Azimuth video display device and program

Abstract

To provide an azimuth video display device and a program for grasping from where warning sound or generated sound is heard.SOLUTION: A processing device 1 is used to arrange a moving body 15 in response to a request from a user 14, and includes: an area setting unit 2 that sets area information 16 regarding an area A where the user can get on and off the moving body 15 for each terminal 11 of the user based on a setting condition 17 registered in advance; a storage unit 31 that stores the area information 16; and a transmission unit 3 that transmits the area information 16 to a terminal 12 of a moving body located in a predetermined range 18.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a directional image display device and a program for use in a mobile body, and more particularly to a directional image display device and a program for assisting driving. [Background technology]

[0002] 2. Description of the Related Art When it is difficult to hear ambient sounds outside the vehicle while driving, there are devices that display warning sounds and other information to the driver using visual images. Patent Document 1 discloses a head-up display device. The head-up display device includes an audio analysis unit that determines whether a specific warning sound is included in an audio signal from a microphone that collects sounds around the vehicle. When the audio analysis unit determines that a specific warning sound is detected, the video display device displays an icon indicating the detected specific warning sound. Specific warning sounds include sirens emitted by emergency vehicles and horns emitted by ordinary vehicles, and the audio analysis unit analyzes the frequency of the input audio signal to determine whether it is a specific warning sound. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7345114 Summary of the Invention [Problem to be solved by the invention]

[0004] Generally, when a driver hears various sounds coming from outside the vehicle, such as warning sounds such as sirens, horns, and horns, or dangerous sounds associated with accidents, natural disasters, etc., they determine whether the sound is relevant to them based on the surrounding situation and their driving experience, and take appropriate action. However, from inside the vehicle, it can be difficult to understand the external situation, such as where the warning sounds or generated sounds are coming from.

[0005] Therefore, in one aspect, an object of the present invention is to provide a directional image display device and a program for determining where a warning sound or generated sound is coming from. [Means for solving the problem]

[0006] (1) A directional image display device is characterized by comprising a camera unit that acquires image information relating to images outside a moving body, a microphone unit that acquires sound information relating to sounds generated outside the moving body, a direction identification unit that acquires direction information relating to the direction from which the sound was generated for the sound information that satisfies predetermined conditions, a creation unit that creates a directional image based on the direction information and the image information, and a display unit that displays the directional image.

[0007] "Video information" refers to information consisting of images, videos, or a combination of images and videos. "Video information" may also be information expressed as an index value that can be converted into, for example, a video, a video, or a combination of video and videos.

[0008] "Sound information" is information consisting of sound pressure for each predetermined time period. For example, it is expressed as amplitude and frequency. Furthermore, "sound information" may be information expressed as index values ​​that can be converted into amplitude and frequency.

[0009] "Orientation information" refers to information expressed as an orientation, angle, coordinates, or a combination of one or more of these, centered on a moving object. Furthermore, "orientation information" may be information expressed as an index value that can be converted into an orientation, angle, coordinates, or a combination of one or more of these.

[0010] (2) Such a directional image display device preferably further includes a discrimination unit that acquires attribute information related to the attributes of the sound based on the sound information, and the condition satisfies predetermined attribute information.

[0011] "Attribute information" refers to information about the attributes of a sound, such as what kind of sound it is. Examples of "attribute information" include the sound of a car horn, the siren of an ambulance or police car, the horn of a police officer or traffic controller, the braking or collision sounds of other moving objects, disaster warning broadcasts, and other loud sounds resulting from accidents or disasters, such as collision sounds, destruction sounds, and explosion sounds. "Attribute information" may also be information expressed as an index value that can be converted into the information listed above.

[0012] (3) Preferably, the element adding unit adds a display element representing the attribute information to the azimuth image.

[0013] (4) Preferably, the attribute information is a horn sound.

[0014] (5) Another aspect of the present invention is a program for a directional image display device used on a moving body, characterized in that it causes a computer to acquire image information relating to images outside the moving body, acquire sound information relating to sounds generated outside the moving body, identify directional information relating to the direction of the sound for the sound information that satisfies predetermined conditions, create a directional image based on the directional information and the image information, and display the directional image on a display unit.

[0015] (6) It is preferable that the device further includes a sound source identification unit that identifies an image portion corresponding to the sound source from the azimuth image based on the amount of change in the azimuth information over a predetermined time period and the amount of change in the image portion of another moving body in the azimuth image over the predetermined time period, and an element addition unit that adds a display element to the azimuth image that emphasizes the image portion.

[0016] "Location information" is information expressed, for example, by latitude and longitude. Location information may also include altitude. Location information may also be expressed as other index values ​​that can be converted to latitude, longitude, and / or altitude. [Effects of the Invention]

[0017] The situation around the moving object can be easily grasped. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram illustrating an embodiment of a directional video display device. [Figure 2] 1 is a schematic diagram showing an example of the hardware configuration of a directional video display device. [Figure 3] 10 is a flowchart illustrating an embodiment of a processing flow of a directional video display device. [Figure 4] FIG. 2 is a schematic diagram illustrating an example of a data structure of a database. [Figure 5] FIG. 2 is a schematic diagram showing a screen display of a display unit. [Figure 6] FIG. 2 is a schematic diagram showing a screen display of a display unit. DETAILED DESCRIPTION OF THE INVENTION

[0019] [1. Brief description] First Embodiment (Introduction) The directional image display device according to this embodiment provides a moving body / occupant of the moving body with an image of the direction of an external sound such as a horn or siren. This makes it easy to understand the surrounding situation caused by an external sound. For example, it becomes easy to understand the situation, such as whether a sound is directed at the person. In particular, it can support hearing-impaired passengers in understanding driving / external situations.

[0020] [2.Each configuration] (Directional Image Display Device 1) First, the azimuth image display device according to this embodiment will be described using Figure 1. Figure 1 shows the azimuth image display device 1. The azimuth image display device 1 mainly comprises a camera unit 2 that acquires image information 2a relating to images outside the moving body 10, a microphone unit 3 that acquires sound information 3a relating to sounds generated outside the moving body 10, an orientation identification unit 4 that acquires orientation information 4a relating to the orientation of the sound from the sound information 3a that satisfies a predetermined condition 6, a creation unit 5 that creates an orientation image 5a based on the orientation information 4a and the image information 2a, and a display unit 11 that displays the orientation image 5a. The directional image display device 1 further includes a determination unit 7 that acquires attribute information 7a relating to the attribute of the sound based on the sound information 3a.

[0021] (Camera section 2) The camera unit 2 is a conventionally known device equipped with a CCD (Charge Coupled Device) image sensor, a CMOS (Complementary Metal Oxide Semiconductor) image sensor, or the like. In this embodiment, for example, a wide-angle camera is used. A plurality of camera units 2 are provided on the moving body 10. The camera units 2 are preferably arranged so as to cover all-around images including the front, back, left, and right sides of the moving body 10. In this embodiment, for example, the camera units 2 are arranged in four locations: in front, behind, left, and right of the moving body 10. The video information 2a may be a still image, a video, or a group of many still images arranged in chronological order.

[0022] (Microphone section 3) The microphone unit 3 is a sensor that detects sound vibrations. The sensor acquires vibrations caused by air pressure as an electrical signal. The electrical signal is acquired as, for example, amplitude and frequency information. A known sensor may be used for the microphone unit 3. It is preferable to provide multiple microphone units 3. In this embodiment, for example, three to four microphone units 3 are provided at equal intervals around the mobile object 10, including the front, back, left, and right. In the case of a flat surface, it is preferable to arrange three or more microphone units 3 and detect sound in a 360-degree direction centered on the mobile object 10. It is also preferable that the camera unit 2 and microphone unit 3 are provided integrally.

[0023] (Video information 2a, sound information 3a) The camera unit 2 and microphone unit 3 acquire video information 2a and audio information 3a, respectively, from outside the moving object 10. In this embodiment, a predetermined period of information for each of the video information 2a and audio information 3a is stored in the storage unit 31 (see FIG. 2). When storing, old information is successively replaced with new information. The acquired information may be stored in the storage unit 31 all the time, or may be stored at predetermined time intervals.

[0024] Furthermore, a tag consisting of location information and / or time information may be attached to the video information 2 and / or sound information 3a, triggered by the occurrence of an abnormality such as an impact on the mobile object 10 or an abnormal acceleration, or at predetermined time intervals. Note that instead of storing all of the video information 2 and sound information 3a in the storage unit 31, tagged video information 2a and sound information 3a may be stored.

[0025] (Direction identification part 4) The direction identification unit 4 identifies the direction from which the sound came. Sound is sampled simultaneously from the separated microphone units 3, 3. The direction is then detected from the time difference in the arrival of the sound due to the difference in distance between the microphone units 3, 3, and acquired as direction information 4a. Note that known technology may be used to identify the direction.

[0026] (Creation Section 5) The creation unit 5 creates an orientation image 5a based on the orientation information 4a identified by the orientation identification unit 4. The orientation image 5a is created by combining image information 2a from one or more camera units 2 to create an image of the orientation indicated by the orientation information 4a or an approximate orientation. It is also possible to use the video information 2a from the camera unit 2 as is, without synthesizing the video information 2a. In particular, if the orientation in which the camera unit 2 is installed is the same or nearly the same as the orientation information 4a, the video information 2a from the camera unit 2 may be used as is.

[0027] (Condition 6, Discriminator 7) Condition 6 is a criterion for determining whether or not to identify the direction of sound for the acquired sound information 3a. When the sound information 3a satisfies the predetermined condition 6, the direction of the sound is identified. The determination by the determination unit 7 is included in condition 6. The determination unit 7 determines an attribute (attribute information 7a) from the sound information 3a, such as whether it is a siren sound of a police car or a horn sound.

[0028] (Display section 11) The display unit 11 may be, for example, a device that displays a screen such as a liquid crystal display (LCD), a plasma display panel (PDP), or an organic electroluminescence (EL) display. Specifically, a communication device with a display function, such as an in-vehicle device, a smartphone, or a wearable device such as AR glasses, may be used.

[0029] (Vehicle 10, Driver) The mobile object 10 is equipped with a display unit 11. The mobile object 10 may be any vehicle that can travel on public roads, such as a car, motorcycle, bicycle, or electric kick scooter. A driver drives the mobile object 10. In the case of autonomous driving, a driver is not required.

[0030] (Position detection unit 13, position information 13a) The directional image display device 1 includes a position detection unit 13. The position detection unit 13 acquires position information 13a using, for example, a GPS (Global Positioning System) sensor. Note that a positioning method other than the GPS sensor, such as Wi-Fi positioning or beacon positioning, may also be used. The position detection unit 13 may be one installed in a terminal such as an in-vehicle device or a smartphone.

[0031] [3. Hardware configuration] Next, the hardware configuration of the directional image display device 1 will be described with reference to FIG. 2. As shown in FIG. 3, the directional image display device 1 of this embodiment uses, for example, a computer. The directional image display device 1 includes a CPU (or GPU) 30. The CPU 30 is connected via a bus line 35 to, for example, a memory (hereinafter referred to as a storage unit) 31, a connection port 33 for connecting / reading a storage device 32, etc., and a communication circuit 34 for communicating with the outside via a network. The storage unit 31 stores a program 36 for processing the directional image display device 1. A browser program 37 and an OS 38 (operating system) may also be stored. The program 36 is installed in the processing device 1 by the storage device 32. Furthermore, in this embodiment, the storage unit 31 stores a condition 6 (database 8).

[0032] In this embodiment, the program 36 may operate in cooperation with the functions of the OS 38 and the browser program 37. Note that the program 36 may also operate independently without using the browser program 37 and the OS 38.

[0033] In the hardware configuration of the program 36 described above, the functions shown in the function book diagram of FIG. 1 are realized, for example, using the CPU 30 and the program 36, but some or all of them may be sequence-controlled using a logic circuit such as a microcomputer or a PLC (programmable logic controller).

[0034] [4. Program] (Flowchart showing the processing of the directional image display device 1) Next, the flow of processing of the directional video display device 1 will be described with reference to Fig. 3. Fig. 3 is a flow chart showing an embodiment of the processing of the program 36 used in the directional video display device 1.

[0035] (S1: Acquisition of video information 2a and audio information 3a) The camera unit 2 and microphone unit 3 acquire video information 2a and sound information 3a of the surroundings of the moving object 10, respectively.

[0036] (S2: Conditions for identifying the direction of sound) The directional image display device 1 determines whether the acquired sound information 3a satisfies a predetermined condition 6. In this embodiment, the condition 6 is compiled in a database, for example.

[0037] (Database 8) 4 is a schematic diagram showing the data structure of database 8, which is an example of condition 6. Database 8 includes attribute information 7a, amplitude 8a, frequency 8b, and pattern 8c. Pattern 8c is, for example, but is not limited to, the length of a sound, the interval between sound onset and pause, and the pattern of change in sound frequency.

[0038] (S3: Direction identification) Returning to FIG. 3, the directional image display device 1 identifies the direction of the sound (directional information 4a) for the sound information 3a that satisfies the condition 6.

[0039] (S4: Video Creation) The azimuth image display device 1 creates an azimuth image 5a corresponding to the identified azimuth information 4a by combining or directly using one or more pieces of acquired image information 2a. The azimuth image 5a may be a still image or a video. In the case of a still image, a still image of the identified azimuth when the sound is first detected is displayed. Alternatively, the azimuth image 5a may be a still image that is updated at predetermined intervals and displayed.

[0040] (S5:Display) The azimuth image display device 1 displays the azimuth image 5a on the display unit 1. In this embodiment, the center / almost the center of the azimuth image 5a indicates the direction of the sound (direction of the sound source).

[0041] 5. Modifications and Other Embodiments Next, we will explain modified examples and other embodiments of the azimuth image display device 1. The modified examples and other embodiments explained below are almost the same as the above-mentioned azimuth image display device 1, so the same parts are given the same reference numerals and their explanations will be omitted.

[0042] <Variation 1> In the first embodiment, the condition is that all items corresponding to the attribute information 7a in the database 8 are satisfied, but the condition may be that at least one of the amplitude 8a, frequency 8b, and pattern 8c is satisfied. For example, if the amplitude 8a is equal to or greater than a predetermined magnitude, the direction in which a loud sound is coming from around the moving object 10 can be identified and the direction image 5a can be displayed.

[0043] <Variation 2> In the first embodiment, the database 8 is used as the condition 6, but the attribute information 7a may be acquired from the sound information 8a using a model generated by machine learning.

[0044] (Generation of a discriminant model for sound attributes) An example of a method for generating a machine learning model that distinguishes sound attributes is shown below. (1) Data collection: For example, collect sound samples such as the sound of a car horn or a police car siren. These are used as training data. (2) Preprocessing: The sound data of the collected sound samples is a large data set, so the sound data is converted into a format that is easy to handle using well-known techniques such as Fourier transform. (3) Feature extraction: Extract features from the preprocessed data that the machine learning model can learn from. Features include, for example, amplitude, frequency, and characteristics (such as sound duration). (4) Model training: The extracted features are used to train a machine learning model. In this step, a well-known machine learning algorithm such as a neural network is used. (5) Evaluation and optimization: Evaluate the performance of the model and optimize it if necessary. (6) Prediction: When new sound information 3a is input, it predicts whether it is the sound of a horn or a police car siren, and acquires attribute information 7a.

[0045] Second Embodiment (Directional Image Display Device 9) Next, a description will be given of a second embodiment of the directional image display device 1. The directional image display device 9 according to the second embodiment further includes an element adding unit .

[0046] (Element Addition Section 14) The element adding unit 14 adds a display element 16 to the azimuth image 5a (see dashed line in FIG. 3, S6). The element adding unit 14 may also change the azimuth image 5a. For example, the element adding unit 14 may add brightness and darkness to the azimuth image 5a, apply processing to make parts of the image less visible (masking human faces), or delete parts of the image.

[0047] (Display element 16) The display elements 16 may be text, graphics, or a combination of text and graphics, and may provide information about the external situation to passengers of the vehicle 10 or provide warnings.

[0048] 5 shows the screen display of azimuth image 5a to which display element 16 has been added. As shown in the figure, in this embodiment, a tag (display element) 16 indicating attribute information 7a is added. The tag contains text explaining the attribute information 7a. In this embodiment, the text displayed indicates that it is a "horn sound" and that the sound is coming from the "rear left."

[0049] <Third embodiment> Next, a third embodiment of the azimuth image display device 1 will be described. Returning to Fig. 1 (see the two-dot chain line) and Fig. 3 (see the two-dot chain line S7), the azimuth image display device 17 according to the third embodiment identifies the image portion 15a (see Fig. 6) corresponding to the sound source when there are multiple image portions 15 (see Fig. 6) in the azimuth image 5a that are candidates for the sound source. For example, when there are multiple cars in the direction from which a sound came, this makes it easy to determine which car is honking the horn.

[0050] (Directional Image Display Device 17) The azimuth image display device 17 further includes a sound source identifying unit 12 that identifies an image portion 15a corresponding to a sound source from the azimuth image 5a, and an element adding unit 14 that adds a display element 16 to the azimuth image 5a.

[0051] (Sound source identification section 12) The azimuth image display device 17 identifies the image portion 15a corresponding to the sound source from the azimuth image 5a based on the amount of change in the azimuth information 4a over a predetermined time and the amount of change in the image portion 15 in the azimuth image 5a that is a candidate for the sound source over the predetermined time.

[0052] (15 possible video locations for the sound source) In this embodiment, image parts 15 that are candidates for the sound source are identified using an object detection model. When azimuth image 5a is input, the object detection model outputs the results of identifying image parts 15 that are candidates for the sound source.

[0053] (Object detection model) An example of a method for generating a model to detect objects from video is shown below. (1) Data collection: Collect learning data consisting of images and videos of moving objects, etc. The learning data is annotated to indicate the locations of the moving objects. (2) Data preprocessing: Converting the collected data into a format that the model can understand, for example, by normalizing the data. (3) Model selection: For the object detection model, an object detection algorithm such as YOLO (You Only Look Once) or SSD (Single Shot MultiBox Detector) is used. (4) Training: The selected model is trained on the collected training data. During the training process, the model learns how to identify image regions 15 in the azimuth image 5a that are candidates for sound sources. (5) Evaluation and tuning: Evaluate the performance of the trained model. If the performance is insufficient, adjust the parameters to improve the model.

[0054] (amount of change) The amount of change in the direction information 4a is expressed as the amount of change in the direction, angle, and coordinates of the direction information 4a over a given time period, with the position information 13a of the moving object 10 as the reference. The amount of change in the image part 15 that is a candidate for the sound source is expressed as the amount of change in coordinates with the position information 13a of the moving object 10 as the reference. The image portion 15 that is a candidate for the sound source and has the same / almost the same amount of change as the direction information 4a is set as the image portion 15a that corresponds to the sound source.

[0055] (Element Addition Section 14) In this embodiment, the element adding unit 14 adds a display element 16 that emphasizes the image portion 15a corresponding to the sound source to the azimuth image 5a. "Emphasis" means that the image portion 15a corresponding to the sound source is displayed so as to be distinguishable from other image portions.

[0056] (Display element 16) FIG. 6 shows a screen display of azimuth image 5a to which display element 16 has been added. As shown in the figure, in this embodiment, image portion 15a corresponding to the sound source is surrounded by a frame (display element) 16. Note that image portion 15a may be brightened and other image portions may be darkened. Image portion 15a may also be indicated by a tag (see FIG. 5) or an arrow. Furthermore, attribute information 7a may also be displayed after highlighting it.

[0057] [6. Other] (1) The present invention is not limited to the above-described embodiments, and each of the embodiments, each of the modifications, and each of the following technical matters may be combined as appropriate. (2) In addition to the sound information 3a, the azimuth image 5a may be added to acquire the attribute information 7a. For example, the attribute information 7a is provisionally set to the sound of a police car siren based on the sound information 3a, and the image of the police car is confirmed in the azimuth image 5a, and the attribute information 7a is finally determined. (3) When multiple sounds of a predetermined volume or greater are being heard simultaneously outside, the following will show how the azimuth image 5a is displayed. -Displays the image in the direction of the loudest sound. - Images of the direction of the sound are displayed in chronological order, starting from the first sound. In this case, the images may be looped. Priorities may be set in advance, and the image of the direction of the sound with the highest priority may be displayed. For example, if priority is set by attribute, the priority of a siren sound may be set high. If priority is set by direction, the priority may be set high for sounds that are difficult to confirm, such as sounds heard from behind. (4) The display elements 16 may be displayed as figures that represent the attribute information 7a, such as illustrations of a police car, an ambulance, a fire engine, or a police officer. (5) When the azimuth image 5a is displayed, sound may be played from the speaker of the moving object 10. The sound may be the content of the attribute information 7a or sound that has been registered in advance in the storage unit 31 based on the attribute information 7a.

[0058] [7. Summary] (1) The azimuth image display device 1 is characterized by comprising a camera unit 2 that acquires image information 2a relating to images outside the moving body 10, a microphone unit 3 that acquires sound information 3a relating to sounds generated outside the moving body, an orientation identification unit 4 that acquires orientation information 4a relating to the orientation of the sound for sound information that satisfies a predetermined condition 6, a creation unit 5 that creates an orientation image 5a based on the orientation information 4a and the image information 2a, and a display unit 11 that displays the orientation image 5a. It is possible to grasp the image of the direction of an external sound, making it easier for people inside a moving vehicle to recognize and understand the external situation. It can also support drivers with hearing impairments.

[0059] (2) Such a directional image display device 1 further includes a discrimination unit 7 that acquires attribute information 7a related to the attributes of the sound based on the sound information 3a. Since the condition 6 satisfies the predetermined attribute information 7a, it is possible to grasp the attributes of the sound such as the horn sound and the siren sound of an emergency vehicle. (3) Furthermore, the element adding unit 14 adds the display element 16 representing the attribute information 7a to the azimuth image 5a, so that the display element 16 makes it easy to grasp the situation in the azimuth direction from which the sound came.

[0060] (4) Also, if the attribute information 7a is a horn sound, it is possible to grasp the image of the direction in which the horn sound is coming from, so it is easy to grasp the external situation, such as whether it is related to oneself or what situation is causing the horn to sound.

[0061] (5) Another aspect of the program of the present invention is a program 36 for a directional image display device used in a moving body 10, which causes a computer to acquire image information 2a relating to an image outside the moving body 10, acquire sound information 3a relating to a sound generated outside the moving body 10, identify direction information 4a relating to the direction of the sound for sound information 3a that satisfies a predetermined condition 6, create direction image 5a based on the direction information 4a and image information 2a, and display direction image 5a on a display unit 11. It is possible to grasp the image of the direction of an external sound, making it easier for people inside a moving vehicle to recognize and understand the external situation. It can also support drivers with hearing impairments.

[0062] (6) Furthermore, the device further includes a sound source identification unit 12 that identifies an image portion 15a corresponding to the sound source from the azimuth image 5a based on the amount of change in the azimuth information 4 over a predetermined time period and the amount of change in an image portion 15 in the azimuth image 5a that is a candidate for the sound source over the predetermined time period, and an element addition unit 14 that adds a display element 16 that highlights the image portion 15a to the azimuth image 5a. Therefore, even if there are multiple image portions 15 that are candidate for the sound source in the direction from which the sound came, the image portion 15a corresponding to the sound source can be identified, and the external situation can be grasped more accurately. [Explanation of symbols]

[0063] One-directional video display device 2 Camera section 2a Video information 3. Microphone section 3a Sound information 4 Direction identification part 4a Direction information 5. Creation Department 5a Direction video 6 conditions 7 Discrimination section 7a Attribute information 8 Database 8a amplitude 8b frequency 8c pattern 9-directional video display device 10 Mobile 11 Display section 12 Sound source identification section 13 Position detection unit 13a Location information 14 Element Addition Section 15. Video parts that are candidates for sound sources 15a Image part corresponding to the sound source 16 Display elements 17-directional image display device 30 CPU 31 Memory (storage section) 32 Recording Devices 33 connection ports 34 Communication Circuit 35 Bus Line 36 Programs 37 Browser Program 38 OS

Claims

1. a camera unit that acquires video information relating to video outside the moving object; a microphone unit that acquires sound information relating to sounds occurring outside the moving object; a direction identification unit that acquires direction information related to the direction of the sound from the sound information that satisfies a predetermined condition; a creating unit that creates an azimuth image based on the azimuth information and the image information; and a display unit that displays the azimuth image.

2. The apparatus further includes a determination unit that acquires attribute information related to an attribute of the sound based on the sound information, 2. The directional image display device according to claim 1, wherein said condition is that predetermined attribute information is satisfied.

3. The azimuth image display device according to claim 2 , wherein the element adding unit adds a display element representing the attribute information to the azimuth image.

4. 4. The directional image display device according to claim 1, wherein the attribute information is a horn sound.

5. A program for a directional image display device used on a moving body, On the computer, acquiring video information relating to an image outside the moving body; Acquiring sound information relating to sounds occurring outside the moving body; For the sound information that satisfies a predetermined condition, direction information related to the direction from which the sound was made is identified; creating an azimuth image based on the azimuth information and the image information; A program that displays the azimuth image on a display unit.

Images