JP4877447B2 - Vehicle peripheral image display device - Google Patents

Description

  The present invention relates to an image display device mounted on a vehicle, and more particularly to a vehicle periphery image display device that displays a transmission image around a vehicle body.

2. Description of the Related Art Conventionally, when a driver of an automobile visually recognizes the surroundings of a vehicle, there is a blind spot area around the vehicle that is unrecognizable because the vision is blocked by the shadow of the vehicle body. Conventionally, a configuration has been proposed in which a blind spot area is acquired by an image acquisition device such as a camera as an assisting driving operation and an image is displayed on a monitor in a vehicle. For example, a configuration has been proposed in which a camera that displays an area close to the rear of the vehicle is installed at the rear of the vehicle, and a rear captured image is automatically displayed on the in-vehicle monitor when the vehicle moves backward.
JP2002-262280

As represented by Patent Document 1, a monitor on which an image is displayed has a fixed camera viewpoint, so the displayed area and method are fixed in advance, and an image in a direction required by the user is displayed. , It is not necessarily obtained.
In addition, when multiple cameras are installed and each camera is switched to display each image, when the images are switched, the displayed image contents and the user's positional relationship are intuitive. It was difficult to understand.

  It is an object of the present invention to provide a vehicle periphery image display device capable of displaying the entire vehicle periphery in an arbitrary direction and displaying image information that allows intuitive recognition of desired vehicle periphery information.

The present invention for solving the above problems has the following configuration.
(1) a plurality of cameras with fisheye lenses that are arranged in a vehicle and have an area where images of adjacent cameras overlap ;
A peripheral image acquisition device capable of acquiring images of the entire periphery of the vehicle in the horizontal direction by combining images captured by the plurality of cameras;
A display for displaying an image acquired by the peripheral image acquisition device;
A designation device for designating an image in a range to be cut out by the position coordinates designated on the screen from the image acquired by the peripheral image acquisition device;
Vehicle periphery image display comprising: a selection unit that selects one camera that captures an image to be cut out in accordance with an image range designated by the designation device and a camera switching angle obtained based on an angle of view of the camera. in the device,
An instruction means for instructing the enlargement / reduction of the image by the user,
When the instruction means gives an instruction to enlarge or reduce the image, after changing the angle of view according to the instruction, the camera switching angle associated with the change of the angle of view is recalculated to obtain the vehicle periphery Image display device.

(2) The selection unit includes a conversion unit that converts position coordinates designated on the screen by the designation device into position coordinates on a first coordinate indicated by an angular position based on the optical axis of the camera,
The vehicle surrounding image display device according to ( 1), wherein a camera that captures an image to be cut out is selected according to the position coordinate on the first coordinate and the camera switching angle .

(3) Whether the movement angle from the first coordinate position of the optical axis of the camera that displays the image displayed on the display to the second coordinate position indicating the image designated by the designation device exceeds the camera switching angle. The vehicle periphery image display device according to (2) , wherein a camera that captures an image to be cut out is selected .

(4) The vehicle peripheral image display device according to any one of (1) to (3), wherein the designation device is any one of a joystick, a touch panel, and a trackball .
(5) a viewpoint conversion device that performs viewpoint conversion of a captured image so that an image acquired by the peripheral image acquisition device is captured at least from a specific place in a vehicle interior;
The vehicle periphery image display device according to any one of (1) to (4), further including a display control device that displays a vehicle body contour line superimposed on an image designated by the designation device.

According to the first to third aspects of the invention, an image of the entire vehicle circumference can be acquired by the camera, so that an arbitrary range of horizontal images in the vehicle circumferential direction designated by the designation device can be displayed on the display. Can be displayed. When an image is acquired by a camera using a fisheye lens, there are image ranges obtained by duplication by a plurality of cameras. Therefore, when specifying such an image range, it is most based on the specified range. A camera from which useful images can be obtained can be selected.

According to the fourth aspect of the present invention, since the range of the image to be extracted can be specified using a joystick, a touch panel, a trackball, or the like, the operation for specifying the image range is facilitated, and the burden on the operation is reduced.
According to the fifth aspect of the present invention, the image displayed on the display can be brought close to the image obtained when the surroundings are projected from the vehicle interior, so that the image sense when the periphery of the vehicle is viewed from the vehicle interior is obtained. This makes it easier to grasp the external situation. In addition, since it is displayed so as to overlap with the outline of the vehicle body, it is possible to easily grasp the relative positional relationship between the external situation and the vehicle in the image displayed on the display.

  Next, a preferred embodiment of the vehicle periphery image display device 1 of the present invention will be described. FIG. 1 is a block diagram showing the configuration of the vehicle periphery image display device 1. The vehicle periphery image display device 1 includes a plurality of cameras 3F to 3B, which are imaging means that are attached to the vehicle 2 and image the periphery of the vehicle, an arithmetic processing device 4 that performs image processing arithmetic, coordinate arithmetic, and control based thereon. The memory 5 includes an input device 7 for inputting an image direction desired to be displayed by the user, an image display device 8 for displaying an image synthesized as a result of various processes, and a system bus 11 for mediating communication of these devices. ing.

  The cameras 3F, 3R, 3L, and 3B are provided on the outer peripheral side surface of the vehicle 10 toward the outside, as shown in FIG. The camera 3F directs the optical axis of the lens in front of the vehicle 10 and acquires the surrounding scenery as an image. The camera 3R directs the optical axis of the lens to the right side of the vehicle 10 and acquires the surrounding scenery as an image. The camera 3L directs the optical axis of the lens toward the left side of the vehicle 10 and acquires the surrounding scenery as an image. The camera 3B directs the optical axis of the lens to the rear of the vehicle 10 and acquires the surrounding scenery as an image. The optical axes of the camera 3F and the camera 3B are located on the same axis (vehicle center line), and the optical axes of the camera 3L and the camera 3R are located on the same axis. And these two optical axes are arranged so as to be orthogonal at the approximate center of the vehicle 10. In other words, the optical axes of the cameras 3F, 3R, 3L, and 3B are included in the same horizontal plane, and the cameras are arranged so as to be orthogonal to each other in the plane. Since the moving direction of the vehicle is a direction along the road surface, that is, a horizontal direction, the vehicle is installed so that the optical axis is oriented in the horizontal direction. However, the vehicle may be installed so that the horizontal angle is included in the angle of view.

  The cameras 3F, 3R, 3L, and 3B have a configuration that converts a light (image) signal into an electrical signal using, for example, a CCD (Charge-Coupled Devices). The cameras 3F, 3R, 3L, and 3B are connected to the system bus 11 via A / D converters 31F, 31R, 31L, and 31B, respectively.

  Since each camera 3F, 3B, 3R, 3L has a fisheye lens and has a wide angle (180 °), an image acquired by each camera has an image of an adjacent camera as shown in FIG. There are areas PCW1 to PCW4 that overlap. Accordingly, the areas PCW1 to PCW4 are areas in which images can be acquired by two cameras.

  Image signals output from the cameras 3F, 3R, 3L, and 3B are converted into digital signals by A / D converters 31F, 31R, 31L, and 31B, respectively. Further, when the connected cameras 3F, 3R, 3L, and 3B can output digital signals, they are not necessary for the A / D converters 31F, 31R, 31L, and 31B. In the present embodiment, as described above, the imaging unit has four cameras using fisheye lenses, but any camera may be used as long as an image of 360 ° around the vehicle can be acquired. Absent. For example, five or more cameras may be installed toward the outside of the vehicle. One camera that can acquire a 360 ° image may be used. In this case, the camera is disposed on the top plate of the vehicle or on the bottom of the vehicle body.

The arithmetic processing unit 4 includes a central processing unit [CPU (Central Processing Unit)] 41, a read-only memory [ROM] 42, and a random access memory [RAM] 43. For example, the central processing unit 41 performs operations such as calculation of a pointer movement amount and coordinate calculation described later, or cuts out (extracts) an image in a direction input from an image acquired from each camera. Then, the cut-out image is converted into the viewpoint position of the user, and processing and calculation are performed such as synthesizing the outline of the vehicle with the cut-out image.
The ROM 42 stores, for example, software for the central processing unit 41 to perform image processing, and the RAM 43 is used as a working area as a place for performing various image processing, for example.

The memory 5A includes camera image buffers 51F, 51R, 51L, and 51B that continuously record images taken by the cameras 3F, 3R, 3L, and 3B over time, a drawing image buffer 52, and an image processing information memory. 53, a vehicle body data memory 54 serving as vehicle information storage means, and a work memory 55.
The peripheral image acquisition device includes cameras 3F, 3R, 3L, and 3B and camera image buffers 51F, 51R, 51L, and 51B.

  The drawing image buffer 52 stores an image generated by performing image processing on the camera image. The image processing information memory 53 stores variables necessary for executing image processing such as viewpoint conversion, distortion correction, and composition, as well as variables and calculation formulas necessary for executing pointer movement amount calculation and the like. . In addition, a table for determining weights used when calculating the first coordinate and the second coordinate determined in accordance with the selection of the initial camera is also stored. Note that setting values can be input or changed as appropriate via a menu screen or the like configured with a GUI. The vehicle body data memory 54 stores contour information necessary for creating a vehicle body transmission image superimposed on the display image. In the contour information, 3D modeling data expressing the contour of the vehicle body, the tire position, and the like, or bitmap data drawn so as to be seen in 3D are stored. The data stored in the vehicle body data memory 54 includes mask data used for combining with a camera image or a camera image after image processing.

The work memory 55 functions as a working area for processing such as image synthesis, normal image conversion, and viewpoint conversion.

The input device 7 is a touch panel provided on the surface of the display 8. The touch panel is a sensor that detects a contact position when a finger or the like is brought into contact with the surface of the display 8. For example, when an icon displayed at a specific position on the display 8 is used as an index, a position indicated by the icon is collated with a position touched by a finger detected by the touch panel, and both are the same position. Can be set to perform switching.
In addition to such a touch panel, the input means can also be configured by a pointing device such as a joystick or a trackball. Such a pointing device performs position input by moving the cursor on the screen to a desired position by remote control operation and performing input operation on the remote control side at the point where the cursor is located.

  The display 8 displays image data. As the display 8, for example, a liquid crystal panel, an EL panel, or the like is used. When the display 8 is an analog input, the D / A converter 81 converts digital data handled by the central processing unit 41 into analog data. If the display 8 is compatible with digital input, it becomes unnecessary.

  The operation of the vehicle periphery image display device 1 of the present invention configured as described above will be described based on the flowchart shown in FIG. This system is activated by, for example, a switch ON from a user such as a driver. When the switch is turned on, an initial screen is displayed on the display device (step S101). FIG. 4 is a diagram of the display screen of the display 8 showing the state of the initial screen. A plan view of the vehicle body 10 is displayed at the center, and triangular display icons 82F, 82B, 82R, and 82L appear at locations corresponding to the positions of the cameras. In addition, the display icons 82FL and 82BL of X are shown in advance in the direction that is frequently used by the user, such as when putting in a garage, and can be designated as an initial position.

  By touching any one of these display icons (step S103), a position on the screen is specified, and a camera provided corresponding to the position is selected (step S105). The selection of the camera is determined according to the position of the display icon 82 based on a map stored in advance as shown in FIG. For example, when the display 82F is designated, the camera 3F is selected, when the display 82B is designated, the camera 3B is selected, and when the display 82L is designated, the camera 3L is selected and the display 82R is displayed. When designated, the camera 3R is selected, and when the displays 82FL and 82BL are selected, the camera 3L is selected.

  First coordinates corresponding to the selected camera are determined (step S107). This value is determined as follows. As shown in FIG. 6, in the plane including the plan view of the vehicle 10, the orthogonal points of the straight lines connecting the cameras 3 </ b> F and 3 </ b> B and the cameras 3 </ b> R and 3 </ b> L arranged to face each other The lens optical axis direction of the camera 3F is 0 degree, counterclockwise from the 0 degree optical axis, the lens optical axis direction of the left camera 3L is -90 degrees, the lens optical axis direction of the rear camera 3B is 180 degrees, and the right The lens optical axis direction of the camera 3R is set to 90 degrees, and this angle is set as the X coordinate. Further, as shown in FIG. 7, the Y coordinate of each position is 0 degree in the horizontal direction with the center of the camera lens as the origin on the vertical plane including each optical axis shown in FIG. The upward angle (elevation angle) is represented by +, the downward angle (Depression angle) is represented by-, the angle is defined as a Y coordinate, and the first coordinate is represented by (X1, Y1). FIG. 5 is a map showing the first coordinates and the selected camera when each display icon is designated.

  For example, when the display icon 82F is designated, the first coordinates (X1, Y1) are (0, 0). Similarly, when the display icon 82R is designated, the first coordinates (X1, Y1) are (90, 0).

  The second coordinates (X2, Y2) are determined from the first coordinates thus set (step S109). As shown in FIG. 8, the second coordinate is a coordinate used for designating a range PC2 in which the display image is cut out in the fisheye image PC1 acquired by the camera, and the second coordinate is the display image to be cut out. Becomes the center point P0. The second coordinate (X2, Y2) is obtained based on the following equation based on the first coordinate (X1, Y1).

X2 = X1-A
Y2 = Y1
A is a correction value according to the camera direction, and is predetermined according to the position designated by the display icon as shown in FIG. At this time, the center point and the cut-off angle of view are displayed on an image viewed from a specific viewpoint (for example, the center of the driver's seat or the vehicle, or a point where diagonal lines of four cameras intersect (point O in FIG. 6)). Is set to be This setting value refers to the value stored in the image processing setting value.

When the display icons 82F, 82L, 82B, and 82R are designated on the display screen of FIG. 4, the user determines that he / she wants to display a little distant from the own vehicle, and the angle of view in the horizontal direction with respect to the vehicle body is set. When (Y2 (Y1) = 0) and the display icons 82FL and 82BL are designated, the user determines that there is an obstacle that touches the vehicle body, for example, 30 degrees below the vehicle body horizontal direction. The Y coordinate is set so as to acquire the image (Y2 (Y1) = − 30).
The above-described steps S101 to S105, the display 8, and the input device 7 constitute a designation device.

  Next, the camera switching angle when the display image is moved in the left-right direction is calculated (step S111). When the entire circumference of the vehicle 10 in the horizontal plane is extracted from the captured image of the camera, in this embodiment, the image of the entire circumference of the vehicle body is obtained using a plurality of cameras. When moving to, it becomes necessary to switch the camera that acquires the image. The camera switching position is determined according to the angle of view C at which the display image is cut out from the captured image. In addition, the angle of view C for cutting out the display image differs depending on the zoom (magnification) at the time of cutting out the display image, but at this stage of processing, the angle of view is stored as the home position before being displayed on the display. . The angle of view C may be a field angle determined based on the magnification obtained by storing the magnification when the system was used immediately before.

  Xr is the position of P0 that is switched when P0 is moved in the + direction in the second coordinate system of FIG. 8, and Xl is P0 that is switched when P0 is moved in the-direction in the second coordinate system of FIG. The position of

As a specific calculation formula, the camera switching angle (Xr, Xl) to be calculated when the correction value by the camera direction for returning to the value with respect to the first coordinate is A and the angle of view is C is Xr = A + 90−C. / 2
Xl = A−90 + C / 2
Is required.

An example of setting the correction value A depending on the camera direction is the same as in S109. When the angle of view C is always the default, the switching angle (Xr, Xl) may be stored and read out without being calculated each time.
In this embodiment, since a fisheye lens is used, distortion occurs. Therefore, the image determined in step S109 is cut out, and the image is subjected to normal image conversion processing for correcting distortion, thereby generating a normal image PC3 (step S113). Since this technique is publicly known, detailed description is omitted.

  A vehicle body contour line for superimposing the vehicle body contour line on the image subjected to the normal image conversion process in S113 is calculated (step S115). The vehicle body contour line memorized in the vehicle body data is stored as three-dimensional data. In order to determine a two-dimensional image to be superimposed on the image, the direction input by the user in S103 from the specific viewpoint used in S107. When the line-of-sight directions are made to coincide with each other, a vehicle body outline that appears as a two-dimensional image is calculated.

  The vehicle body contour calculated in step S115 is superimposed on the image subjected to the normal image conversion process in S113 (step S117). The image created in S117 is displayed on the display 8 (step S119). FIG. 9 shows a display example and is a front view of a display screen of the display 8. A display control apparatus is comprised by step S115-S119.

  In the lower right part, a display direction display part 83 for indicating a part displayed on the display 8 is arranged. The display unit 83 includes a vehicle body display unit 831 that displays the entire vehicle body as a plan view, and an image position display unit 832 that indicates the position displayed on the display with respect to the vehicle body. The image position display unit 832 is arranged along the outline of the vehicle body display unit 831. When the position of the extracted image moves, the image position display unit 832 also moves according to the movement.

Thereby, the relative positional relationship between the vehicle body display unit 831 and the image position display unit 832 is shown. In the example shown in FIG. 9, the location where the circle is located on the left side of the host vehicle indicates that the current image is being displayed.

  The display in the shape of a magnifying glass in the lower right is icons 841 and 842 for changing the angle of view, and enlarges or reduces the image displayed on the screen. By touching these icons 841 and 842, the image is enlarged or reduced. In other words, the angle of view is narrowed when enlarged, and the angle of view is widened when reduced. An icon 841 with a + sign indicates an enlargement, and an icon 842 with a − sign indicates a reduction.

  Further, limit display icons 87U, 87D, 87L, 87R, 87LU, 87LD, 87RU, and 87RD for indicating display limits are provided at the four corners of the display screen and at the center of the upper and lower sides and the left and right sides, respectively. These operation icons are configured in the shape of arrows pointing to the outside of the screen, and when these icons are displayed, the screen can be moved in the direction in which the icon arrow faces. When the icon display disappears, the current display screen indicates that the display area of the icon in the arrow direction is limited.

  That is, when the icon 87U is displayed, it indicates that the screen can be moved upward. When the icon 87D is displayed, it indicates that the screen can be moved downward. When the icon 87L is displayed, it indicates that the screen can be moved to the left. When the icon 87R is displayed, it indicates that the screen can be moved to the right.

  A return mark 85 is a cursor for returning to the initial screen (the processing is not described in the flowchart). A contour line 86 is displayed on the screen, and the positional relationship between the external situation and the vehicle is easily and intuitively displayed. For example, are the rear wheels in the parking space? Etc. can be grasped sensuously at a glance. In accordance with the movement of the image, the contour line 86 is also calculated each time and is similarly changed.

  FIG. 10 is a process flowchart showing a continuation of the flowchart shown in FIG. Next, it is determined whether or not there is an end instruction (step S121). This is for determining whether or not the switch OFF is input by the user. If there is no instruction to end, the process proceeds to the next step, and if there is an instruction, this process ends.

  It is determined whether or not there is an enlargement / reduction instruction from the user via the touch panel (step S123). That is, on the display screen shown in FIG. 9, it is detected whether the icons 841 and 842 for performing the zoom operation at the lower right are operated, and it is determined whether there is an instruction to enlarge or reduce the display image. If there is no instruction, the process proceeds to step S129. If there is an instruction, the angle of view is changed, the camera switching angle is recalculated, and the process proceeds to step S129.

In the view angle changing process (step S125), for example, when an enlargement instruction is given (when the icon 841 is pressed once), the view angle is decreased by 5 degrees. When the reduction instruction is given (when the icon 842 is pressed once), the angle of view is increased by 5 degrees. The unit of change angle (5 degrees) is not limited to this value. Moreover, you may set so that change is possible suitably. Furthermore, the angle of view may be changed continuously in units of 5 degrees when the button is continuously pressed for a certain time (for example, 2 seconds or more).
Next, the camera switching angle is recalculated (step S127). That is, the camera switching angle of view is calculated according to the angle of view determined in step S125 and the current camera direction. The calculation method is the same as in step S111.

After step S127, it is determined whether an instruction to move the cut position has been given (step S129). The instruction to move the cut position is made by touching a position off the screen center point on the display screen shown in FIG. Alternatively, such a position is designated by designating with a pointing device.
If there is an instruction to move, the cut coordinate is calculated (step S131), and if not operated, step S133 is executed.

FIG. 11 is a slow chart showing a subroutine for performing the cutting coordinate calculation process (step S131). In this process, first the first coordinates are calculated (step S201).
The center of the screen is calculated as (Xcp, Ycp), the designated coordinates determined to have been input in step S127 are calculated as (Xip, Yip), and the weight is calculated as (AX, AY). These coordinates are coordinates indicating a position on the screen, and a coordinate display unit appears in pixels. The weights (AX, AY) are coefficients for converting coordinates indicated in pixel units into first coordinates indicated in angle units. The designated coordinates (Xip, Yip) are detected as a finger contact position by a touch panel overlaid on the screen surface by touching the display screen with a finger or the like.

Further, assuming that the current first coordinates (X10, Y10), the obtained movement amount (dX, dY) and the first coordinates after movement (X11, Y11) are:
dX = (Xcp−Xip) / AX
dY = (Ycp−Yip) / AY
X11 = X10 + dX
Y11 = Y10 + dY
It becomes.

Here, the smaller the weight value, the greater the movement of the cutting position, and the larger the weight value, the fine adjustment of the movement of the cutting position becomes possible.
For example, if the display image is 640 pixels wide, 480 pixels high, Xip = 200, Yip = 300, and the weight is 50, then dX≈−9 and dY≈−4.

As shown in FIG. 12, the center of the image of the fisheye image PC1 moves to P0 by the above calculation.

Next, it is determined whether the coordinates determined in S201 exceed the camera switching angle (Xl, Xr) (step S203).
For example, if the camera is selected forward, the camera switching angle is (X1, Xr), and the second coordinate calculated in S201 is (X2, Y2), whether X2 <Xl or X2> Xr is satisfied. to decide. When X2 <Xl or X2> Xr, the edge of the image to be cut out is interrupted, so it is necessary to switch to an image acquired by an adjacent camera. In the vicinity of the position where X2 = Xl or X2 = Xr, the display images are included in the areas PCW1 to PCW4 where the acquired images from the adjacent cameras shown in FIG. This makes it possible to obtain a display image (cut-out image) with no edges.

If the coordinates determined in S201 exceed the camera switching angle (Xl, Xr), the camera to be switched is determined (step S205). For example, if the camera is selected forward, the camera switching angle is (X1, Xr), and the first coordinate calculated in S201 is (X11, Y11), the camera is switched to the left side camera.
If X11> Xr, switch to right side camera.

After switching the camera, the camera switching angle is calculated according to the camera direction determined in S205 (step S207). Since the calculation method is the same as the method performed in S111, the description is omitted.
As described above, the selection unit is configured by steps S111, S127, S203, S205, and S207.

Next, the second coordinates (X22, Y22) are calculated (step S209). That is, the second coordinates are calculated by the calculation method described in step S109 based on the first coordinates calculated in step S201 and the camera direction determined in step S207. The calculation method is the same as the calculation method in step S109.
X22 = X11-A
Y22 = Y11
It is obtained by.
The value of A is determined based on the camera selected in step S207 and the map shown in FIG.

  After completing the above processing, the process returns to the flowchart shown in FIG. 10, and step S133 is executed. Since the processing of steps S133 to S139 is the same as the processing of steps S113 to S119, description thereof is omitted. After the screen display process in step S139, the process returns to step S121, and the process is repeated.

  In addition to the configuration described above, viewpoint conversion processing may be performed on the display image before displaying the image in steps S119 and S139. The images acquired by the cameras 3F, 3R, 3L, and 3B are angles obtained by copying the object from the camera position, which is different from the angle when the driver visually recognizes the corresponding part from the position of the driver's seat. Yes. Therefore, the angle of the image acquired by the camera is converted into an angle when viewed from the viewpoint of the driver, and the converted image is displayed on the display.

  In this viewpoint conversion processing method for the image, for example, the center of the first coordinate is set in the driver's seat, and the cutout position and the angle of view of the image are determined based on the first coordinate obtained in step S201 and the coordinates of the camera setting position. It is realized by calculating. In this case, steps S123 to 127 are not executed. Furthermore, when performing this viewpoint conversion, it is preferable that the cameras 3R and 3L provided on the side surfaces are provided not on the center of the vehicle body but on the side of the driver's seat. This is because the driver is often used by the driver, so that the photographing positions of the cameras 3R and 3L are brought close to the viewpoint position of the user (driver). In this case, for example, when the viewpoint conversion process is performed, the burden of the conversion process is reduced, and distortion of the image after conversion can also be suppressed.

  In addition to the configuration described above, the instruction to move the cut position in step S123 is a configuration in which the image moves in the direction of the arrow by touching the icons 87U, 87D, 87L, 87R, etc. provided at the corners of the display screen. Also good.

It is a block diagram which shows the structure of an image capture device. It is a top view of a vehicle which shows a camera attachment position. It is a flowchart. It is a display image figure. It is a map which shows the relationship between the camera memorize | stored beforehand and a coordinate position. It is a top view of the vehicle which shows X coordinate system of the 1st coordinate. It is a side view of the vehicle which shows Y coordinate system of the 1st coordinate. It is a figure which shows the relationship between a camera acquisition image and a display image, and a 2nd coordinate system. It is a display image figure. It is a flowchart. It is a flowchart. It is a figure which shows the relationship between a camera acquisition image and a display image, and a 2nd coordinate system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle periphery image display apparatus 3F, 3R, 3L, 3B Camera 7 Input apparatus 8 Display apparatus (display)

Claims (5)

A plurality of cameras equipped with fisheye lenses arranged in a vehicle and having an area where images of adjacent cameras overlap .
A peripheral image acquisition device capable of acquiring images of the entire periphery of the vehicle in the horizontal direction by combining images captured by the plurality of cameras;
A display for displaying an image acquired by the peripheral image acquisition device;
A designation device for designating an image in a range to be cut out by the position coordinates designated on the screen from the image acquired by the peripheral image acquisition device;
Vehicle periphery image display comprising: a selection unit that selects one camera that captures an image to be cut out in accordance with an image range designated by the designation device and a camera switching angle obtained based on an angle of view of the camera. in the device,
An instruction means for instructing the enlargement / reduction of the image by the user,
When the instruction means gives an instruction to enlarge or reduce the image, after changing the angle of view according to the instruction, the camera switching angle associated with the change of the angle of view is recalculated to obtain the vehicle periphery Image display device.
The selection means includes a conversion means for converting position coordinates designated on the screen by the designation device into first coordinates indicated by an angular position based on the optical axis of the camera,
The vehicle surrounding image display device according to claim 1, wherein a camera that captures an image to be cut out is selected according to the first coordinates and the camera switching angle.
Whether the movement angle from the first coordinate position of the optical axis of the camera that displays the image displayed on the display to the second coordinate position indicating the image designated by the designation device exceeds the camera switching angle, The vehicle surrounding image display device according to claim 2, wherein a camera that picks up an image to be cut out is selected.
The vehicle surrounding image display device according to claim 1, wherein the designation device is any one of a joystick, a touch panel, and a trackball.
A viewpoint conversion device that performs viewpoint conversion of a captured image so that an image acquired by the peripheral image acquisition device is captured at least from a specific place in a vehicle interior;
The vehicle surrounding image display device according to any one of claims 1 to 4, further comprising: a display control device that displays an outline of a vehicle body superimposed on an image designated by the designation device.

Images