and grasping the positional relationship with the parking area and other vehicles around the vehicle. Becomes easier. A technique related to a vehicle periphery display device that assists parking by displaying an overhead video of a vehicle together with a vehicle image when the vehicle is parked is known (see, for example, Patent Document 1 and Patent Document 2). The technique described in Patent Document 1 sets a boundary between adjacent parking areas from a car stop extending in the vehicle width direction in a parking lot where a white line is not drawn on the road surface as a boundary line between the parking areas, Superimposed display. The technique described in Patent Literature 2 displays an extended line image indicating an extended line of the parking frame superimposed on the overhead video when the predetermined portion of the parking frame is outside the display range.

JP2013-116696A JP 2008-083990 A

  The parking section may be formed to be inclined with respect to the passage or may be formed in a different direction from the adjacent parking section. In such a parking section, it may be difficult to confirm the relative positional relationship between the parking section where the host vehicle is to park and the adjacent parking section.

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

  In order to solve the above-described problems and achieve the object, an overhead image generation apparatus according to the present invention includes a video data acquisition unit that acquires peripheral video data obtained by capturing a periphery of a vehicle by a shooting unit, and the video data acquisition unit The overhead view video generation unit that generates the overhead view video by performing the viewpoint conversion process and the synthesis process on the peripheral video of the photographing unit acquired by the above, the parking zone detection unit that detects the parking zone around the vehicle, A determination unit that determines that the stop position in the front-rear direction of the vehicle in a plurality of parking sections located side by side is discontinuous from the parking section detected by the parking section detection unit, and the plurality of determination units that are positioned side by side When the stop position in the front-rear direction of the vehicle in the parking section is determined to be discontinuous, a virtual section sign indicating the stop position in the front-rear direction of the vehicle is displayed for the plurality of parking sections. A superimposition processing unit section generates a superimposed image obtained by superimposing the overhead image generated, characterized in that it comprises a display control unit for displaying a superimposed image of the superposition processing unit has generated to the display unit.

  An overhead video display system according to the present invention includes at least one of the above-described overhead video generation device, the imaging unit that supplies peripheral video data to the video data acquisition unit, and the display unit that displays the superimposed video. It is provided with these.

  An overhead view video generation method according to the present invention includes a video data acquisition step of acquiring peripheral video data obtained by shooting a periphery of a vehicle by a shooting unit, and a viewpoint conversion for the peripheral video of the shooting unit acquired by the video data acquisition step Positioned side by side from an overhead view video generation step for generating an overhead view video by performing processing and a synthesis process, a parking zone detection step for detecting a parking zone around the vehicle, and a parking zone detected by the parking zone detection step The determination step for determining that the stop position in the front-rear direction of the vehicle in the plurality of parking sections is discontinuous, and the stop position in the front-rear direction of the vehicle in the plurality of parking sections positioned side by side are discontinuous. When it is determined that the above-mentioned overhead view video is generated, the virtual section indication indicating the stop position in the front-rear direction of the vehicle with respect to the plurality of parking sections is generated. It includes a superimposition processing step of generating a superimposed image in which step is superposed on the overhead view image generated, and a display control step of displaying the superimposed image in which the superimposition processing step is generated on the display unit.

  The program according to the present invention includes a video data acquisition step of acquiring peripheral video data obtained by shooting a periphery of a vehicle by a shooting unit, and a viewpoint conversion process and synthesis for the peripheral video of the shooting unit acquired by the video data acquisition step By performing processing, an overhead image generation step for generating an overhead image, a parking area detection step for detecting a parking area around the vehicle, and a parking area detected by the parking area detection step are arranged side by side. The determination step for determining that the stop position in the front-rear direction of the vehicle in the parking section is discontinuous, and the determination step includes that the stop positions in the front-rear direction of the vehicle in the plurality of parking sections located side by side are discontinuous. When the determination is made, a virtual section sign indicating a stop position in the front-rear direction of the vehicle with respect to the plurality of parking sections is displayed in the overhead view image generation step. A computer that operates as a bird's-eye image generation device executes a superimposition processing step for generating a superimposed image superimposed on the bird's-eye view image generated by the computer and a display control step for displaying the superimposed image generated by the superimposition processing step on a display unit. .

  According to the present invention, it is possible to appropriately confirm the relative positional relationship between the vehicle and the periphery.

FIG. 1 is a block diagram illustrating a configuration example of the overhead video generation apparatus according to the first embodiment. FIG. 2 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 3 is a diagram illustrating an example of the superimposed video generated by the overhead view video generation device according to the first embodiment. FIG. 4 is a flowchart showing a flow of processing in the overhead view video generation apparatus according to the first embodiment. FIG. 5 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 6 is a diagram illustrating an example of an overhead video generated by the overhead video generation device according to the first embodiment. FIG. 7 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the first embodiment. FIG. 8 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 9 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the first embodiment. FIG. 10 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 11 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the first embodiment. FIG. 12 is a diagram illustrating an example of a superimposed video generated by the overhead view video generation device according to the second embodiment. FIG. 13 is a flowchart showing a process flow in the overhead view video generation apparatus according to the second embodiment. FIG. 14 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the second embodiment. FIG. 15 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the second embodiment. FIG. 16 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 17 is a diagram illustrating an example of a superimposed video generated by the overhead view video generation device according to the third embodiment. FIG. 18 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 19 is a diagram illustrating an example of an overhead video generated by the overhead video generation device according to the third embodiment. FIG. 20 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 21 is a diagram illustrating another example of the superimposed video generated by the overhead video generation device according to the third embodiment. FIG. 22 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 23 is a diagram illustrating another example of the superimposed video generated by the overhead video generation device according to the third embodiment. FIG. 24 is a diagram illustrating another example of the parking section. FIG. 25 is a diagram illustrating another example of the virtual section marking displayed on the superimposed video generated by the overhead view video generation device. FIG. 26 is a diagram illustrating another example of the virtual section marking displayed on the superimposed video generated by the overhead view video generation device. FIG. 27 is a diagram illustrating another example of the virtual section marking displayed on the superimposed video generated by the overhead view video generation device.

  Exemplary embodiments of an overhead view video generation device, an overhead view video display system, an overhead view video generation method, and a program according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, this invention is not limited by the following embodiment.

[First embodiment]
FIG. 1 is a block diagram illustrating a configuration example of the overhead video generation apparatus according to the first embodiment. For example, when the vehicle V is parked, the overhead image display system 1 generates an overhead image 100 (see FIG. 6) or a superimposed image 100A (see FIG. 3) of the vehicle V.

  A bird's-eye view video display system 1 will be described with reference to FIG. The overhead view video display system 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 a bird's-eye view video generation device 40.

  The front camera 11 is an overhead video camera. The front camera 11 is disposed in front of the vehicle V and captures a periphery around the front of the vehicle V. The front camera 11 shoots the first shooting range A1 (see FIG. 2) of about 180 °, for example. The first shooting range A1 includes a wider range in front of the vehicle V than the display range A (see FIG. 2) of the overhead view video 100. The front camera 11 outputs the captured peripheral video data to the video data acquisition unit 42 of the overhead view video generation device 40.

  The rear camera 12 is an overhead video camera. The rear camera 12 is disposed behind the vehicle V and photographs the periphery around the rear of the vehicle V. The rear camera 12 shoots a second shooting range A2 (see FIG. 2) of about 180 °, for example. The second shooting range A2 includes a wider range behind the vehicle (host vehicle) V than the display range A of the overhead view image 100. The rear camera 12 outputs the captured peripheral video data to the video data acquisition unit 42 of the overhead view video generation device 40.

  The left side camera 13 is an overhead video camera. The left-side camera 13 is disposed on the left side of the vehicle V and photographs the periphery around the left side of the vehicle V. The left side camera 13 shoots a third shooting range A3 (see FIG. 2) of about 180 °, for example. The third shooting range A3 includes a wider range on the left side of the vehicle V than the display range A of the overhead view image 100. The left camera 13 outputs the captured peripheral video data to the video data acquisition unit 42 of the overhead view video generation device 40.

  The right side camera 14 is an overhead video camera. The right-side camera 14 is disposed on the right side of the vehicle V and photographs the periphery around the right side of the vehicle V. The right-side camera 14 shoots a fourth shooting range A4 (see FIG. 2) of about 180 °, for example. The fourth shooting range A4 includes a wider range on the right side of the vehicle V than the display range A of the overhead view image 100. The right side camera 14 outputs the captured peripheral video data 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 photograph all directions of the vehicle V.

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

  The overhead video generation device 40 includes a control unit 41 and a storage unit 49. The overhead image generation device 40 is mounted on the vehicle V. In addition to what is mounted on the vehicle V, the overhead image generation device 40 may be a portable device that can be used in the vehicle V.

  The control unit 41 is an arithmetic processing unit configured with, for example, a CPU (Central Processing Unit). The control unit 41 loads the program stored in the storage unit 49 into the memory and executes instructions 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 parking section detection unit 45, a determination unit 46, a superimposition 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.

  The video data acquisition unit 42 acquires peripheral video data obtained by photographing the periphery of the vehicle V. More specifically, the video data acquisition unit 42 acquires peripheral video data output by 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 peripheral video data to the overhead view video generation unit 44 and the parking section detection unit 45. The peripheral video data acquired from each camera is, for example, a moving image composed of images of 30 frames per second.

  The vehicle information acquisition unit 43 detects vehicle information indicating a situation of the vehicle V that triggers the start of display of a bird's-eye view video, such as gear operation information of the vehicle V, and various sensors that sense the state of the vehicle V (Controller Area Network) Get from. The vehicle information acquisition unit 43 acquires a reverse trigger, for example. The vehicle information acquisition unit 43 acquires vehicle speed information, for example. The vehicle information acquisition unit 43 outputs the acquired vehicle information to the overhead view video generation unit 44.

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

  The bird's-eye view video generation unit 44 includes a viewpoint conversion processing unit 441, a cut-out processing unit 442, and a composition 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 that the vehicle V is looked down from above. More specifically, the viewpoint conversion processing unit 441 generates a video on which the viewpoint conversion processing has been performed based on peripheral video data captured by the front camera 11, the rear camera 12, the left side camera 13, and the right side 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 that has undergone the viewpoint conversion processing to the clipping processing unit 442.

  The cut-out processing unit 442 performs a cut-out process for cutting out a predetermined range of video from the peripheral video data subjected to the viewpoint conversion process. Which range is the cut-out range is registered and stored in advance. The cutout processing unit 442 outputs the video data of the video that has undergone the cutout processing to the composition processing unit 443.

  The composition processing unit 443 performs composition processing for compositing the video data that has been subjected to the clipping processing. The composition processing unit 443 generates an overhead image 100 in which the own vehicle icon 110 is displayed on the synthesized image.

  The parking section detection unit 45 detects the parking section C around the vehicle V. More specifically, the parking zone detection unit 45 includes a parking zone C included in the shooting range A1 of the front camera 11, the shooting range A2 of the rear camera 12, the shooting range A3 of the left camera 13, and the shooting range A4 of the right camera 14. Is detected. The parking section detection unit 45 may detect the parking section C with respect to the peripheral video data that the viewpoint conversion processing unit 441 performs the viewpoint conversion processing on the peripheral video data acquired by the video data acquisition unit 42. A plurality of parking sections C are arranged in the vehicle width direction. The parking section C is partitioned by a parking frame. The parking section detection unit 45 detects the parking section C in a range wider than the range displayed as the overhead view video 100.

  The parking frame has linearity that is equal to or longer than a predetermined length. The parking frame is, for example, a parking frame line including a parking lot line, a roadway outer line, a line drawn on the road surface, a curb, and a vehicle stop. In this embodiment, the parking section C is partitioned by the parking frame line.

  The parking frame line and the parking section C will be described with reference to FIG. FIG. 2 is a diagram illustrating a state where the vehicle is parked in the parking section. In the present embodiment, the parking frame line includes a plurality of side frame lines B1 facing the vehicle side surface when the vehicle V is parked, and a rear frame line B2 facing the vehicle rear end. The plurality of side frame lines B1 are parallel. The side frame line B1 is inclined with respect to the rear frame line B2. A plurality of adjacent parking sections C are formed by the plurality of side frame lines B1 and the rear frame line B2. The parking section C is inclined with respect to the rear frame line B2. Such a parking section C is referred to as an “angled parking section”. The parking section C includes a parking section CT, a parking section CR located on the right side of the parking section CT, and a parking section CL located on the left side of the parking section CT. When there is no need to particularly distinguish the parking section CT, the parking section CR, and the parking section CL, the description will be made as the parking section C.

  The parking section detection unit 45 performs object recognition processing on the peripheral video acquired by the video data acquisition unit 42 and detects a parking frame line indicating the boundary of the parking section C. In the object recognition process, an object to be photographed having a condition as a parking frame line is detected. The parking section detection unit 45 may detect an object to be photographed having a linearity of a predetermined length or more from the surrounding video as a parking frame line by edge detection processing. The parking section detection unit 45 may detect the parking frame line from the surrounding video by the recognition dictionary storing the parking frame line. The object recognition process may be an existing white line detection process, a specific object detection process using a recognition dictionary, or the like, or may be used in combination.

  Returning to FIG. 1, the determination unit 46 determines whether the parking section C detected by the parking section detection unit 45 satisfies a predetermined condition. The predetermined condition is that among the parking sections C detected by the parking section detection unit 45, the section positions in the front-rear direction in the plurality of parking sections C located side by side are discontinuous. The front-rear direction here is a direction corresponding to the front-rear direction of the vehicle when the vehicle is parked in the parking section C. More specifically, the predetermined condition is that the front and rear section positions of the plurality of parking sections C located side by side are different positions in the front and rear direction. The section positions are discontinuous, for example, when a vehicle V having the same vehicle length is parked in the same manner in a plurality of parking sections C positioned side by side in the front-rear direction of the vehicle V parked in the adjacent parking section C. The stop position is not located on the same straight line along the vehicle width direction but is shifted. In the present embodiment, the predetermined condition is that the parking section C is an angled parking section C.

  In the present embodiment, the determination unit 46 determines that the parking section C is an angled parking section C when the side frame line B1 is inclined with respect to the rear frame line B2.

  Alternatively, the determination unit 46 determines that the parking section C is the angled parking section C when the side frame line B1 of the parking section C is inclined with respect to the passage extending direction (the arrow direction in FIG. 2). May be. Further, if there is no reference that defines the angle of the side frame line B1 such as the rear frame line B2 or the passage, or the like cannot be detected, the determination unit 46 detects the end point position of the recognized side frame line B1 and the adjacent parking position. The parking section C may be determined to be the angled parking section C based on the position of the vehicle parked in the section.

  The direction in which the passage extends may be detected by performing object recognition processing or edge detection processing on the peripheral video acquired by the video data acquisition unit 42. Alternatively, the direction in which the passage extends may be detected from the vehicle information including the traveling direction of the vehicle V acquired by the vehicle information acquisition unit 43.

  For example, when the side frame line B1 is disposed at an angle of 90 degrees with respect to the rear frame line B2 or the direction in which the passage extends, the determination unit 46 determines that the parking section C is an angled parking section C. do not do. Also, when the side frame line B1 is arranged at an angle of 90 degrees ± 10 degrees with respect to the rear frame line B2 or the direction in which the passage extends, the determination unit 46 determines that the parking section C is an angled parking section. It may be determined not to be C.

  When the determination unit 46 determines that the stop positions in the front-rear direction of the vehicle V in the plurality of parking sections C located side by side are discontinuous, the superimposition processing unit 47 determines whether the vehicle V is in the plurality of parking sections C. The superimposed video 100A is generated by superimposing the virtual section marking 120 indicating the stop position in the front-rear direction on the overhead video 100 generated by the overhead video generation unit 44.

  The virtual section marking 120 only needs to indicate the parking section C, and the display mode is not limited to the frame shape. The virtual section marking 120 may be, for example, a rectangular aspect that surrounds the outer periphery of the parking section C, an aspect that indicates the corner of the parking section C, an aspect that indicates the outer periphery of the parking section C in a dotted shape, and the like. In the present embodiment, the virtual section marking 120 has a rectangular shape with each parking section C as a reference. The virtual section sign 120 is displayed corresponding to each parking section C.

  With reference to FIG. 3, the virtual section marking 120 will be described. FIG. 3 is a diagram illustrating an example of the superimposed video generated by the overhead view video generation device according to the first embodiment. The virtual section marking 120 includes a virtual section marking 120T displayed superimposed on the parking section CT, a virtual section marking 120R displayed superimposed on the parking section CR, and a virtual section displayed superimposed on the parking section CL. Including a sign 120L. The virtual zoning mark 120T includes a pair of virtual side frame lines 121T superimposed on the pair of side frame lines B1, and a rear end portion of one virtual side frame line 121T toward the other virtual side frame line 121T. A virtual rear frame line 122T extending vertically and a virtual front frame line 123T extending vertically from the front end portion of the other virtual side frame line 121T toward the one virtual side frame line 121T are included. The virtual section marking 120R includes one virtual side frame line 121T and a virtual rear frame line 122R. The virtual section marking 120L includes the other virtual side frame line 121T and a virtual front frame line 123L. When there is no need to particularly distinguish the virtual section marking 120T, the virtual section marking 120R, and the virtual section marking 120L, the virtual section marking 120T will be described as the virtual section marking 120. The superimposition processing unit 47 defines the virtual partition display 120 as a rectangle.

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

  The storage unit 49 stores data and various processing results required for various processes in the overhead view video generation device 40. The storage unit 49 is, for example, a semiconductor memory device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory (Flash Memory), or a storage device such as a hard disk or an optical disk.

  Next, with reference to FIG. 4, the flow of processing in the overhead view video generation device 40 will be described. FIG. 4 is a flowchart showing a flow of processing in the overhead view video generation apparatus according to the first embodiment.

  The control unit 41 determines whether or not to start the overhead view video display (step S11). As an example of the determination to start the overhead view video display, the control unit 41 determines whether or not to disclose the overhead view video display based on the presence or absence of a reverse trigger. The reverse trigger means that, for example, the shift position is “reverse”. Alternatively, the reverse trigger means that the traveling direction of the vehicle V is rearward in the front-rear direction of the vehicle V. When there is no reverse trigger, the control unit 41 determines not to start the overhead view video display (No in step S11), and executes the process of step S11 again. When there is a backward trigger, 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 the overhead view video 100 in which the viewpoint conversion is performed so that the vehicle V is looked down from above from the peripheral video acquired by the video data acquisition unit 42. The control unit 41 proceeds to step S13.

  The controller 41 determines whether or not the parking section C has been detected (step S13). More specifically, the control unit 41 determines whether or not the parking section C is detected by the parking section detection unit 45. If it is determined that the parking section C is detected (Yes in step S13), the control unit 41 proceeds to step S14. When it is determined that the parking section C is not detected (No in step S13), the control unit 41 proceeds to step S17.

  The control unit 41 determines whether or not the parking section C satisfies a predetermined condition (step S14). More specifically, the control unit 41 determines whether or not the stop positions in the front-rear direction of the vehicle V in the plurality of parking sections C located side by side, which are detected by the parking section detection unit 45 by the determination unit 46, are discontinuous. to decide. In the present embodiment, the control unit 41 determines whether or not the parking section C detected by the parking section detection unit 45 is an angled parking section C by the determination unit 46. When it is determined that the predetermined condition is satisfied (Yes in Step S14), the control unit 41 proceeds to Step S15. When it is determined that the predetermined condition is not satisfied (No in step S14), the control unit 41 proceeds to step S17.

  The control unit 41 generates the superimposed video 100A (step S15). More specifically, the control unit 41 causes the superimposition processing unit 47 to generate a superimposed video 100A in which the virtual block marking 120 is superimposed on the overhead video 100 generated by the overhead video generation unit 44. The control unit 41 proceeds to step S16.

  The control unit 41 displays the superimposed video 100A (step S16). More specifically, the control unit 41 causes the display control unit 48 to display the superimposed video 100 </ b> A generated by the superimposition processing unit 47 on the display panel 31. The control unit 41 proceeds to step S18.

  The control unit 41 continues to display the overhead view video 100 generated and displayed in step S12 (step S17). More specifically, in the control unit 41, the display control unit 48 generates the overhead view video generation unit 44 and starts the display in step S <b> 12 without generating a superimposed video to the display panel 31. Continue to display. The control unit 41 proceeds to step S18.

  The controller 41 determines whether or not to end the overhead view video display (step S18). More specifically, the control unit 41 determines whether or not to end the overhead view video display including the overhead view video 100 display and the superimposed video 100A display 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. Other examples of the reverse end trigger include that the shift position has become “parking”, that the time speed of, for example, 5 seconds or more has become zero, or that the engine has stopped. In step S18, the displayed video is the overhead video 100 or the superimposed video 100A. When there is a reverse end trigger, the control unit 41 determines to end the display of the bird's-eye view image 100 or the superimposed image 100A (Yes in step S18), and ends the process. When there is no reverse end trigger, the control unit 41 determines not to end the display of the overhead view video 100 or the superimposed video 100A (No in step S18), and executes the process of step S13 again.

  In this way, when the angled parking section C is detected in the display range A of the bird's-eye view image 100, the bird's-eye view image display system 1 displays a superimposed video 100A on which the virtual section indication 120 is superimposed on the display panel 31. Is output. The display panel 31 displays the superimposed video 100A together with the navigation screen, for example, based on the video signal output from the overhead video display system 1.

  For example, an example in the case where the vehicle V is parked in the angled parking section C will be described with reference to FIGS. 5 to 11, 2, and 3. FIG. 5 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 6 is a diagram illustrating an example of an overhead video generated by the overhead video generation device according to the first embodiment. FIG. 7 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the first embodiment. FIG. 8 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 9 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the first embodiment. FIG. 10 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 11 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the first embodiment.

  FIG. 5 shows a state in which the vehicle V is about to park in the parking area CT backward, and the rear of the vehicle V is located in the parking area CT from the center. The shift position at this time is “reverse”. The state of FIG. 5 is a state in which a bird's-eye view video display is started by a reverse trigger in step S11, and the parking section C is detected in step S13, but is detected in step S14. This is a state where C is not judged to satisfy the predetermined condition. In such a state, the control unit 41 causes the overhead view video generation unit 44 to generate the overhead view video 100 as shown in FIG.

  The overhead view video 100 will be described with reference to FIG. The bird's-eye view image 100 has a vertically long rectangular shape. The bird's-eye view image 100 includes a viewpoint conversion process and a self-vehicle icon 110 indicating a vehicle so as to look down from above based on images taken by the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14. It is the image which processed. In the bird's-eye view image 100, a host vehicle icon 110 is arranged at the center. The host vehicle icon 110 indicates the position and orientation of the vehicle V. In the bird's-eye view image 100, a side frame line B1 is displayed as an object to be photographed.

  In FIG. 6, the boundary between the images captured by the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14 is not illustrated, but the overhead image 100 actually displayed on the display panel 31 is You may display a boundary with a broken line. The same applies to the other figures.

  In the state shown in FIG. 5 or in a further retracted state, the rear frame B2 is detected in the second shooting range A2 as the parking section C detected in step S13, and the second shooting range A2 and the fourth shooting range A4 are detected. One side frame line B1 is detected, and the other side frame line B1 is detected in the second imaging range A2 and the third imaging range A3.

  In step S <b> 14, the control unit 41 determines that the parking section C satisfies a predetermined condition by the determination unit 46. In step S15, the control unit 41 causes the superimposition processing unit 47 to generate a superimposed image 100A in which the virtual section marking 120 is superimposed on the overhead image 100 as illustrated in FIG. In step S <b> 16, the control unit 41 causes the display control unit 48 to display the generated superimposed video 100 </ b> A on the display panel 31.

  The superimposed video 100A will be described with reference to FIG. The superimposed image 100 </ b> A has the same vertically long rectangular shape as the overhead image 100. The superimposed image 100 </ b> A includes images captured by the front camera 11, the rear camera 12, the left side camera 13, and the right side camera 14, the host vehicle icon 110, and the superimposed virtual section marking 120. The virtual section sign 120 has a rectangular shape with each parking section C as a reference. The virtual section marking 120 includes a virtual section marking 120T displayed superimposed on the parking section CT and a virtual section marking 120R displayed superimposed on the parking section CR. The virtual section marking 120T includes a pair of virtual side frame lines 121T and a virtual front frame line 123T. The virtual section marking 120R includes a virtual side frame line 121T and a virtual rear frame line 122R. The rear end portion of the host vehicle icon 110 is located in the virtual section marking 120T.

  FIG. 8 shows a state in which the vehicle V has moved backward from the state shown in FIG. 5 and the vehicle V and the parking section C have approached. The rear portion of the vehicle V is located in the parking section CT from a side mirror (not shown).

  In step S <b> 13, the control unit 41 determines that the parking section C is detected in the display range A of the overhead view image 100. More specifically, the control unit 41 determines that the parking zone detection unit 45 has detected the rear frame line B2 in the second shooting range A2 and the fourth shooting range A4. The control unit 41 detects one side frame line B1 in the second shooting range A2 and the fourth shooting range A4 by the parking section detection unit 45, and the other in the second shooting range A2 and the third shooting range A3. It is determined that the side frame line B1 is detected.

  In step S <b> 14, the control unit 41 determines that the parking section C satisfies a predetermined condition by the determination unit 46. In step S <b> 15, the control unit 41 causes the superimposition processing unit 47 to generate a superimposed image 100 </ b> A in which the virtual section marking 120 is superimposed on the overhead image 100 as illustrated in FIG. 9. In step S <b> 16, the control unit 41 causes the display control unit 48 to display the generated superimposed video 100 </ b> A on the display panel 31.

  The superimposed video 100A will be described with reference to FIG. In the superimposed image 100A, in addition to the virtual section marking 120T and the virtual section marking 120R, a virtual section marking 120L displayed superimposed on the parking section C is displayed. The rear side of the host vehicle icon 110 is located in the virtual section marking 120T from the center.

  FIG. 10 shows a state where the vehicle V moves backward from the state shown in FIG. 8 and the front end portion of the vehicle V is located in the parking section C. The control unit 41 executes the processing of step S13 to step S16 to generate a superimposed image 100A in which the virtual section marking 120 is superimposed on the overhead image 100 as shown in FIG.

  The superimposed image 100A will be described with reference to FIG. In the superimposed image 100A, a virtual section marking 120T, a virtual section marking 120R, and a virtual section marking 120L are displayed. A part of the front end of the host vehicle icon 110 is located outside the virtual section marking 120T.

  FIG. 2 shows a state where the vehicle V moves backward from the state shown in FIG. 10 and the vehicle V is located at the stop position in the parking section C. The control unit 41 executes the processing of step S13 to step S16 to generate a superimposed image 100A in which the virtual section marking 120 is superimposed on the overhead image 100 as shown in FIG.

  The superimposed image 100A will be described with reference to FIG. In the superimposed image 100A, a virtual section marking 120T, a virtual section marking 120R, and a virtual section marking 120L are displayed. The own vehicle icon 110 is entirely located within the virtual section marking 120T. The front-rear direction of the host vehicle icon 110 is along a direction parallel to the virtual side frame line 121T.

  As described above, when the angled parking section C is detected in the display range A of the overhead view image 100, the superimposed image 100A in which the rectangular virtual section marking 120 is superimposed is displayed on the display panel 31. Thus, this embodiment can generate the superimposed image 100A in which the rectangular virtual section marking 120 is displayed for the angled parking section C. Thereby, this embodiment can make it easy to recognize the shift | offset | difference of a stop position with the adjacent parking area C in the angled parking area C. FIG.

  In the angled parking section C shown in FIG. 2, the stop position in the front-rear direction is not shown. When the vehicle V is parked in the parking section CT, the stop position in the front-rear direction is shifted between the parking section CT and the parking section CR even when trying to use the vehicle V1 parked in the adjacent parking section CR as a reference. . Thus, in the angled parking section C, it may be difficult to align the vehicle V with the correct stop position of the parking section CT.

  On the other hand, according to the present embodiment, the superimposed image 100A in which the virtual section sign 120 is superimposed on the parking section CT is generated and displayed. Thereby, this embodiment can grasp | ascertain the correct stop position of the vehicle V by the virtual division marking 120. FIG. According to the present embodiment, the vehicle V can be adjusted to the correct stop position even in the angled parking section C by using the virtual section marking 120 of the superimposed image 100A as a reference. In the present embodiment, the relative positional relationship between the vehicle V and the surroundings can be appropriately confirmed.

[Second Embodiment]
The bird's-eye view video display system 1 according to the present embodiment will be described with reference to FIGS. FIG. 12 is a diagram illustrating an example of a superimposed video generated by the overhead view video generation device according to the second embodiment. FIG. 13 is a flowchart showing a process flow in the overhead view video generation apparatus according to the second embodiment. FIG. 14 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the second embodiment. FIG. 15 is a diagram illustrating another example of the superimposed video generated by the overhead view video generation device according to the second embodiment. The overhead view video display system 1 has the same basic configuration as the overhead view video display system 1 of the first embodiment. In the following description, components similar to those in the overhead view video display system 1 are denoted by the same reference numerals or corresponding reference numerals, and detailed description thereof is omitted.

  The parking section detection unit 45 identifies a parking section CT that is to be parked by the vehicle V among the detected parking sections C. More specifically, the parking section detection unit 45 may identify the detected parking section C that has at least a part of the vehicle V located inside as the parking section CT. Or the parking area detection part 45 may identify the thing with the small distance from the vehicle V among the detected parking areas C as parking area CT. Or the parking area detection part 45 may identify the thing with a large area included in the display range A of the bird's-eye view image 100 among the detected parking areas C as parking area CT. Or the parking area detection part 45 may identify what exists in the advancing direction of the vehicle V among the detected parking areas C as parking area CT. In this case, the parking section detection unit 45 may detect the parking section CT from the surrounding video in the traveling direction of the vehicle V. Or the parking area detection part 45 may specify what the user selected and operated among the parking areas C displayed on the display panel 31 as parking area CT, for example.

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

  When the determination unit 46 determines that the stop positions in the front-rear direction of the vehicle V in the plurality of parking sections C positioned side by side are discontinuous, the superimposition processing unit 47 arranges the parking section CT in a grid pattern. A superimposed image 100A is generated by superimposing the rectangular virtual section sign 120 on the parking section CR and the parking section CL adjacent to the parking section CT.

  The virtual section marking 120 will be described with reference to FIG. The virtual section marking 120 is perpendicular to the virtual side frame line 121 superimposed on the side frame line B1 and from the rear end portion of the virtual side frame line 121 of the parking section CT toward the adjacent virtual side frame line 121. A virtual rear frame line 122 extending and a virtual front frame line 123 extending vertically from the front end portion of the virtual side frame line 121 of the parking section CT toward the adjacent virtual side frame line 121 are formed in a lattice shape. . The virtual side frame 121 has one end connected to the virtual rear frame 122 and the other end connected to the virtual front frame 123.

  Next, with reference to FIG. 13, the flow of processing in the overhead view video generation device 40 will be described. Steps S21 to S24 and Steps S26 to S29 perform the same processing as Steps S11 to S14 and Steps S15 to S18.

  The control unit 41 specifies the parking target section (step S25). More specifically, the control unit 41 uses the parking zone detection unit 45 to identify the parking target zone CT that is the parking target of the vehicle V. In this embodiment, the control part 41 specifies the thing with the short distance from the vehicle V among the detected parking areas C by the parking area detection part 45 as parking area CT. The control unit 41 proceeds to step S26.

  For example, an example of parking the vehicle V in the angled parking section C will be described with reference to FIGS. 14, 15, and 12.

  In the state illustrated in FIG. 5, for example, the control unit 41 causes the display panel 31 to display a superimposed image 100 </ b> A as illustrated in FIG. 14. In the superimposed image 100A, a lattice-like virtual section sign 120 is displayed superimposed on the parking section CT, the parking section CR, and the parking section CL. The rear part of the host vehicle icon 110 is located in the parking section CT from the central part. The front frame line 123 of the virtual section marking 120 passes through the rear part of the other vehicle V1. In other words, the other vehicle V1 protrudes from the virtual section sign 120 superimposed on the parking section CR.

  In the state shown in FIG. 10, for example, the control unit 41 displays a superimposed image 100 </ b> A as shown in FIG. 15 on the display panel 31. A part of the front end of the host vehicle icon 110 is located outside the virtual section marking 120T.

  In the state shown in FIG. 2, for example, the control unit 41 displays a superimposed image 100 </ b> A as shown in FIG. 12 on the display panel 31. The own vehicle icon 110 is entirely located within the virtual section marking 120. The front-rear direction of the host vehicle icon 110 is along a direction parallel to the virtual side frame line 121.

  As described above, when the angled parking section C is detected in the display range A of the bird's-eye view image 100, the superimposed image 100A on which the lattice-shaped virtual section marking 120 is superimposed is displayed on the display panel 31. Thus, this embodiment can generate the superimposed image 100 </ b> A displaying the grid-like virtual section marking 120 with respect to the angled parking section C.

  According to the present embodiment, since the virtual section marking 120 has a lattice shape based on the parking section CT, the parking section CT can be displayed more easily.

[Third embodiment]
The overhead view video display system 1 according to the present embodiment will be described with reference to FIGS. FIG. 16 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 17 is a diagram illustrating an example of a superimposed video generated by the overhead view video generation device according to the third embodiment. FIG. 18 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 19 is a diagram illustrating an example of an overhead video generated by the overhead video generation device according to the third embodiment. FIG. 20 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 21 is a diagram illustrating another example of the superimposed video generated by the overhead video generation device according to the third embodiment. FIG. 22 is a diagram illustrating a state where the vehicle is parked in the parking section. FIG. 23 is a diagram illustrating another example of the superimposed video generated by the overhead video generation device according to the third embodiment. The overhead image display system 1 is different from the second embodiment in the processing in the determination unit 46 and the superimposition processing unit 47.

  The determination unit 46 determines that the direction of at least one of the parking area CT and the parking area CR and the parking area CL adjacent to the parking area CT is different. In other words, the predetermined condition is that the parking section CT is different in direction from the adjacent parking section C. The determination unit 46 determines that the direction of the parking section C is different when the side frame line B1 of the parking section CT and at least one side frame line B3 of the adjacent parking section CR and parking section CL are not parallel. .

  The parking frame line and the parking section C will be described with reference to FIG. In the present embodiment, the parking frame lines are the side frame line B1 that faces the vehicle side when the vehicle V is parked, the rear frame line B2 that faces the rear end of the vehicle V and the vehicle V1, and the parking of the vehicle V1. It sometimes includes a side frame line B3 facing the vehicle side surface. The side frame line B1 is inclined with respect to the rear frame line B2. The side frame line B3 is orthogonal to the rear frame line B2. A parking section CT is formed by the side frame line B1 and the rear frame line B2. A parking section CR is formed by the side frame line B3 and the rear frame line B2. The parking section CT and the parking section CR have different directions.

  When the determination unit 46 determines that the direction of at least one of the parking area CT and the parking area CR and the parking area CL adjacent to the parking area CT is different, the superimposition processing unit 47 forms a lattice pattern based on the parking area CT. A superimposed image 100A is generated by superimposing the arranged rectangular virtual section sign 120 on the parking section CR and the parking section CL adjacent to the parking section CT.

  With reference to FIG. 17, the virtual section marking 120 will be described. The virtual section marking 120 is perpendicular to the virtual side frame line 121 superimposed on the side frame line B1 and from the rear end portion of the virtual side frame line 121 of the parking section CT toward the adjacent virtual side frame line 121. A virtual rear frame line 122 extending and a virtual front frame line 123 extending vertically from the front end portion of the virtual side frame line 121 of the parking section CT toward the adjacent virtual side frame line 121 are formed in a lattice shape. . The virtual side frame line 121 intersects the virtual rear frame line 122 and the virtual front frame line 123.

  For example, an example in the case where the vehicle V is parked in the parking section CT having a different direction from the adjacent parking section CR will be described with reference to FIGS. 18 to 23, 16, and 17.

  FIG. 18 shows a state in which the vehicle V is about to park in the parking area CT in reverse, and the vehicle V is located in the vicinity of the parking area CT. The shift position at this time is “reverse”. The state shown in FIG. 5 is a state in which a bird's-eye view image display is started by a reverse trigger in step S21, and the parking section C is detected in step S13, but the detected parking is detected in step S14. In this state, the section C is not judged to satisfy the predetermined condition. In such a state, the control unit 41 causes the overhead view video generation unit 44 to generate the overhead view video 100 as shown in FIG.

  The overhead view video 100 will be described with reference to FIG. The host vehicle icon 110 is located in the vicinity of the parking section CT.

  FIG. 20 shows a state in which the vehicle V has moved backward from the state shown in FIG. The rear portion of the vehicle V is located in the parking section CT from a side mirror (not shown).

  Based on the parking section C detected in step S23, the control unit 41 determines, by the determination unit 46, that the parking section C satisfies a predetermined condition. More specifically, the control unit 41 determines by the determination unit 46 that the direction of the parking section CT and the parking section CR adjacent to the parking section CT are different. And in step S25, the control part 41 specifies parking area CT by the parking area detection part 45. FIG. In step S <b> 26, the control unit 41 causes the superimposition processing unit 47 to generate a superimposed image 100 </ b> A in which the virtual section marking 120 is superimposed on the overhead image 100 as illustrated in FIG. 21. In step S <b> 27, the control unit 41 causes the display control unit 48 to display the generated superimposed video 100 </ b> A on the display panel 31.

  The superimposed video 100A will be described with reference to FIG. In the superimposed image 100A, a lattice-like virtual section sign 120 is displayed superimposed on the parking section CT and the parking section CR. The rear part of the host vehicle icon 110 is located in the parking section CT from the central part.

  FIG. 22 shows a state where the vehicle V has moved backward from the state shown in FIG. The control unit 41 executes the processing of step S23 to step S27 to display the superimposed image 100A as shown in FIG.

  The superimposed image 100A will be described with reference to FIG. A part of the front end of the host vehicle icon 110 is located outside the parking section CT.

  FIG. 16 shows a state in which the vehicle V has moved backward from the state shown in FIG. The control unit 41 executes the processing of step S23 to step S27 to display the superimposed image 100A as shown in FIG.

  The superimposed image 100A will be described with reference to FIG. The own vehicle icon 110 is entirely located in the parking section CT.

  As described above, when the parking section C having a different orientation is detected in the display range A of the overhead view image 100, the superimposed image 100A on which the lattice-shaped virtual section marking 120 is superimposed is displayed on the display panel 31. As described above, this embodiment can generate the superimposed image 100A in which the lattice-shaped virtual section marking 120 is displayed for the parking section C having different directions.

  The parking sections CT having different orientations shown in FIG. 16 do not show stop positions in the front-rear direction. The parking section CT is different in direction from the adjacent parking section CR. When the vehicle V is parked in the parking section CT, the stop position in the front-rear direction is shifted between the parking section CT and the parking section CR even when trying to use the vehicle V1 parked in the adjacent parking section CR as a reference. . Further, the parking section CT and the parking section CR have different directions. As described above, in the parking section CT having different directions, it may be difficult to align the vehicle V with the correct stop position of the parking section CT.

  On the other hand, according to the present embodiment, the superimposed image 100A in which the virtual section sign 120 is superimposed on the parking section CT is generated and displayed. Thus, according to the present embodiment, the vehicle V can be adjusted to the correct stop position even in the parking section C having a different direction by using the virtual section marking 120 of the superimposed image 100A as a reference. In the present embodiment, the relative positional relationship between the vehicle V and the surroundings can be appropriately confirmed.

  Moreover, according to the present embodiment, since the virtual side frame line 121 intersects the virtual rear frame line 122 and the virtual front frame line 123, it is possible to provide a display that makes it easier to confirm the direction of the parking section CT. .

  Now, the overhead video display system 1 according to the present invention has been described so far, but the present invention may be implemented in various different forms other than the above-described embodiment.

  The constituent elements of the illustrated bird's-eye view video display system 1 are functionally conceptual and may not necessarily be physically configured as illustrated. That is, the specific form of each device is not limited to the one shown in the figure, and all or a part of them is functionally or physically distributed or integrated in arbitrary units according to the processing load or usage status of each device. May be.

  The configuration of the overhead view video display system 1 is realized by, for example, a program loaded in 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 components described above include those that can be easily assumed by those skilled in the art and those that are substantially the same. Furthermore, the above-described configurations can be appropriately combined. In addition, various omissions, substitutions, or changes in the configuration can be made without departing from the scope of the present invention.

  With reference to FIG. 24, another example of the parking section C will be described. FIG. 24 is a diagram illustrating another example of the parking section. In FIG. 24, a parking section CT for ordinary passenger cars and a parking section CR for light vehicles are adjacent to each other. In this case, the determination unit 46 determines that at least one of the parking section CT and the parking section CR and the parking section CL adjacent to the parking section CT is a parking section C having a different length in the vehicle length direction. In the parking section shown in FIG. 24, the parking section CT and the parking section CR have different lengths in the vehicle length direction. The difference in the length of the parking section C in the vehicle length direction is, for example, that the length of the side frame line B1 is different from the length of the side frame line B4, and the positions of the rear frame line B2 and the rear frame line B5 are shifted. You may judge by having. When the lengths of the side frame lines B1 of the parking section C are different, the determination unit 46 determines that the stop positions in the front-rear direction of the vehicle V in the plurality of parking sections C positioned side by side are discontinuous.

  With reference to FIG. 25 thru | or FIG. 27, the other form of the virtual division marking 120 is demonstrated. FIG. 25 is a diagram illustrating another example of the virtual section marking displayed on the superimposed video generated by the overhead view video generation device. FIG. 26 is a diagram illustrating another example of the virtual section marking displayed on the superimposed video generated by the overhead view video generation device. FIG. 27 is a diagram illustrating another example of the virtual section marking displayed on the superimposed video generated by the overhead view video generation device. The virtual section sign 120 may color the parking section C. As shown in FIG. 25, the virtual section marking 120 may color the parking section CT. As shown in FIG. 26, the virtual section sign 120 may color all the parking sections C. As shown in FIG. 27, the virtual section sign 120 may color the parking section CT and the adjacent parking section C by changing colors. By doing in this way, it can make it easier to recognize the parking section C.

  The virtual section marking 120 has been described as being displayed with a broken line, but is not limited thereto. The virtual section marking 120 may be, for example, a band-like figure. The virtual section marking 120 is not limited to the one that surrounds the entire circumference of the parking section C, and may be, for example, a corner portion.

1 Overhead video display system 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)
40 Overhead Video Generation Device 41 Control Unit 42 Video Data Acquisition Unit 43 Vehicle Information Acquisition Unit 44 Overhead Video Generation Unit 441 Viewpoint Conversion Processing Unit 442 Cutout Processing Unit 443 Compositing Processing Unit 45 Parking Section Detection Unit 46 Judgment Unit 47 Superimposition Processing Unit 48 Display control unit 49 Storage unit 100 Overhead video 100A Superimposed video 110 Own vehicle icon 120 Virtual section marking C Parking section

Claims (8)

A video data acquisition unit that acquires peripheral video data obtained by the imaging unit capturing the periphery of the vehicle;
An overhead video generation unit that generates an overhead video by performing a viewpoint conversion process and a synthesis process on the peripheral video of the imaging unit acquired by the video data acquisition unit;
A parking area detection unit for detecting a parking area around the vehicle;
A determination unit that determines that the stop positions in the front-rear direction of the vehicle in the plurality of parking sections located side by side are discontinuous from the parking section detected by the parking section detection unit;
When the determination unit determines that stop positions in the vehicle front-rear direction in the plurality of parking sections located side by side are discontinuous, the virtual section indicates stop positions in the vehicle front-rear direction with respect to the plurality of parking sections. A superimposition processing unit that generates a superimposed image in which a sign is superimposed on the overhead image generated by the overhead image generation unit;
A display control unit that causes the display unit to display the superimposed video generated by the superimposition processing unit;
A bird's-eye view video generation device comprising: The parking section detection unit identifies a parking section that the vehicle is to be parked among the detected parking sections,
The superimposition processing unit generates a superimposed image in which a rectangular virtual section marking based on a parking section targeted for parking by the vehicle is superimposed on an overhead image with respect to the plurality of parking sections.
The overhead image generation apparatus according to claim 1. The superimposition processing unit superimposes rectangular virtual section markings arranged in a lattice pattern with respect to a parking section targeted for parking by the vehicle on a parking section adjacent to the parking section targeted for parking by the vehicle. Generate superimposed video,
The overhead image generation apparatus according to claim 2. The determination unit determines that the parking lot that the vehicle targets to be parked and the parking space that is adjacent to the parking space that the vehicle targets to be parked are discontinuous with an angle,
The overhead image generation apparatus according to claim 2 or claim 3. The determination unit determines that the direction is different between a parking lot that the vehicle is a parking target and a parking space that is adjacent to the parking space that the vehicle is a parking target.
The overhead view video generation device according to claim 3. An overhead view video generation device according to any one of claims 1 to 5,
A bird's-eye view video display system comprising at least one of the photographing unit that supplies peripheral video data to the video data acquisition unit and a display unit that causes the display control unit to display a superimposed video. A video data acquisition step of acquiring peripheral video data obtained by the imaging unit capturing the periphery of the vehicle;
An overhead video generation step of generating an overhead video by performing a viewpoint conversion process and a synthesis process on the peripheral video of the photographing unit acquired by the video data acquisition step;
A parking zone detection step for detecting a parking zone around the vehicle;
A determination step of determining that the stop positions in the front-rear direction of the vehicle in a plurality of parking sections located side by side from the parking section detected by the parking section detection step are discontinuous;
When the determination step determines that the front-rear direction stop positions of the vehicles in the plurality of parking sections located side by side are discontinuous, the virtual section indicates stop positions in the front-rear direction of the vehicle with respect to the plurality of parking sections. A superimposition processing step of generating a superimposed image in which a sign is superimposed on the overhead image generated by the overhead image generation step;
A display control step of displaying the superimposed video generated by the superimposition processing step on a display unit;
A method for generating a bird's-eye view video including A video data acquisition step of acquiring peripheral video data obtained by the imaging unit capturing the periphery of the vehicle;
An overhead video generation step of generating an overhead video by performing a viewpoint conversion process and a synthesis process on the peripheral video of the photographing unit acquired by the video data acquisition step;
A parking zone detection step for detecting a parking zone around the vehicle;
A determination step of determining that the stop positions in the front-rear direction of the vehicle in a plurality of parking sections located side by side from the parking section detected by the parking section detection step are discontinuous;
When the determination step determines that the front-rear direction stop positions of the vehicles in the plurality of parking sections located side by side are discontinuous, the virtual section indicates stop positions in the front-rear direction of the vehicle with respect to the plurality of parking sections. A superimposition processing step of generating a superimposed image in which a sign is superimposed on the overhead image generated by the overhead image generation step;
A display control step of displaying the superimposed video generated by the superimposition processing step on a display unit;
For causing a computer that operates as a bird's-eye view video generation apparatus to execute the program.

Images