Image processor for area around vehicle and recording medium

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Technical field to which the invention belongs]

The present invention relates to, for example, a vehicle peripheral image processing device and a recording medium capable of photographing the periphery of a vehicle and displaying it on a monitor.

【0002】

[Conventional technology]

Conventionally, as a device for displaying the state of the rear of a vehicle, a display device for outputting an image of a camera attached to the rear of the vehicle to a monitor as it is has been known. With this display device, it is possible to know the state behind the vehicle to some extent, but there is a problem that it is difficult to understand the relative positional relationship between the image of the own vehicle and the object (for example, the parking frame) displayed on the monitor.

【0003】

Apart from this, Japanese Patent Application Laid-Open No. 10-211849 proposes a technique of converting an image taken by a rear camera (rear camera image) into a bird's-eye view and displaying the own vehicle in the bird's-eye view.

【0004】

[Problems to be Solved by the Invention]

In the case of this technology, since the own vehicle is shown in the bird's-eye view, the positional relationship between the object displayed in the image and the own vehicle is easier to understand than the one in which the captured image is displayed as it is on the monitor. Another problem was that it couldn't see anything outside the camera's current field of view.

【0005】

Therefore, for example, when the vehicle is retracted and put into the parking frame, the parking frame outside the field of view of the camera cannot be displayed, so that there is still a problem that the operation of putting the vehicle into the parking frame is not easy. .. On the other hand, the inventors of the present application have already taken an image of the rear of the vehicle from a camera attached to the rear of the vehicle, converted it into a bird's-eye view image viewed from above by image processing, and changed the converted image over time. The technology that calculates the movement of the vehicle from, calculates the image area that disappears out of the camera's field of view, pastes the converted image of the current time (creates a composite image), and displays a wider range than before. It is being developed.

【0006】

However, the above-mentioned bird's-eye view image is an image seen from the sky and is different from the image that the driver is usually familiar with (that is, the image as it is taken by the camera), so there is a problem that some drivers find it difficult to see. was there. The present invention has been made to solve the above problems, and is a vehicle peripheral image processing device capable of displaying an easy-to-see image by converting a bird's-eye view image into an image taken by a camera or the like. The purpose is to provide a recording medium.

【0007】

[Means for Solving Problems and Effects of Invention]

(1) The invention of claim 1 is taken by a photographing means for a vehicle provided with a photographing means (for example, a camera) for photographing an image around the vehicle and a display means (for example, a monitor) for displaying an image. It relates to a vehicle peripheral image processing device that processes an image and displays it on a display means.

【0008】

In the present invention, the image captured by the photographing means is converted into the data of the ground surface coordinate system projected with the photographing means as a viewpoint, and the image data of the bird's-eye view image is sequentially created. As a result, the image is not a distorted image as taken by a camera, for example, but a bird's-eye view image that is easy to see as seen from above the ground.

【0009】

Then, the first bird's-eye view image (such as the previously obtained bird's-eye view image or the previous composite bird's-eye view image) is moved according to the moving state of the vehicle to create image data of the bird's-eye view image after the movement, and this movement is performed. The image data of the rear bird's-eye view image and the image data of the new second bird's-eye view image (from the first bird's-eye view image) are combined to create the image data of the composite bird's-eye view image.

【0010】

That is, as the vehicle moves, for example, the field of view of the camera changes, so that, of course, the first bird's-eye view image and the second bird's-eye view image, which have different shooting times, have an image shift (difference in the shot portion). Therefore, by appropriately adding the post-movement bird's-eye view image of the displaced part (that is, the part that was in the field of view in the past but disappears from the field of view) to the second bird's-eye view image, it disappears from the field of view of the camera on a monitor or the like. The part is displayed.

【0011】

In particular, in the present invention, the above-mentioned composite bird's-eye view image is not displayed as it is on a monitor or the like, but the composite bird's-eye view image is converted into a projected image from a predetermined viewpoint (for example, a virtual camera position attached to a rear-view mirror in the vehicle interior). , The projected image is displayed on a monitor or the like.

【0012】

In other words, for example, contrary to the method of converting an image taken by a camera into a bird's-eye view, the bird's-eye view image is converted into a projected image as if it was taken by a camera, and the image as if it was taken by a camera is displayed on a monitor or the like. .. As a result, an image that the driver is accustomed to seeing is displayed on the monitor or the like, which has the effect of making it difficult to see.

【0013】

In addition, when synthesizing surrounding images that change with the movement of the vehicle using the image data as taken by the camera, each image may be distorted, and each pixel in each image may be distorted. It is necessary to measure the distance, but there is a problem that there is no sensor that can measure this accurately.

【0014】

In the present invention, the distance is known by using a flat bird's-eye view image, and the combined bird's-eye view image is changed to the original projected image. Therefore, the projected image is easily combined without using a distance measuring sensor or the like. It has the advantage of being able to create images. (2) In the invention of claim 2, the viewpoint is moved to a virtual position different from the shooting position of the shooting means, and the projected image is obtained with the virtual position as the viewpoint.

【0015】

Normally, the rear camera is located on the rear end side of the vehicle, so for example, when the projected image is obtained from the actual camera position as a viewpoint, when the vehicle backs up in the parking lot and approaches the wall, it is almost a wall. The image of is displayed, which is not very useful.

【0016】

In such a case, for example, the entire parking frame can be displayed by virtually moving the position of the camera to the front end of the vehicle or the like to create a projected image. Therefore, for example, the current position of the vehicle is overlapped. By displaying the vehicle position within the parking frame, the vehicle position can be displayed in an easy-to-understand manner.

【0017】

(3) In the invention of claim 3, the virtual position of the viewpoint can be changed by the user. Therefore, the user can easily operate the vehicle when parking, for example, by moving the viewpoint so that the position of the vehicle in the parking frame can be easily understood.

【0018】

(4) In the invention of claim 4, the image displayed on the display means can be changed by the user between a composite bird's-eye view image and a projected image. Therefore, the user can select a display that is easy for the user to see, which facilitates vehicle operation.

【0019】

(5) In the invention of claim 5, when the projected image is displayed on the display means, an image showing the own vehicle is added and displayed. In the present invention, by adding an image showing the own vehicle to the projected image showing the situation around the vehicle and displaying it, the positional relationship between the own vehicle and, for example, the parking frame becomes clear, so that the operation of the vehicle becomes easy. ..

【0020】

The own vehicle can be displayed by an image such as a photograph of the vehicle, a picture in the shape of the vehicle, a symbol such as a frame, or the like. (6) In the invention of claim 6, as the first bird's-eye view image, a composite bird's-eye view image created before the present composite bird's-eye view image is used.

【0021】

As a result, the monitor can display a projected image obtained by converting a continuous composite bird's-eye view image in which bird's-eye view images (images moved according to the movement of the vehicle) of images taken in the past are sequentially added. (7) In the invention of claim 7, the composite bird's-eye view image is an image in which the bird's-eye view image after movement is added to the display area for displaying the second bird's-eye view image.

【0022】

The present invention illustrates a method of forming a synthetic bird's-eye view image. This makes it possible to continuously display images around the vehicle. That is, for example, the image currently taken by the camera can be displayed on the monitor as a projected image of the second bird's-eye view image part, so that the image that disappears from the previous monitor can be used as the projected image of the bird's-eye view image part after moving. By adding it to the area other than the display area of the projected image of the second bird's-eye view image part, it is possible to display the past surrounding conditions that disappeared from the camera's field of view on the monitor.

【0023】

The latest bird's-eye view image is usually used as the second bird's-eye view image used for the composite bird's-eye view image. (8) The invention of claim 8 is a recording medium that stores means for executing processing by the vehicle peripheral image processing device described above.

【0024】

That is, there is no particular limitation as long as it stores means such as a program capable of executing the processing of the vehicle peripheral image processing device described above. For example, examples of the recording medium include various recording media such as an electronic control device configured as a microcomputer, a microchip, a floppy disk, a hard disk, and an optical disk.

【0025】

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, examples (examples) of embodiments of the vehicle peripheral image processing apparatus and recording medium of the present invention will be described. (Example) a) The basic system configuration of this embodiment will be described with reference to FIGS. 1 and 2.

【0026】

As shown in FIG. 1, the vehicle peripheral image processing apparatus of this embodiment includes a camera (for example, a CCD camera) 1 arranged at the rear of the automobile, an in-vehicle monitor (for example, a liquid crystal display) 3 arranged on the dashboard, and the like. It includes a vehicle speed sensor 5 that detects the vehicle speed, a yaw rate sensor 7 that detects the yaw rate, and an image processing unit 9 that performs image processing.

【0027】

As shown in FIG. 2, the image processing unit 9 is an electronic device that processes image data mainly composed of a microcomputer, and performs coordinate conversion (bird's-eye view conversion) of image data taken by the camera 1 to perform a bird's-eye view. A bird's-eye view conversion circuit 11 that creates an image, an image memory A that temporarily stores the image data of the created bird's-eye view image, and image processing such as moving (for example, rotating) and synthesizing the bird's-eye view image of the image memory A, etc. The bird's-eye view image is converted into a projected image by performing coordinate conversion (reverse bird's-eye view conversion) of the image data of the bird's-eye view image stored in the CPU 13 that performs the calculation of, the image memory B that stores the image data processed by the CPU 13, and the image memory B. It is equipped with a reverse bird's-eye view conversion circuit 15 for returning and an image memory C for storing image data of a projected image (displayed on monitor C).

【0028】

A vehicle speed signal input circuit 17 for inputting a vehicle speed signal and a yaw rate signal input circuit 19 for inputting a yaw rate signal are connected to the image processing unit 9, and each signal is input to the CPU 13. Here, the image data of the bird's-eye view image stored in the image memory B is a bird's-eye view image (first) that was taken by the camera 1 last time (for example, at time T) and created based on the image data, as described later. A bird's-eye view image (bird's-eye view image after movement) in which the bird's-eye view image) is moved, and a bird's-eye view image (second bird's-eye view image) newly taken by camera 1 (for example, at time T + 1) and created based on the image data. ) Is the image data of the bird's-eye view image (composite bird's-eye view image).

【0029】

Further, as described later, the image data of the projected image stored in the image memory C is a composite bird's-eye view image stored in the image memory B at a predetermined viewpoint (in this embodiment, the tip of the vehicle is not the position of the camera 1). It is a projected image converted into a camera image which is an image viewed from a virtual position moved to the side).

【0030】

The image processing unit 9 may have a structure integrated with the camera 1, and each configuration in the image processing unit 9 may be partially or wholly integrated into an LSI. I. b) Next, the image processing procedure and the like in this embodiment will be described with reference to FIGS. 3 to 7.

【0031】

Here, the case where the vehicle is retracted (backed) and put into the parking frame will be taken as an example. First, a procedure of converting an image input from the camera 1 into a bird's-eye view image viewed from above by the bird's-eye view conversion circuit 11 and saving the image in the image memory A will be described. First, the original image (output image) output from the camera 1 is shown in FIG. 3 (a). This original image is a parking frame drawn on the ground by the camera 1 arranged at the upper part of the rear part of the vehicle. Since it is an image of and its surroundings, the parking frame, which is originally rectangular, is distorted and displayed according to the distance between the own vehicle (hence, camera 1) and the position of each line of the parking frame.

【0032】

Therefore, as will be described in detail later, the image data of the original image is coordinate-converted to create a bird's-eye view image without distortion as shown in FIG. 3 (b), and the image data of this bird's-eye view image is used as the image memory A. Remember in. Next, a procedure for converting the original image taken by the camera 1 into a bird's-eye view image will be described. As described below, this procedure can utilize the prior art (for example, Japanese Patent Application Laid-Open No. 10-211849).

【0033】

Here, the position of the image (for example, the parking frame) on the ground plane is obtained as a bird's-eye view by performing the reverse processing of the normal fluoroscopic transformation. Specifically, as shown in FIG. 4, fluoroscopic conversion is performed when the position data of the image on the ground is projected onto the screen plane T at the focal length f from the camera position R.

【0034】

Specifically, camera 1 is located at point R (0,0, H) on the Z axis (camera height: H), camera focal distance f, and looking down angle (depression angle at the center of the camera lens axis) τ. Assuming that the image on the ground surface (xy coordinate plane) is being monitored, the relationship between the coordinates (X, Y) on the image of the screen plane T and the coordinates (x, y) on the real space (on the bird's-eye view). Is given by the following equation (1). X = f x / (y SINπ + H COSπ) (1) Y = f (-y COSπ + H SINπ) / (y SINπ + H COSπ) That is, by using the above equation (1), the projected image data can be converted into image data corresponding to the screen of the monitor 3 (showing the bird's-eye view image) and displayed on the monitor.

【0035】

Next, a procedure for moving (for example, rotationally moving) the bird's-eye view image stored in the image memory A according to the amount of movement (movement amount) of the vehicle using the vehicle speed signal and the yaw rate signal will be described. Here, Fig. 5 shows the vehicle position at time T. The moving distance of the vehicle until time T + 1 is L, and the angle at which the vehicle moved by time T + 1 is θ1 (= at the center of rotation). Let the rotation angle be θC).

【0036】

First, when the sampling time of camera 1 is 100 [ms], the distance L [m] that the vehicle has traveled is calculated from the following equation (2) using the vehicle speed S [km / h] obtained from the vehicle speed signal. it can. L [m] = S [km / h] x 1000 [m / km] ÷ 3600 [S / h] × 100 [ms] ÷ 1000 [ms / s] (2) In addition, since there is a relationship between the figures shown in FIG. 5, using the yaw rate θ0 [degree / s] obtained from the yaw rate signal, from the following equation (3), the angle θ1 at which the vehicle has moved can be calculated . θ1 [degree] = θ0 [degree / s] × 100 [ms] ÷ 1000 [ms / s] (3) Furthermore, since the center of rotation of the vehicle is assumed to be on the extension line of the rear wheel axle here, the center of rotation is calculated with the camera position as the origin, the traveling direction of the vehicle is Y, and the direction perpendicular to this is X. Then, the rotation center position XC [m] in the X direction can be calculated from the following equation (4). XC [m] = L [m] ÷ TAN (θ1) (4) On the other hand, since the center position in the Y direction is on the rear wheel axle, the distance between the camera 1 and the rear wheel axle is YC [cm].

【0037】

Further, the rotation angle θC at the center of rotation coincides with the angle θ1 in which the vehicle has moved due to the relationship of the figures shown in FIG. -Next, the bird's-eye view image is moved as follows using the rotation center position (XC, YC) and the rotation angle θC obtained as described above.

【0038】

The image data of the bird's-eye view image stored in the image memory A is temporarily stored in the image memory B as well. When the image data stored in the image memory A is used and displayed on the monitor 3, the result is as shown in FIG. 6 (a). Therefore, here, the image data of the bird's-eye view image stored in the image memory B is transferred to the internal memory of the CPU 13, and the bird's-eye view image is rotationally moved using the rotation center position (XC, YC) and the rotation angle θC. ..

【0039】

The conversion formula for performing this rotational movement is shown in the following formula (5), and the coordinates (XB, YB) after movement moved at the rotation angle θ by the internal processing of the CPU 13 using this conversion formula are used. On the other hand, the corresponding points (XA, YA) before movement are calculated, and the pixel values of (XA, YA) are saved in the address memory of (XB, YB). XA = XB COSθ + YB SINθ (5) YA = YB COSθ-XB SINθ However, (XA, YB): Coordinates before moving (XB, YB): Coordinates after movement θ: Rotation angle -Then, by performing these calculations for all the coordinates, the bird's-eye view image after movement (bird's-eye view image after movement at time T) can be obtained from the bird's-eye view image (first bird's-eye view image at time T) stored in the image memory A. create.

【0040】

At the same time, the bird's-eye view image newly created based on the image taken by the camera 1, that is, the current bird's-eye view image (second bird's-eye view image at time T + 1) is newly transferred from the image memory A to the CPU 13. Therefore, the CPU 13 writes the second bird's-eye view image at the position corresponding to the time T and the positional relationship (the position where the image does not deviate from the post-movement bird's-eye view image), thereby causing the post-movement bird's-eye view image and the second bird's-eye view image. Creates image data of a composite bird's-eye view image obtained by synthesizing

【0041】

At this stage, when the image data of the composite bird's-eye view image stored in the image memory B is used and displayed on the monitor 3, for example, FIG. 6 (b) is followed by FIG. 6 (c). Next, the procedure of the reverse bird's-eye view conversion for converting the composite bird's-eye view image into the projected image will be described.

【0042】

This reverse bird's-eye view conversion is basically the reverse process of the process of converting the image taken by the camera 1 described above into a bird's-eye view image. Here, as shown in FIG. 7, the position of the virtual camera (virtual camera) 1k at which the composite bird's-eye view image can be seen is set, and the image as if taken by this virtual camera 1k is displayed on the monitor 3.

【0043】

For example, if the height Hk of the virtual camera 1k, the camera depression angle τk, and the focal distance fk are set, and the position of the virtual camera 1k in the front-rear direction is Zk forward (above the front bumper) from the actual position of the camera 1, the real space coordinates. The relationship between (bird's-eye view coordinates) (x, y) and virtual camera image coordinates (Xk, Yk) is shown by the following equation (6), which is a modification of the above equation (1). x = Xk (y SINπk + Hk COSπk) / fk (6) y = Hk (fk SINπk-y SINπk) / (fk COSπk + Y SINπk) As a result, the image data of the virtual camera image coordinates (Xk, Yk) (that is, the image data of the projected image) is the image data of the real space coordinates (bird's-eye view coordinates) (x, y) (that is, the image data of the composite bird's-eye view image). , Can be obtained by substituting into the above equation (6).

【0044】

Therefore, in this way, the composite bird's-eye view image is converted into a projected image, and the image data is stored in the image memory C. Then, the projected image based on the image data stored in the image memory C is displayed on the monitor 3.

【0045】

For example, as shown in the parking start drawing of FIG. 7, the actual image of the camera 1 is only the image in the upper triangle of the figure, but the viewpoint is moved to the tip side of the vehicle like the virtual camera 1k. This makes it possible to display an image of the surroundings of the vehicle. When creating a projected image, an image of the position of the own vehicle or the viewing angle of the camera 1 may be added and stored in the image memory C, and the projected image may be displayed on the screen of the monitor 3. , When drawing the projected image stored in the image memory C on the monitor 3 without storing the image of the position of the own vehicle and the viewing angle of the camera 1 in the image memory C, the position of the own vehicle and the field of view of the camera 1 An image of a corner may be added and drawn.

【0046】

c) Next, the processing performed by the image processing unit 9 and the like will be described with reference to the flowchart of FIG. As shown in FIG. 8, first, in step 100, it is determined whether or not the shift position is back. If an affirmative judgment is made here, the process proceeds to step 110, while if a negative judgment is made, the process proceeds to step 210.

【0047】

The shift position can be detected by a signal from a shift position detection sensor (not shown) or a signal from another electronic control device. In step 210, the previously drawn image of the area outside the field of view of the camera is erased, that is, only the image of the current camera (bird's-eye view image) is displayed, and the process returns to step 100.

【0048】

On the other hand, in step 110, coordinate conversion (the bird's-eye view conversion) of the image captured by the camera 1 is performed to create a bird's-eye view image. In the following step 120, the bird's-eye view image is stored in the image memory A. At this time, a similar bird's-eye view image is stored in the image memory B.

【0049】

In the following step 130, the amount of movement (movement amount) of the vehicle represented by the moving distance L and the rotation angle θC is obtained based on the vehicle speed signal and the yaw rate signal. In the following step 140, the bird's-eye view image (first bird's-eye view image at time T) stored in the image memory B is moved based on the amount of movement of the vehicle, and the bird's-eye view image after movement (bird's-eye view after movement at time T) is moved. Image) is calculated.

【0050】

In the following step 150, the second bird's-eye view image (at time T + 1) newly captured and stored in the image memory A is read from the image memory A. In the following step 160, the bird's-eye view image after movement and the second bird's-eye view image are combined to create a composite bird's-eye view image.

【0051】

Specifically, after moving, all the images of the image memo A are overwritten at the corresponding coordinate positions on the bird's-eye view image. In the following step 170, the composite bird's-eye view image is stored in the image memory B. In the following step 180, the composite bird's-eye view image is converted into a reverse bird's-eye view image to create a projected image.

【0052】

In the following step 190, the projected image is stored in the image memory C. In the following step 200, the projected image stored in the image memory C is displayed on the monitor 3 by adding an image showing the vehicle and an image showing the viewing angle, and the present process is temporarily terminated.

【0053】

After that, the same process is performed every time a new image taken by the camera 1 is captured. That is, next time, the composite bird's-eye view image is moved according to the movement of the vehicle to create a post-movement bird's-eye view image, the post-movement bird's-eye view image and the new second bird's-eye view image are combined, and projected from the composite bird's-eye view image. Create an image, display it on monitor 3, and repeat the same process thereafter.

【0054】

d) As described above, in this embodiment, the image taken by the camera 1 is converted into a bird's-eye view image, the movement amount of the vehicle is detected based on the vehicle signal, and the bird's-eye view image is moved according to the movement amount of the vehicle. Create a bird's-eye view image after moving. Then, the bird's-eye view image after movement and the newly read bird's-eye view image are combined to create a composite bird's-eye view image, and the composite bird's-eye view image is converted into a projection image and displayed on the screen of the monitor 3.

【0055】

That is, in this embodiment, the composite bird's-eye view image is not displayed on the monitor 3 as it is, but the composite bird's-eye view image is converted into a projected image as if it was taken by the camera 1, and the image looks as if it was taken by the camera 1. Is displayed on the monitor 3. As a result, the monitor 3 displays an image that the driver is accustomed to seeing, which has the effect of not making it difficult to see.

【0056】

Further, in this embodiment, images are combined using a flat bird's-eye view image, and the combined bird's-eye view image is changed to the original projected image, so that the burden of image processing and the burden of memory can be reduced. There are advantages. Further, in this embodiment, the distance is known by using a flat bird's-eye view image, and the combined bird's-eye view image is changed to the original projected image. Therefore, it can be easily combined without using a distance measuring sensor or the like. It has the advantage of being able to create a projected image.

【0057】

Moreover, in the present embodiment, the viewpoint when creating the projected image is moved not to the position of the camera 1 but to a virtual position above the tip side of the vehicle, so that it is easy to operate, for example, when parking the vehicle. become. For example, when the camera 1 is located at the rear end of the vehicle, when the vehicle backs up in the parking lot and approaches the wall, the image as taken by the camera 1 is displayed. As shown in Fig. 9, most of the wall image is displayed on the monitor 3, and even when this composite bird's-eye view image is displayed, the wall and the ground are superficially displayed as shown in Fig. 9 (b). It is not very easy to see because it is done.

【0058】

Therefore, when the projected image is obtained by shifting the viewpoint to the virtual position of this composite bird's-eye view image and converting it to the reverse bird's-eye view, and displaying the projected image on the monitor 3, as shown in FIG. 9 (b), it is extremely easy to see. It will not be. It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be carried out in various modes without departing from the present invention.

【0059】

(1) For example, in the above-described embodiment, the vehicle peripheral image processing device has been described, but a recording medium that stores means for executing processing by this device is also within the scope of the present invention. Examples of this recording medium include various recording media such as an electronic control device configured as a microcomputer, a microchip, a floppy disk, a hard disk, and an optical disk.

【0060】

That is, there is no particular limitation as long as it stores means such as a program capable of executing the processing of the vehicle peripheral image processing device described above. (2) Further, the virtual position of the viewpoint (position of the virtual camera) may be a fixed position set in advance, but may be arbitrarily changed by the user. As a result, the image that is most visible to each user can be displayed.

【0061】

(3) Furthermore, as the image to be displayed on the monitor, the composite bird's-eye view image and the projected image can be arbitrarily changed by the user. As a result, the image that is most visible to each user can be displayed. (4) In addition, in the above embodiment, the moving state of the vehicle is detected by using a vehicle speed sensor or a yaw rate sensor, and a bird's-eye view image after moving is created based on the information. For example, an image taken by a camera. The motion vector of (bird's-eye view image) may be obtained, the moving state of the vehicle may be estimated from this motion vector, and the bird's-eye view image after movement may be obtained.

【0062】

For example, the moving state of the first bird's-eye view image and the second bird's-eye view image after that may be detected by a so-called image matching process, and the moving state of the vehicle may be obtained from the moving state of the image.

[Simple explanation of drawings]

[Figure 1]

It is explanatory drawing which shows the main structure of the vehicle peripheral image processing apparatus of an Example.

[Figure 2]

It is explanatory drawing which shows the electric structure of the vehicle peripheral image processing apparatus of an Example.

[Fig. 3]

An image used by the vehicle peripheral image processing apparatus of the embodiment is shown, (a) is an explanatory diagram of an image taken by a camera, and (b) is an explanatory diagram showing a bird's-eye view image.

[Fig. 4]

It is explanatory drawing which shows the positional relationship at the time of the coordinate transformation by the vehicle peripheral image processing apparatus of an Example.

[Fig. 5]

It is explanatory drawing which shows the method for obtaining the movement amount of the vehicle by the vehicle peripheral image processing apparatus of an Example.

[Fig. 6]

It is explanatory drawing which shows the procedure of image creation by the vehicle peripheral image processing apparatus of an Example.

[Fig. 7]

The method of image creation by the vehicle peripheral image processing device of the embodiment is shown, (a) is an explanatory diagram showing the position of the camera, (b) is an explanatory diagram showing an image at the start of parking, and (c) is parking. An explanatory diagram showing an image of the above, and (d) is an explanatory diagram showing an image of the end of parking.

[Fig. 8]

It is a flowchart which shows the processing of the vehicle peripheral image processing apparatus of an Example.

[Fig. 9]

It is explanatory drawing which shows the procedure of image creation by the vehicle peripheral image processing apparatus of an Example.

[Explanation of symbols]

1 ... camera 3 ... In-vehicle monitor (monitor) 5 ... Vehicle speed sensor 7 ... Yaw rate sensor 9 ... Image processing unit