TAX INDICATOR

Abstract

Display control device (14) comprising: a sensing section (401) that acquires a plurality of image data elements from a plurality of imaging sections (15) that depict an environment of a vehicle (1); a display control section (406, 1202, 1402, 1603) that displays initial bird's-eye view image data that represent an environment of the vehicle (1) from a bird's-eye view from above the vehicle (1) and that were generated on the basis of the plurality of image data elements acquired by the sensing section (401); and a specification section (404) that specifies a candidate area where the vehicle (1) is to be parked in the surrounding area which lies in a lateral direction of the vehicle (1), wherein the surrounding area was mapped as the ingestion image data elements, wherein the display control section (406, 1202, 1402, 1603) provides second bird's-eye view image data with a further display scope in the lateral direction of the vehicle (1),in which the candidate area specified by the specification section (404) is located, displays in comparison to the first bird's-eye view image data, additionally with: a receiving section (404) that receives a selection of a candidate area as a display target from a plurality of candidate areas in a case in which the plurality of candidate areas are specified by the specification section (404), wherein the display control section (406, 1202, 1402, 1603) displays second bird's-eye view image data with a further display scope in the lateral direction of the vehicle (1) in which the candidate area whose selection was received by the receiving section (404) is located, in comparison to the first bird's-eye view image data, additionally with: a storage section (901) that stores the plurality of image data elements acquired by the acquisition section (401) in conjunction with position data that designate,where the image capture data elements were captured, wherein the display control section (406, 1202, 1402, 1603) displays the second bird's-eye view image data generated on the basis of the position data designating a position near the candidate area whose selection was received by the receive section (404) and the multitude of image capture data elements related by the memory section (901), wherein the entire candidate area is included in the displayed image.

Description

TECHNICAL AREA

[0001] Exemplary embodiments of this disclosure relate to a display control device. BACKGROUND DISCUSSION

[0002] The prior art includes a technique for mapping a vehicle's surroundings using a multitude of imaging sections positioned around the vehicle, synthesizing a multitude of captured image data elements as bird's-eye view image data relative to the vehicle, and displaying this synthesized bird's-eye view image data, thereby enabling a driver to perceive the vehicle's surroundings. Furthermore, a technique exists for changing the display area of ​​bird's-eye view image data according to the vehicle's direction of travel. JP 2015 076 645 A represents an example of the prior art.

[0003] However, the techniques in the prior art are merely adapted in such a way that the display area of ​​the bird's-eye view image data to be displayed is changed according to the direction of travel of the vehicle, and do not take into account what a condition or circumstance / nature of an area is that serves as a candidate for parking when the vehicle is parked.

[0004] Therefore, there is a need for a display control device that enables or facilitates the checking of an area that serves as a candidate for parking. SUMMARY

[0005] A display control device according to one aspect of this disclosure comprises, for example: a sensing section that acquires a plurality of image data elements from a plurality of imaging sections that map an environment of a vehicle; a display control section that displays initial bird's-eye view image data that represents an environment of the vehicle from a bird's-eye view from above the vehicle and that was generated on the basis of the plurality of image data elements acquired by the sensing section;and a specification section that specifies a candidate area where the vehicle is to be parked within the surrounding area in a lateral direction of the vehicle, wherein the surrounding area is represented as the image data elements of the captured image, and wherein the display control section displays second bird's-eye view image data with a further display range in the lateral direction of the vehicle in which the candidate area specified by the specification section lies, compared to the first bird's-eye view image data. Accordingly, it is possible to determine or verify a condition of the candidate area, and thus make it easy for a driver to determine whether or not the vehicle is to be parked in the candidate area.

[0006] For example, according to the aspect of this disclosure, the display control device may additionally comprise: a receiving section that receives a selection of a candidate area as a display target from a plurality of candidate areas in a case where the plurality of candidate areas are specified by the specification section; and the display control section may display second bird's-eye view image data with a further display scope in the side area of ​​the vehicle where the candidate area, whose selection was received by the receiving section, is located, compared to the first bird's-eye view image data. Accordingly, it is possible to display a candidate area desired by the driver in a case where the plurality of candidate areas exists, thereby making it easy for the driver to determine whether or not to park the vehicle in the candidate area.

[0007] For example, according to the aspect of this disclosure, the display control device may additionally include: a memory section that stores the plurality of image data elements captured by the acquisition section in association with position data indicating where the image data elements were captured, and the display control section may display the second bird's-eye view image data generated on the basis of the position data indicating a position near the candidate area whose selection was received by the receiving section and the plurality of image data elements associated by the memory section.Accordingly, it is possible for the driver to check a condition of the desired candidate area by displaying the bird's-eye view image data suitable for checking the candidate area, thus making it easy for the driver to determine whether the vehicle should be parked in the candidate area or not.

[0008] For example, in the display control device according to the aspect of this disclosure, the memory section can store the multitude of image capture data and the position data, which designate a position of the vehicle, when the multitude of image capture data were captured, in context, and the display control section can display display data, which designate a position of the vehicle in the past, as designated by the position data, and display data, which designate a current position of the vehicle, in the second bird's-eye view image data.

[0009] For example, in the display control device according to the aspect of this disclosure, the detection section can further acquire the result of a detection of an object present in the vehicle's surrounding area from a detection section, and in a case where an object is present in the candidate area based on the detection result, the display control section can further display the second bird's-eye view image data, which includes display data indicating that parking is not permitted in the candidate area where the object is present. Accordingly, it is possible for the driver to check that an obstacle is present in the candidate area and thereby easily determine whether or not to park the vehicle in the candidate area.

[0010] A display control device according to another aspect of this disclosure comprises, for example: a capture section that captures a plurality of image data elements from a plurality of imaging sections that map an environment of a vehicle; a display control section that displays bird's-eye view image data that represents an environment of the vehicle from a bird's-eye view from above the vehicle and that was generated based on the plurality of image data elements captured by the capture section; and a specification section that specifies a candidate area where the vehicle is to be parked in the environment that lies in a lateral direction of the vehicle, wherein the environment was represented in the bird's-eye view image data, and wherein the display control section further displays the image data elements that comprise the candidate area specified by the specification section.Accordingly, it is possible to determine or verify a condition of the candidate area, and thus make it easy for the driver to determine whether the vehicle should be parked in the candidate area or not.

[0011] For example, according to the aspect of this disclosure, the display control device may additionally include: a receiving section that receives a selection of a candidate area as a display target from a plurality of candidate areas in a case where the plurality of candidate areas are specified by the specification section; and the display control section may display the recording image data elements that comprise a display area in the lateral direction of the vehicle in which the candidate area, whose selection was received by the receiving section, is located. Accordingly, in the case where the plurality of candidate areas exists, it is possible to check a condition of the candidate area desired by the driver, thereby making it easy for the driver to determine whether or not to park the vehicle in the candidate area.For example, according to the aspect of this disclosure, the display control device may additionally include: a memory section that stores the multitude of image data elements captured by the acquisition section in conjunction with position data indicating where the image data elements were captured; and the display control section may display the image data elements associated in the memory section with the position data indicating a position near the candidate area, the selection of which was received by the receiving section. Accordingly, it is possible to verify a condition of the candidate area desired by the driver by displaying bird's-eye view image data suitable for verifying the candidate area, thereby making it easy for the driver to determine whether or not to park the vehicle in the candidate area.

[0012] For example, according to the aspect of this disclosure, the display control device may additionally include: a correction section that corrects distortion based on optical systems in the imaging sections for the image data elements captured by the acquisition section; and the display control section may further display the image data elements that comprise a display range in the lateral direction of the vehicle in which the candidate area specified by the specification section lies and that have been corrected by the correction section. Accordingly, it is possible to check a condition of the candidate area desired by the driver by displaying the image data elements on which distortion correction has been performed, thereby making it easy for the driver to determine whether or not to park the vehicle in the candidate area.

[0013] For example, in the display control device according to the aspect of this disclosure, the sensing section can further acquire the result of a detection of an object present in the vehicle's surrounding area from a detection section, and, in a case where an object is present in the candidate area based on the detection result, the display control section can further display the bird's-eye view image data or the image data element, which includes display data indicating that parking is not permitted in the candidate area where the object is present. Accordingly, it is possible for the driver to verify that an object is present in the candidate area and thereby easily determine whether or not to park the vehicle in the candidate area. List of characters

[0014] The aforementioned and further features and characteristics of this revelation will become clearer from the following detailed description when it is considered with reference to the accompanying drawings, for which the following applies: Fig. Figure 1 is a perspective view illustrating an example of the state of a part of a vehicle interior of a vehicle on which a display control device according to a first embodiment is installed in a through view; Fig. Figure 2 is a top view (bird's-eye view) illustrating the example of the vehicle on which the display control device is installed according to the first embodiment; Fig. 3 is a block diagram illustrating an example configuration of a display control system that includes the display control device according to the first embodiment; Fig. 4 is a representation illustrating an exemplary software configuration implemented by an ECU that serves as the display control device according to the first embodiment; Fig. 5 is a representation illustrating an exemplary display screen that is displayed by a display control section according to the first embodiment; Fig. Figure 6 is an illustration that exemplifies a display screen that is shown by the display control section according to the first embodiment; Fig. Figure 7 is an illustration that exemplifies a display screen shown by the display control section according to the first embodiment; Fig. 8 is a flowchart illustrating a sequence of display processing during a parking assistance operation performed by the ECU according to the first embodiment; Fig. 9 is a representation that illustrates an exemplary software configuration implemented by an ECU according to a second embodiment; Fig. Figure 10 shows illustrations that exemplify a transition of a display screen indicated by a display control section according to the second embodiment; Fig. 11 is a flowchart illustrating a sequence of display processing during a parking assistance operation performed by the ECU according to the second embodiment; Fig. 12 is a representation illustrating an exemplary software configuration implemented by an ECU according to a third embodiment; Fig. Figure 13 is a representation illustrating an example of a screen displayed by a display control section according to the third embodiment; Fig. 14 is a representation illustrating an exemplary software configuration implemented by an ECU according to a fourth embodiment; Fig. 15 is a representation illustrating an example of a screen displayed by a display control section according to the fourth embodiment; Fig. Figure 16 is a representation illustrating an exemplary software configuration implemented by an ECU according to a fifth embodiment; and Fig. Figure 17 is a representation illustrating an example of a screen displayed by a display control section according to the fifth embodiment. DETAILED DESCRIPTION

[0015] Exemplary embodiments are disclosed below. Configurations of the embodiments, as well as actions or functions, results, and benefits achieved by the configurations described below, are examples. The embodiments disclosed herein can be implemented by a different configuration than those disclosed in the following embodiments, and at least one of several benefits based on basic configurations and derived benefits can be achieved. First embodiment

[0016] A vehicle 1According to a first embodiment, an automobile can be an internal combustion engine (not illustrated in the drawings) as a power source, namely an internal combustion engine automobile; an automobile that uses an electric motor (not illustrated in the drawings) as a power source, namely an electric automobile, a fuel cell automobile, or the like; a hybrid automobile that uses both as power sources; or an automobile equipped with a different power source. Various power transmission or gearbox devices can be fitted to the vehicle. 1It may be installed, and various devices necessary for driving or controlling the internal combustion engine or electric motor, for example, a system, a component, and the like, may be installed on it. Also, diagrams or models, the number, layout, and the like of devices relating to a drive of wheels may be specified. 3 in the vehicle 1 can be set or determined in various ways.

[0017] As it is in Fig. As illustrated by example 1, a vehicle body forms 2 a vehicle interior 2a out, in which occupants are traveling who are not illustrated in the drawing. A steering section 4 , an acceleration control section 5 , a brake control section 6 , a transmission control section 7 and the like are inside the vehicle interior 2a provided in a state in which the steering section4 , the acceleration control section 5 , the brake control section 6 , the transmission control section 7 and the like, a seat 2b are oriented towards a driver as well as an occupant. The steering section 4 For example, a steering wheel that is mounted on a dashboard 24 outstanding. The acceleration control section 5 For example, there is an accelerator pedal positioned near the driver's feet. The brake control section 6 For example, a brake pedal positioned near the driver's feet. The transmission control section 7 For example, a gearshift lever protrudes from a center console. It should be noted that the steering section 4 , the acceleration control section 5 , the brake control section 6 , the transmission control section 7 and are not limited to the like.

[0018] A display device 8 , which serves as a display output section, and a sound output device 9 , which serves as an audio output section, are located inside the vehicle interior 2a provided. The display device 8 Examples include liquid crystal displays (LCDs) and organic electroluminescent displays (OELDs). The sound output device 9 For example, a loudspeaker. The display device 8 for example, with a transparent user interface section 10 , such as a touchscreen. The occupants can view an image displayed on a screen of the display device. 8 displayed by the user input section 10 Visually detect. Occupants can perform operating inputs by accessing the operating input section. 10 by touching, pressing or moving the operating input section 10operate with hand fingers in a position that corresponds to the image displayed on the screen of the display device 8 is displayed. The display device 8 , the sound output device 9 , the user input section 10 and the like are, for example, found in a monitor device 11 in the middle in one direction across the width of the vehicle, namely a left-right direction of the dashboard 24 , provided. The monitor device 11 It may include an operating section, such as a switch, selector, joystick, or push button, which are not illustrated in the drawing. The sound output device, which is not illustrated in the drawing, may be located in a different position than that of the monitor device. 11 The interior of the vehicle differs. 2abe provided, and it is possible to get sound from the sound output device. 9 in the monitor device 11 and to output to another audio output device. It should be noted that the monitor device 11 for example, it can also serve as a navigation system and an audio system.

[0019] As it is in Fig. 1 and Fig. As illustrated by example 2, the vehicle 1 For example, a car with four wheels, and does it have two left and right front wheels? 3F and two left and right rear wheels 3R All of these four wheels 3 They can be configured to rotate. As it says in Fig. As illustrated in example 3, the vehicle 1 a steering system 13 for steering at least two wheels 3 The steering system 13 has an actuator 13a and a torque sensor 13b The steering system13 is powered by an electronic control unit (ECU) 14 or the like, electrically controlled and causes the actuator to 13a works. The steering system 13 Examples include an electric power steering system or a steer-by-wire (SBW) system. The steering system 13 steering force is supplemented by applying a torque, namely a support torque, to the steering section. 4 through the actuator 13a or turns the wheels 3 through the actuator 13a In this case, the actuator can 13a a wheel 3 rotating or a multitude of wheels 3 rotate. The torque sensor 13b For example, it detects the torque that the driver applies to the steering section. 4 applies.

[0020] As it is in Fig. As illustrated by example in section 2, there are four imaging sections. 15a until 15das a multitude of imaging sections 15 in / on the vehicle body 2 provided. The imaging sections 15 These are digital cameras with integrated imaging elements, such as charge-coupled devices (CCDs) or CMOS image sensors (CISs). The imaging sections 15 They can output film data at a predetermined frame rate. Each of the imaging sections 15 It has a wide-angle lens or a fisheye lens and can capture images, for example, within a range of 140° to 190° in the horizontal direction. Optical axes of the imaging sections 15 are set up on a downward-sloping side. Therefore, the imaging sections form 15 one after the other, an environment or an external setting in the vicinity of the vehicle body 2 ab, comprising a road surface on which the vehicle 1can move, and an area where the vehicle 1 They can be parked and output the images as captured image data elements.

[0021] The imaging section 15a for example, at a final section 2e on the rear of the vehicle body 2 positioned and on a section of wall under a door 2h a trunk provided. The imaging section 15b is, for example, on the right side of the vehicle body 2 , namely at a terminal section 2f on the right side in the direction of the vehicle's width, positioned and attached to a door mirror 2g provided, which represents a protruding section on the right side. The imaging section 15c for example, on the front of the vehicle body 2 , namely at a terminal section 2bon the front of the vehicle, positioned in the front-to-back direction, and mounted on a front bumper or similar. The imaging section 15d is, for example, on the left side of the vehicle body 2 , namely at a terminal section 2d on the left side in the direction of the vehicle's width, positioned and attached to a door mirror 2g provided, which represents a protruding section on the left side. The ECU 14 It can perform arithmetic processing and image processing based on the image data generated by the multitude of imaging sections. 15 to obtain, generate images with further / larger / more extended viewing or image angles, and a virtual bird's-eye view image of the vehicle 1 , seen from above. It should be noted that the bird's-eye view image can also be referred to as a plane or planar image.

[0022] The ECU 14 Identifies dividing lines and the like on the road surface in the vicinity of the vehicle. 1 are depicted, and detects (extracts) a parking space represented by the dividing lines from the areas defined by the imaging sections. 15 received images.

[0023] As it is in Fig. 1 and Fig. As illustrated by example in section 2, there are four distance measurement sections. 16a until 16d and eight distance measurement sections 17a until 17h as a multitude of distance measurement sections 16 and 17 in / on the vehicle body 2 provided. The distance measurement sections 16 and 17 Examples include sonar devices that emit ultrasonic waves and detect the reflected waves. Sonars can also be called sonar sensors or ultrasonic detectors. The ECU 14The presence of an object, such as an obstacle, in the vicinity of the vehicle can 1 is present, and measure the distance to the object based on the detection results obtained through the distance measurement sections. 16 and 17 to be obtained. This means that the distance measurement sections 16 and 17 Examples of detection sections are those that detect an object. It should be noted that the distance measurement section... 17 For example, it can be used to detect an object at a relatively short distance. The distance measurement section 16 can be used, for example, to measure an object at a relatively long distance compared to the distance measuring section. 17 to detect. The distance measuring section 17 It can be used, for example, to position an object on the front and back of the vehicle. 1to detect. The distance measuring section 16 can be used, for example, to move an object in the side direction of the vehicle. 1 to detect. The distance measurement sections 16 and 17 They could be radar devices or the like.

[0024] As it is in Fig. As illustrated in example 3, the parking assistance system 100 , in addition to the ECU 14 , the monitor device 11 , the steering system 13 , the distance measurement sections 16 and 17 , a braking system 18 , a steering angle sensor 19 , an accelerometer 20 , a circuit sensor 21 , a wheel speed sensor 22 and the like via a vehicle network 23 , which serves as an electrical communication line, electrically connected. The vehicle network 23For example, it is configured as a Controller Area Network (CAN). The ECU 14 can the steering system 13 , the braking system 18 and the like by sending control signals via the vehicle network 23 control the ECU 14 can results of a detection by the torque sensor 13b , the brake sensor 18b , the steering angle sensor 19 , the distance measuring section 16 , the distance measuring section 17 , an accelerometer 20 , the circuit sensor 21 , the wheel speed sensor 22 and similar actions are carried out, operating signals from the operating input section 10 and the like via the vehicle network 23 received.

[0025] The ECU 14 For example, it has a central processing unit (CPU) 14a , a read-only memory (ROM) 14b , a direct access memory (RAM)14c , a display control section 14d , a tone control section 14e and a solid-state drive (SSD, flash memory) 14f. The CPU 14a can perform various types of arithmetic processing and control, such as image processing in relation to a display device 8 Displayed image, decision on a target position of the vehicle 1 , arithmetic handling of a vehicle's route 1 , Determining the presence of interference or influence with an object, automatic control of the vehicle 1 and enabling or disabling an automatic control. The CPU 14a can read programs stored in non-volatile memory devices such as ROM. 14b They were installed and stored, and perform arithmetic processing according to the programs. The RAM 14ctemporarily stores various data elements used for arithmetic operations performed by the CPU 14a be carried out. The display control section 14d mainly performs image processing using image data generated by the imaging sections. 15 to be obtained, a synthesis of on the display device 8 The displayed image data and the like are processed arithmetically by the ECU. 14 is carried out. The tone control section 14e mainly involves processing an audio data output by the audio output device. 9 in the arithmetic processing carried out by the ECU 14 is carried out. The SSD 14f is a rewritable non-volatile memory section and can store data even in a case where a power source of the ECU is unavailable. 14 is switched off. It should be noted that the ECU14a , the ROM 14b , the RAM 14c and similar components may be integrated into the same package, assembly, or unit. The ECU 14 may have a configuration in which another logical arithmetic processor, logic circuit or the like, such as a digital signal processor (DSP), is used instead of the CPU 14a is used. A hard disk drive (HDD) can be used instead of the SSD. 14f be provided, and the SSD 14f and the HDD can be controlled separately from the ECU 14 be provided. The ECU 14 This is an example of the display control device.

[0026] The braking system 18 Examples include an anti-lock braking system (ABS), which prevents the brakes from locking up, and a lateral slip prevention device (an electronic stability control system; ESC), which prevents the vehicle from sliding sideways. 1The braking system prevents the vehicle from braking during a turn; it uses an electric braking system that increases braking force (performs brake assist), or a brake-by-wire (BBW) system. 18 applies a braking force to the wheels 3 and thus onto the vehicle 1 via the actuator 18a on. The braking system 18 This can cause the brakes to lock up or the wheels to spin. 3 , a sign of lateral slippage or the like resulting from a difference in rotation between left and right wheels 3 or similar, and execute various types of control. The brake sensor 18b For example, a sensor that detects the position of a moving part of the brake control section. 6 detected. The brake sensor 18b The brake sensor can detect the position of the brake pedal as the moving part. 18b includes a pathfinder.

[0027] The steering angle sensor 19For example, a sensor that detects the steering input through the steering section 4 , such as a steering wheel. The steering angle sensor 19 It is configured, for example, by a Hall effect sensor. The ECU 14 records the steering input made by the driver at the steering section 4 is carried out, the steering amount of the respective wheels 3 at the time of automatic steering and the like from the steering angle sensor 19 and performs various types of control. It should be noted that the steering angle sensor 19 a rotation angle of one in the steering section 4 The included rotating part was detected. The steering angle sensor 19 This is an example of an angle sensor.

[0028] The accelerometer 20 For example, a sensor that detects the position of a moving part of the accelerator control section. 5 detected. The accelerometer20 It can detect the position of the accelerator pedal as the moving part. The accelerometer 20 includes a pathfinder.

[0029] The circuit sensor 21 For example, a sensor that detects the position of a moving part of the transmission control section. 7 detected. The circuit sensor 21 It can detect the positions of the lever, arm, button, and the like as moving parts. The circuit sensor 21 It can include a position sensor or be configured as a switch.

[0030] The wheel speed sensor 22 is a sensor that measures the rotational speed of the wheels 3 and detects the rotation rate per unit of time. The wheel speed sensor 22 The wheel speed sensor outputs a wheel speed pulse value, which represents the detected rotation rate. 22It can be configured, for example, using a Hall effect element. The ECU 14 calculates the amount of movement of the vehicle 1 or the like, based on the sensor value provided by the wheel speed sensor 22 The sensor detects the speed and performs various types of control. It should be noted that there is also a case where the wheel speed sensor... 22 on the braking system 18 is provided. In this case, the ECU records 14 the detection result of the wheel speed sensor 22 about the braking system 18 .

[0031] It should be noted that the configurations, arrangements, electrical connection types, and the like of the various sensors and actuators described above are examples and can be set or defined (changed) in various ways.

[0032] As it is in Fig. As illustrated in section 4, the ECU includes 14 a recording section 401 , an obstacle detection section 402 , a reception section 403 , a specification section 404 , a bird's-eye view image generation section 405 , a display control section 406 and the like. The CPU 14a functions or works as the recording section 401 , the obstacle detection section 402 , the reception section 403 , the specification section 404 , the bird's-eye view image generation section 405 , the display control section 406 and the like by executing processing according to programs. Data used for arithmetic processing, which is carried out by the respective parts, data from arithmetic processing results, and the like are stored in memory sections, such as RAM. 14c and the ROM 14b, stored. It should be noted that at least some of the functions of the aforementioned parts can be implemented by hardware.

[0033] The recording section 401 captures a multitude of image data elements from the multitude of imaging sections. 15 , which encompass the area surrounding the vehicle 1 map. The capture section 401 captures the result of a detection of an object located in the vicinity of the vehicle. 1 is available (hereinafter also referred to as distance measurement data) from the distance measurement sections 16 and 17 It should be noted that the detection sections do not correspond to the distance measurement sections. 16 and 17 are limited, although the embodiment described is an example in which the distance measurement sections are used as detection sections that detect the object. 16 and 17to detect the object that is in the vicinity of the vehicle 1 It is available and can be used. For example, the object can be analyzed by examining the imaging sections. 15 The object can be detected by recording image data elements, or by using a laser sensor or the like.

[0034] The obstacle detection section 402 detects an obstacle located in the vehicle's surrounding area 1 , which was mapped as the image data elements, is present, based on the data captured by the capture section 401 The distance measurement data was recorded. With another method, the obstacle detection section can be used. 402 the obstacle (for example, parked vehicles) that is in the area surrounding the vehicle 1 is present, by performing an image analysis on the area captured by the acquisition section 401Detect captured image data elements. Note that the obstacle can be a moving or stationary obstacle.

[0035] The specification section 404 specifies the candidate area where the vehicle 1 to park in the surrounding area that is in the lateral direction of the vehicle 1 lies, and which was mapped as the image data elements. The specification section 404 According to the exemplary embodiment, parking separation lines (for example, white lines) are extracted from the captured image data elements and an area is specified where the obstacle detection section passes through. 402 It is determined that no obstacle or other vehicles are present, as a candidate area where the vehicle 1The vehicle must be parked within an area enclosed or bordered by the parking space lines. It should be noted that any method used to specify the candidate area where the vehicle is to be parked is considered a method of defining the candidate area. 1 to park, regardless of any known methods, can be used as long as it is possible to specify the area where the vehicle will be parked. 1 It can be parked.

[0036] The bird's-eye view image generation section 405 converts / calculates the data from the acquisition section 401 The captured image data elements are processed and used to generate bird's-eye view image data with reference to a virtual viewpoint. It is considered, for example, that a position at a predetermined distance from the vehicle is used. 1 the top side is viewed from the virtual perspective.

[0037] The bird's-eye view image data are image data that are created by synthesizing the data captured by the acquisition section.401 The captured image data elements are generated, and are image data on which image processing is carried out by the bird's-eye view image generation section. 405 This was carried out so that the image data became display image data with reference to the virtual viewing angle. The bird's-eye view image data are image data that depict the vehicle's surroundings. 1 from a bird's-eye view with reference to the vehicle 1 after the arrangement of a symbol (display data) that the vehicle 1 labelled, represent in the middle.

[0038] The display control section 406 shows the process by the bird's-eye view image generation section 405 generated bird's-eye view image data on the display device 8 on. The display control section 406 displays display data that designates the candidate range defined by the specification section. 404specified, based on the bird's-eye view image data. In a case where a large number of candidate areas exist, which are defined by the specification section 404 The display control section shows how it can be specified. 406 Display data indicating that the specified multitude of respective candidate areas are the candidate areas.

[0039] Fig. Figure 5 is an illustration that exemplifies a display screen controlled by the display control section. 406 as shown in the first embodiment. In the Fig. The 5 illustrated examples use bird's-eye view image data. 501 in a display area 500 the display device 8 displayed. The bird's-eye view image data 501 represent the vehicle's surroundings 1 with reference to a symbol 510 that the vehicle 1designated. Furthermore, the bird's-eye view image data designates 501 a case in which a large number of candidate areas are defined by the specification section 404 were specified, and display data that cover a variety of candidate areas. 521 until 523 designate those located in the lateral direction of the vehicle 1 are present, and in which the vehicle 1 It can be parked and displayed therein. It is assumed that this is in Fig. 5. Illustrated example: one example is where the rectangles of the dashed lines are represented as the display data, which are the candidate ranges. 521 until 523 describe.

[0040] From the bird's-eye view image data 501 , as they are in Fig. As illustrated in Figure 5, it is difficult to determine or verify the conditions behind the candidate areas. 521 until 523 are. Therefore, the ECU performs 14According to the exemplary embodiment, a control is provided such that an entire candidate range, whose selection has been received, is displayed in a case where a selection is made from one of the candidate ranges. 521 until 523 was received in a state in which the candidate areas 521 and 523 can be selected.

[0041] In a case where the multitude of candidate areas is defined by the specification section 404 The receiver section receives the data that has been specified. 403 A selection of a candidate area as an ad target from the multitude of candidate areas. In the example of the one in Fig. 5 illustrated bird's-eye view image data 501 The receiving section receives 403 a selection from one of the candidate areas 521 until 523 from the driver via the operating input section 10, which is a touch field or the like. In the exemplary embodiment, one method of receiving the selection of the candidate area is not limited to a touch operation via the operating input section. 10 on the candidate areas 521 until 523 is performed, and a selection operation can be performed using the steering section. 4 be.

[0042] In a case where the receiving section 403 Once the candidate range selection has been received, the bird's-eye view image generation section creates 405 Bird's-eye view image data with a wider / larger display area / scope in the lateral direction of the vehicle. 1 , in which the candidate area is located, the selection of which is carried out by the reception section 403 was received, compared to the bird's-eye view image data that was already displayed.

[0043] The embodiment described is an example in which a selection is received from the multitude of candidate domains in the case where the multitude of candidate domains exist as defined by the specification section. 404 to be specified. However, the embodiment is not limited to the method of switching or changing image data to bird's-eye view image data that encompasses the entire candidate area whose selection was received, in a case where a selection was received from the multitude of candidate areas. In a case where there is only one candidate area, which is defined by the specification section 404 The bird's-eye view image generation section, for example, can be specified. 405such bird's-eye view image data with a further / larger display area / scope in the lateral direction of the vehicle, encompassing the entire candidate area, at a time when the receiving section 403 receives a control for switching or changing the display or the like.

[0044] Then the display control section shows 406 the bird's-eye view image generation section 405 newly generated bird's-eye view image data.

[0045] Fig. Figure 6 is an illustration that exemplifies a display screen controlled by the display control section. 406 is displayed. In which Fig. The 6 illustrated examples use bird's-eye view image data. 601 in the display area 500 the display device 8 displayed. The bird's-eye view image data 601 represent the vehicle's surroundings 1 with reference to the symbol510 that the vehicle 1 The bird's-eye view image data. 601 These are bird's-eye view image data displayed in a case where a selection of the in Fig. 5 illustrated candidate range 522 was received. Therefore, the display area / scope was expanded so that the entire candidate range is now visible. 611 is displayed. The candidate area 611 is indicated with hatching to show that the selection was received from this.

[0046] Although in Fig. 6. The example of bird's-eye view image data 601 with an enlarged display area / scope towards the right side of the vehicle 1 compared to those in Fig. 5 illustrated bird's-eye view image data 501As illustrated, the exemplary embodiment is not limited to such a display format. For example, the entire display area whose selection has been received can be displayed by applying a contraction or reduction ratio of the display area compared to the bird's-eye view image data. 501 is increased and then causes the area / scope to be displayed, encompassing the symbol, to change. 510 , that the vehicle 1 This refers to a display that shifts or moves in the left-right direction. In other words, any display format can be used as long as the display area / scope is in the lateral direction of the vehicle. 1 , in which the candidate area is located, the selection of which is carried out by the reception section 403 was received, further or wider.

[0047] Furthermore, the display control section shows 406 in a case where the obstacle detection section 405The detected obstacle in the candidate area includes a marking or label indicating that the vehicle 1 cannot enter the candidate area where the obstacle was detected.

[0048] Fig. Figure 7 is an illustration that exemplifies a display screen controlled by the display control section. 406 is displayed. In which Fig. The 7 illustrated examples use bird's-eye view image data. 701 in the display area 500 the display device 8 displayed. A marking or label. 712 , which indicates that the vehicle 1 not in the candidate area 611 The bird's-eye view image data shows that it is possible to drive into it. 701 shown, since the obstacle detection section 402 an obstacle 711 in the candidate area 611 was detected.

[0049] Next, a display processing procedure performed by the ECU will be described. 14 during a parking assistance operation according to the example shown. Fig. 8 is a flowchart illustrating a process for the aforementioned processing carried out by the ECU 14 as described in the exemplary embodiment. It should be noted that it is assumed the vehicle 1 driving through a passageway in a parking lot at low speed.

[0050] First, the receiving section determines 403 , whether an operation to start the parking assistance is available from the operating input section 10 was received or not ( S801 ). In a case where it is determined that the command to start the parking assist was not received ( S801 (No), processing will take place in S801 repeated.

[0051] However, in a case where it is determined that the receiving section 403 has received the command to start the parking assistance ( S801 (Yes), the data collection section covers 401 Image data elements from the imaging sections 15 and distance measurement data from the distance measurement sections 16 and 17 ( S802 ).

[0052] Then the obstacle detection section detects 402 an obstacle located in the vicinity of the vehicle 1 is available, based on the distance measurement data and the image capture data elements ( S803 ).

[0053] Then the specification section specifies 404 an area that passes through the obstacle detection section 402 was determined to include no obstacle or the like that is present in it as a candidate area where the vehicle 1Parking is possible in an area surrounded or enclosed by parking separation lines, which was recognized from the image data elements ( S804 ).

[0054] Then the ECU determines 14 , whether the vehicle 1 has stopped or not ( S805 ). In a case where it is determined that the vehicle 1 did not stop ( S805 (No), processing will take place in S802 and the subsequent steps were carried out again.

[0055] Meanwhile, in a case where the ECU 14 determined that the vehicle 1 has stopped ( S805 (Yes), the data collection section covers 401 the image data elements from the imaging sections 15 and the distance measurement data from the distance measurement sections 16 and 17 ( S806 Then the obstacle detection section detects 402an obstacle located in the vicinity of the vehicle 1 is available, based on the distance measurement data and the image capture data elements ( S807 ).

[0056] The bird's-eye view image generation section then creates 405 Bird's-eye view image data based on the in S806 captured image data elements ( S808 ).

[0057] Then the display control section shows 406 the bird's-eye view image data, which is in S804 specify candidate range ( S809 In this way, the driver can enter the specified candidate area where the vehicle 1 can be parked while the vehicle is being driven 1 to investigate or verify. Also, in a case where in S807 an obstacle in which S804The specified candidate area was detected, an obstacle is considered to be present, and the display control section shows this. 406 a marking or label indicating that the vehicle 1 cannot drive into the candidate area.

[0058] Then it is determined whether the receiving section 403 has received a selection from the candidate pool or not ( S810 ). In a case where it is determined that the selection was not received ( S810 (No), processing will take place in S806 and the subsequent steps were carried out again.

[0059] However, in a case where it is determined that the receiving section 403 has received the selection of the candidate area ( S810 Yes), the bird's-eye view image generation section produces 405 Bird's-eye view image data taken in the side direction of the vehicle 1expanded or extended, in which the candidate range lies, whose selection was received ( S811 ).

[0060] Then the display control section shows 406 the in S811 generated bird's-eye view image data, in other words, the bird's-eye view image data in which the entire candidate area whose selection was received is represented ( S812 ).

[0061] In this embodiment, the driver can determine the condition of the candidate area where the vehicle 1 To verify that parking is possible, follow the processing procedure outlined above. Second embodiment

[0062] The first embodiment described the example in which the bird's-eye view image data generated from the image data elements currently being captured by the imaging sections are displayed. 15to be recorded. However, in a case where a candidate area is in a blind spot due to an obstacle or another vehicle, there is a possibility that the display control section 406 The candidate area cannot be appropriately displayed on the bird's-eye view image data when using the currently acquired image data elements. Therefore, a second embodiment describes an example in which bird's-eye view image data is displayed according to a candidate area whose selection has been received, using image data elements acquired in the past.

[0063] The embodiment describes a case in which bird's-eye view image data, generated by using previously acquired image data elements, is displayed in a case where the candidate area whose selection was received is near the vehicle. 1 lies.

[0064] Fig. Figure 9 is a representation that exemplifies a software configuration implemented by an ECU. 14 as implemented according to the second embodiment. As shown in Fig. As illustrated in 9, the ECU includes 14 according to the second embodiment, a recording image storage section 901 , which is added to the configuration according to the first embodiment, and one with the bird's-eye view image generation section 405 The processing performed has been changed to that which is performed by a different bird's-eye view image generation section. 902is executed.

[0065] The image capture storage section 901 saves the data collected by the capture section 401 recorded image data elements in association with position data that designate the positions at which the image data elements were recorded.

[0066] The bird's-eye view image generation section 902 converts / calculates the data from the acquisition section 401 The captured image data elements are converted, bird's-eye view image data is generated with reference to the virtual viewing angle, and the data in the image storage section is converted / calculated. 901 stored image data elements are converted, and bird's-eye view image data is generated with reference to the virtual viewpoint.

[0067] In a case where the receiving section 403 Once the candidate range selection has been received, the bird's-eye view image generation section reads 902According to the exemplary embodiment, image data elements that were captured at the position closest to the candidate area are taken from the image data elements that are in the image memory section. 901 The data is stored, and it generates bird's-eye view image data based on the captured image data elements. The generated bird's-eye view image data has a wider display area / scope in the lateral direction of the vehicle. 1 , in which the candidate area lies, similar to those in the first embodiment.

[0068] Fig. Figure 10 shows illustrations that exemplify a transition of a display screen through the display control section. 406 is displayed. (A) in Fig. Figure 10 illustrates a display screen with bird's-eye view image data. 1001 , which are generated by the bird's-eye view image generation section 902 generated when the vehicle 1is suspended. Candidate areas 1011 until 1013 are in the bird's-eye view image data 1001 depicted.

[0069] The bird's-eye view image data 1001 are generated based on image data elements currently being processed by the imaging sections 15 The current position of the vehicle is recorded in the bird's-eye view image data. 1 used as a reference. Therefore, there is a possibility that the specification section 404 The specified candidate area is in a blind spot due to an obstacle or another vehicle when the imaging sections are 15 Take pictures. In this case, there is a possibility that the candidate area cannot be displayed appropriately in the bird's-eye view image data.

[0070] In the exemplary embodiment, in a case where the receiving section 403Once the candidate range selection has been received, the bird's-eye view image generation section reads 902 Therefore, the image capture data elements that were captured at the nearest position to the candidate area whose selection was received, based on the position data associated with the image capture memory section. 901 It relates to stored image data elements and generates bird's-eye view image data from the image data elements.

[0071] (Am Fig. Figure 10 illustrates a display screen with bird's-eye view image data. 1002 , which are to be displayed in a case where the receiving section 403 the selection of the candidate pool 1013 has received. An entire candidate area 1021 , which belongs to the candidate area 1013 This corresponds to the bird's-eye view image data. 1002 depicted. A symbol 1032 , that the vehicle 1The term can be displayed in a format that differs from that used for the symbol. 1031 differentiating to determine the position of the vehicle 1 to refer to the past. A symbol 1033 , which is the current position of the vehicle 1 referred to as, can be found in the bird's-eye view image data 1002 will be displayed.

[0072] Then the display control section shows 406 the bird's-eye view image data, which is based on the image data captured in the past by the bird's-eye view image generation section 902 be generated.

[0073] Next, a display processing procedure performed by the ECU will be described. 14 during the parking assistance process. Fig. 11 is a flowchart illustrating a process for the aforementioned processing carried out by the ECU 14 is carried out according to the exemplary embodiment.

[0074] In the Fig. The illustrated flowchart in section 11 shows that the processing up to the receipt of a candidate range is similar to that in S801 until S810 in which Fig. 8 illustrated flowcharts performed ( S1101 until S1110 ).

[0075] In a case where in S1110 It is determined that the receiving section 403 has received the selection of the candidate area ( S1110 (Yes), reads the bird's-eye view image generation section. 902 Capture image data elements that were captured at a location close to the candidate area whose selection was received, from the capture image memory section 901 ( S1111 ).

[0076] Then the bird's-eye view image generation section creates 902 Bird's-eye view image data taken in the side direction of the vehicle 1expanded or extended in which the candidate area lies, whose selection was received, by using the read image data elements ( S1110 ).

[0077] Then the display control section shows 406 the in S1112 generated bird's-eye view image data, in other words, the bird's-eye view image data in which the entire candidate area whose selection was received is represented ( S1113 ).

[0078] In this embodiment, it is possible to check the condition near the candidate area by carrying out the aforementioned processing procedure.

[0079] In a case where the obstacle detection section 402In the exemplary embodiment, if an obstacle has been detected in the candidate area, a marking or indication that the vehicle cannot enter the candidate area is displayed in the bird's-eye view image data in a manner similar to that in the first exemplary embodiment.

[0080] It should be noted that the embodiment described is an example in which the bird's-eye view image generation section 902 Image capture data elements that were captured at the nearest position to the candidate area whose selection was received, read based on the position data that corresponds to the image capture memory area. 901The embodiment is related to stored image data elements, and the bird's-eye view image data is generated from these image data elements. However, this embodiment is not limited to reading image data elements captured at the nearest position to the candidate area whose selection was received, and any captured image can be used as a read target as long as the candidate area appears within adequate range or extent. That is to say, the bird's-eye view image data can be generated based on the position data indicating the position near the candidate area whose selection was received and the multitude of image data elements stored in the image memory area. 901 are related. Third example

[0081] In the embodiment described above, the entire candidate area is displayed by expanding the display area / scope of the bird's-eye view image data. However, the embodiment described above is not intended to limit a method for enabling the driver to determine or verify the candidate area condition to the method of expanding the display area / scope of the bird's-eye view image data. Therefore, a third embodiment describes an example in which image data elements obtained by capturing images in a direction containing a candidate area are displayed.

[0082] Fig. Figure 12 is a representation that exemplifies a software configuration implemented by an ECU. 14 as implemented according to the third embodiment. As shown in Fig. As illustrated in section 12, the ECU includes 14 according to the third embodiment, a bird's-eye view image generation section 1201 and a display control section 1202 , which are modified to perform processing that differs from that performed by the bird's-eye view image generation section 405 and the display control section 406 is executed in the configuration according to the first embodiment.

[0083] The bird's-eye view image generation section 1201 converts / calculates through the data acquisition section 401 The captured image data elements are processed and used to generate bird's-eye view image data with reference to a virtual viewpoint. The bird's-eye view image generation section 1201 According to the embodiment, bird's-eye view image data is not reproduced even in a case where the receiving section 403 has received a selection from a candidate pool.

[0084] The display control section 1202 displays image capture data elements that encompass the candidate area, the selection of which is determined by the receiving section. 403 was received from the image data elements that were passed through the capture section 401 be recorded, along with the bird's-eye view image data.

[0085] Fig. Figure 13 illustrates an example of a screen controlled by the display control section. 1202 is displayed. In which Fig. The 13 illustrated examples use bird's-eye view image data. 1301 and a capture image data element 1302 in the display area 500 the display device 8 displayed. The bird's-eye view image data 1301 represent the vehicle's surroundings 1 with reference to a symbol 1311 that the vehicle 1 designated. Furthermore, candidate areas are 1312 until 1314in a selectable way in the bird's-eye view image data 1301 displayed.

[0086] The example of the in Fig. Screen 13 is an example where the receiving section 403 a selection of candidates 1312 received the image data element. 1302 , which is the candidate area 1312 It includes, is displayed.

[0087] As it is in Fig. As illustrated in 13, the driver can meet the condition of the candidate area. 1312 as a destination for parking the vehicle 1 to determine or verify by examining the image data element that defines the candidate area 1312 includes the selection that has been received, which is displayed.

[0088] The display processing during the parking assistance according to the exemplary implementation is similar to that in the Fig. 8 illustrated flowchart, except that the display control section 1202 the image capture data element that encompasses the candidate area whose selection was received, and the bird's-eye view image data instead of processing in S811 and S812 displays, and a description of this is omitted.

[0089] According to the embodiment, it is possible to determine or verify the condition of the candidate area and thereby improve safety by displaying the image data element encompassing the candidate area. Fourth embodiment

[0090] The third embodiment described the example in which the current image data elements are passed through the imaging sections. 15The third embodiment is not limited to displaying the current image data elements. Therefore, a fourth embodiment describes an example in which image data elements captured in the past are displayed.

[0091] Fig. Figure 14 is a representation that illustrates an example of a software configuration implemented by an ECU. 14 as implemented according to the fourth embodiment. As shown in Fig. As illustrated in section 14, the ECU includes 14 according to the fourth embodiment, a bird's-eye view image generation section 1401 and a display control section 1402 , which are modified to perform processing that differs from that performed by the bird's-eye view image generation section 902 and the display control section 406in the configuration according to the second embodiment.

[0092] The bird's-eye view image generation section 1401 converts / calculates through the data acquisition section 401 The system converts recorded image data elements and generates bird's-eye view image data with reference to a virtual viewpoint.

[0093] The display control section 1402 shows the captured image data element that was captured at the nearest position to the candidate area whose selection was made by the receiving section. 403 was received, and which includes the candidate area, from the image storage section. 901 stored image data elements, in addition to the bird's-eye view image data.

[0094] Fig. Figure 15 illustrates an example of a screen controlled by the display control section. 1402 is displayed. In which Fig. The 15 illustrated examples use bird's-eye view image data. 1511 and a capture image data element 1512 in the display area 500 the display device 8 displayed. The bird's-eye view image data 1511 represent the vehicle's surroundings 1 with reference to the symbol 1311 that the vehicle 1 designated. Furthermore, the candidate areas are 1312 until 1314 in a selectable way in the bird's-eye view image data 1511 depicted.

[0095] The example of the in Fig. Screen 15 illustrates an example where the receiving section 403 a selection of candidates 1312 has received. Therefore, the captured image data element 1512 displayed, the one at the nearest position 1501 to the candidate area 1312 was recorded when the vehicle 1 drives, and the candidate area1312 includes.

[0096] The driver can meet the conditions of the candidate area. 1312 as a parking destination of the vehicle 1 determine or verify by examining the image data element 1512 , which is the candidate area 1312 includes, whose selection has been received, is displayed as it is in Fig. 15 is illustrated.

[0097] The display processing during the parking assistance according to the exemplary implementation is similar to that in the Fig. 11 illustrated flowcharts, with the exception that the bird's-eye view image generation section 1401 a captured image data element that was captured at a position near the candidate area whose selection was received and encompasses the candidate area, from the captured image memory section 901 reads, and the display control section 1202the read image data element and the bird's-eye view image data instead of processing in S1111 until S1113 in Fig. 11 is displayed, and a description of this is omitted.

[0098] In the exemplary embodiment, in a case where a [missing information] is detected by the obstacle detection section 402 If a detected obstacle is included in the candidate area, a marking or label will be placed indicating that the vehicle 1 The vehicle cannot enter the candidate area where the obstacle was detected, as indicated in the bird's-eye view image data, in a similar manner to that shown in the exemplary embodiments described above. In this way, it is possible to enable the driver to recognize that the vehicle 1 cannot enter the candidate area due to the presence of the obstacle.

[0099] The display control section 1402According to the exemplary embodiment, a marking or label indicating that the vehicle 1 If the vehicle cannot enter the candidate area, display the captured image data element within a display area / scope that corresponds to the candidate area where the obstacle was detected. In this way, it is possible to determine or verify the current condition even in a case where previously captured image data elements are displayed. Fifth embodiment

[0100] The fourth embodiment described the example in which the image data elements are displayed to allow the driver to determine or verify the condition of the candidate area. Since the imaging sections 15However, distortion occurs when the image data elements are captured through wide-angle or fisheye lenses. Therefore, a fifth embodiment describes a case in which distortion correction is performed on the image data elements.

[0101] Fig. Figure 16 is a representation that exemplifies a software configuration implemented by an ECU. 14 as implemented according to a fifth embodiment. As shown in Fig. As illustrated in section 16, the ECU includes 14 according to the fifth embodiment, a correction section 1601 , which is additionally provided, and a bird's-eye view image generation section 1602 and a display control section 1603 , which are modified to perform processing that differs from that performed by the bird's-eye view image generation section 1401and the display control section 1402 in the configuration according to the fourth embodiment.

[0102] The bird's-eye view image generation section 1602 converts / calculates through the data acquisition section 401 Captured image data elements are processed and used to generate bird's-eye view image data with reference to a virtual viewpoint.

[0103] The correction section 1601 performs a distortion correction on the captured image data element that was captured at the position closest to the candidate area selected by the receiving section. 403 was received, and which includes the candidate area, from the image storage section. 901 stored image data elements to eliminate distortion of the candidate area.

[0104] The display control section 1603The image data element shown after the correction section 1601 performed distortion correction along with the bird's-eye view image data.

[0105] Fig. Figure 17 illustrates an example of a screen controlled by the display control section. 1603 is displayed. In which Fig. The 17 illustrated examples use bird's-eye view image data. 1511 and a captured image data element 1701 in the display area 500 the display device 8 displayed. The bird's-eye view image data 1511 represent the vehicle's surroundings 1 with reference to the symbol 1311 , that the vehicle 1 described, in a manner similar to that in the fourth embodiment. Furthermore, the candidate areas are 1312 until 1314 in a selectable way in the bird's-eye view image data 1511 depicted.

[0106] It is assumed that the example of the in Fig. Screen 17 illustrates an example where the receiving section 403 a selection of candidates 1312 has received. Therefore, the captured image data element 1701 displayed, the one at the nearest position 1501 to the candidate area 1312 while driving the vehicle 1 was recorded, and the distortion correction was performed on it.

[0107] As it is in Fig. As illustrated in 17, the driver can meet the condition of the candidate area. 1312 as a destination for parking the vehicle 1 Determine or verify by comparing the image data element with the candidate area 1312 , from which the distortion has been removed, is displayed.

[0108] In the embodiment, processing similar to that in the fourth embodiment is carried out, except that distortion correction is performed on the captured image data element, and a description of this is omitted.

[0109] According to the first to fifth embodiments, the driver can determine or verify the condition of the target area as a parking goal and thus easily decide whether or not to park in the candidate area, as described above. In this way, safety can be improved.

[0110] Although some embodiments have been described, these examples are suggested only as examples and are not intended to limit the scope of the embodiments disclosed herein. These novel embodiments can be implemented in various other forms or configurations, and various omissions, substitutions, and modifications can be made without departing from the fundamental concept of the embodiments disclosed herein. These embodiments and modifications are encompassed within the scope and concept of the embodiments disclosed herein and are included in the embodiments described in the claims and in an equivalent scope.

[0111] The principles, preferred embodiments, and operating methods of the present invention have been described in the preceding description. However, the invention to be protected is not to be interpreted as being limited to the disclosed particular embodiments. Furthermore, the embodiments described herein are to be considered illustrative and not limiting. Modifications and alterations may be made by third parties, and equivalents may be used, without departing from the basic concept of the present invention. Accordingly, it is expressly provided that all such modifications, alterations, and equivalents that fall within the basic concept and scope of the present invention, as defined in the claims, are thereby included.

[0112] A display control device ( 14 ) includes: a recording section ( 401), the image data elements of imaging sections ( 15 ) detected, which covers an area surrounding a vehicle ( 1 ) display; a display control section ( 406 , 1202 , 1402 , 1603 ), which displays the first bird's-eye view image data, representing an environment of the vehicle from a bird's-eye view from above the vehicle, and which were generated based on the captured image data elements; and a specification section ( 404 ), which specifies a candidate area where the vehicle is to be parked in the surrounding area which lies in a lateral direction of the vehicle, wherein the surrounding area has been mapped as the ingestion image data elements, wherein the display control section displays second bird's-eye view image data with a further display scope in the lateral direction in which the candidate area lies, compared to the first bird's-eye view image data. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2015076645 A

[0002]

Claims

[1] Display control device (14) with: a capture section (401) that captures a plurality of image data elements from a plurality of imaging sections (15) that map an area surrounding a vehicle (1); a display control section (406, 1202, 1402, 1603) that displays initial bird's-eye view image data representing the vehicle's surroundings from a bird's-eye view above the vehicle, and which were generated based on the multitude of image data elements captured by the acquisition section; and a specification section (404) that specifies a candidate area where the vehicle is to be parked in the surrounding area which lies in a lateral direction of the vehicle, wherein the surrounding area has been mapped as the capture image data elements, wherein the display control section displays second bird's-eye view image data with a further display range in the lateral direction of the vehicle in which the candidate area specified by the specification section lies, compared to the first bird's-eye view image data. [2] Display control device according to claim 1, additionally comprising: a receive section (404) that receives a selection of a candidate space as a display target from a plurality of candidate spaces in a case where the plurality of candidate spaces are specified by the specification section, wherein the display control section displays second bird's-eye view image data with a further display range in the lateral direction of the vehicle in which the candidate area, whose selection was received by the receiver section, is located, in comparison to the first bird's-eye view image data. [3] Display control device according to claim 2, additionally comprising: a storage section (901) that stores the multitude of image data elements captured by the acquisition section in conjunction with position data indicating where the image data elements were captured, wherein the display control section displays the second bird's-eye view image data generated on the basis of the position data designating a position near the candidate area whose selection was received by the receive section, and the multitude of capture image data elements associated by the memory section. [4] Display control device according to claim 3, wherein the memory section stores the plurality of image data elements and the position data indicating a position of the vehicle when the plurality of image data elements were recorded in association, and the display control section displays display data indicating a position of the vehicle in the past, as indicated by the position data, and display data indicating a current position of the vehicle in the second bird's-eye view image data. [5] Display control device according to any one of claims 1 to 3, wherein the detection section further detects a result of a detection of an object that is present in the area surrounding the vehicle, and wherein, in a case where an object is present in the candidate area based on the result of the detection, the display control section further displays the second bird's-eye view image data, which includes display data indicating that parking in the candidate area where the object is present is not permitted. [6] Display control device (14) with: a capture section (401) that captures a plurality of image data elements from a plurality of imaging sections (15) that map an area surrounding a vehicle (1); a display control section (406, 1202, 1402, 1603) that displays bird's-eye view image data representing an environment of the vehicle from a bird's-eye view from above the vehicle, and which were generated based on the multitude of image data elements captured by the acquisition section; and a specification section (404) that specifies a candidate area where the vehicle is to be parked in the surrounding area which lies in a lateral direction of the vehicle, wherein the surrounding area was represented in the bird's-eye view image data, the display control section further displays the captured image data elements that comprise the candidate area specified by the specification section. [7] Display control device according to claim 6, additionally comprising: a receive section (404) that receives a selection of a candidate space as a display target from a plurality of candidate spaces in a case where the plurality of candidate spaces are specified by the specification section, wherein the display control section displays the recording image data elements that comprise a display range in the lateral direction of the vehicle in which the candidate area is located, the selection of which was received by the receive section. [8] Display control device according to claim 7, additionally comprising: a storage section (901) that stores the multitude of image data elements captured by the acquisition section in conjunction with position data indicating where the image data elements were captured, wherein the display control section displays the captured image data elements that are associated in the memory section with the position data that designate a position near the candidate area whose selection was captured by the receive section. [9] Display control device according to claim 8, additionally comprising: a correction section (1601) that corrects distortion based on optical systems in the imaging sections for the image data elements acquired by the acquisition section, wherein the display control section further displays the image capture data elements that comprise a display range in the lateral direction of the vehicle in which the candidate area specified by the specification section lies, and which have been corrected by the correction section. [10] Display control device according to one of claims 6 to 9, wherein the detection section further detects a result of a detection of an object that is present in the area surrounding the vehicle, and wherein, in a case where an object is present in the candidate area based on the result of the detection, the display control area further displays the bird's-eye view image data or the image data elements that include display data indicating that parking in the candidate area where the object is present is not permitted.

Images