Information processing device

Abstract

To reduce possibility of collision.SOLUTION: An information processing device 10 comprises an acquisition unit 19 and a control unit 20. The acquisition unit 19 acquires images around a vehicle from at least one camera. The control unit 20 generates a support image obtained by superposing a first partial image on a second partial image by using surrounding images. The first partial image includes a marker. The marker shows a position of the maximum movement part on an outer surface of the vehicle. The maximum movement part is the one moving with the maximum curvature radius behind the minimum movement part in right and left turns. The minimum movement part is the one moving with the minimum curvature radius in the right and left turns. The second partial image includes at least a part of the images of the vehicle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an information processing device. [Background technology]

[0002] In order to draw attention to the possibility of being caught in a vehicle when the vehicle is turning right or left, it has been proposed to display the predicted trajectory of the rear wheels superimposed on a composite image of the vehicle (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-168752 Summary of the Invention [Problem to be solved by the invention]

[0004] Even if the driver can grasp the predicted trajectory of the rear wheels, there is a need to alert the driver to further reduce the possibility of a collision with the vehicle.

[0005] Therefore, an object of the present disclosure, made in consideration of the above-described problems of the conventional technology, is to provide an information processing device that reduces the possibility of a vehicle collision. [Means for solving the problem]

[0006] An information processing device according to a first aspect comprises: When the vehicle turns right or left, a first position on the outer surface of the vehicle from a predetermined interval in the width direction of the vehicle The position separated by a distance of 100 m is obtained by moving the vehicle to the right or left as the vehicle turns right or left. The system has a control unit that issues a warning when the trajectory of the position intersects with an obstacle on the side of the vehicle. death, The control unit determines the predetermined interval based on the length of the vehicle in the front-rear direction. do. [Effects of the Invention]

[0007] According to the information processing device according to the present disclosure configured as described above, the possibility of a vehicle collision is reduced. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a side view of a vehicle equipped with an information processing device according to an embodiment. [Figure 2] FIG. 2 is a top view of the vehicle of FIG. 1. [Figure 3] FIG. 2 is a block diagram showing a schematic configuration of the information processing device of FIG. 1. [Figure 4] FIG. 1 is a diagram showing a movement trajectory of a vehicle when turning left, viewed from vertically above, for explaining a portion of maximum movement and a portion of minimum movement in the vehicle. [Figure 5] 10A and 10B are diagrams showing examples of a left original image and a right original image as support images. [Figure 6] FIG. 10 is a diagram showing an example of a processed side image as a support image. [Figure 7] FIG. 10 is a diagram showing an example of a processed top surface image as a support image. [Figure 8] 10A and 10B are diagrams showing other examples of left and right original images as support images. [Figure 9] FIG. 10 is a diagram showing another example of a processed side image as a support image. [Figure 10] FIG. 10 is a diagram showing another example of a processed top surface image as a support image. [Figure 11] FIG. 10 is a diagram showing yet another example of a left original image and a right original image as support images. [Figure 12] FIG. 10 is a diagram showing yet another example of a processed side image as a support image. [Figure 13] FIG. 10 is a diagram showing yet another example of a processed top surface image as a support image. [Figure 14] 4 is a flowchart for explaining a support image generation process executed by the control unit of FIG. 3. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of an information processing device to which the present disclosure is applied will be described with reference to the drawings.

[0010] 1, an information processing device 10 according to an embodiment may be mounted on a vehicle 11. The vehicle 11 may further include at least one camera 12, a communication device 13, and a display 14. The vehicle 11 may be of any type. The vehicle 11 may be, for example, a truck with a cargo bed on sides that are parallel to the longitudinal direction, a tanker truck, a bus with a relatively long overall length, or the like.

[0011] The camera 12 is provided so as to be able to capture an image of a part of the vehicle 11 as well as the scene around the vehicle 11. The camera 12 may provide the image generated by capturing the image to the information processing device 10 as information.

[0012] As shown in FIG. 2 , in this embodiment, the vehicle 11 includes at least one camera 12, which includes a first camera 15, a second camera 16, a third camera 17, and a fourth camera 18. The first camera 15 is provided so as to be able to capture, for example, a view in front of the vehicle 11. The second camera 16 is provided so as to be able to capture, for example, a view behind the vehicle 11. The third camera 17 is provided so as to be able to capture, for example, a view to the left side and left rear of the vehicle 11. The fourth camera 18 is provided so as to be able to capture, for example, a view to the right side and right rear of the vehicle 11. The optical axes of the first camera 15 to the fourth camera 18 may be perpendicular to the width direction of the vehicle 11.

[0013] The communication device 13 may be capable of wireless communication with an external camera located near the vehicle 11. The external camera may be provided on, for example, a roadside device, another vehicle, a building, or an airborne object such as a drone. The communication device 13 may acquire, from the external camera, an image generated by capturing an image together with the position of the external camera as information.

[0014] The display 14 is disposed in a position visible from the driver's seat. The display 14 may display an assistance image generated by the information processing device 10, which will be described later. The display 14 may be a known type of display, such as a liquid crystal display or a head-mounted display.

[0015] The information processing device 10 generates a support image using images of the surroundings of the vehicle 11 acquired from the camera 12 and an external camera. The configuration of the information processing device 10 will be described below. As shown in FIG. 3, the information processing device 10 includes an input / output interface (acquisition unit) 19 and a control unit 20. The information processing device 10 may further include a storage unit 21.

[0016] The input / output interface 19 acquires images of the surroundings of the vehicle 11 from at least one of the camera 12 and an external camera. The input / output interface 19 may acquire driving information of the vehicle 11 from the vehicle 11. The driving information may include, for example, the speed, acceleration, steering angle, etc. of the vehicle 11. The input / output interface 19 may provide an assistance image generated by the control unit 20 to the display 14, as will be described later.

[0017] The storage unit 21 includes any storage device, such as a RAM (Random Access Memory) and a ROM (Read Only Memory), etc. The storage unit 21 may store various programs that cause the control unit 20 to function and various information that the control unit 20 uses.

[0018] The storage unit 21 may store, for example, a specific position in a three-dimensional coordinate system having the origin at a point determined for the vehicle 11. The specific position is the position of the maximum movement portion.

[0019] As shown in Fig. 4, the maximum movement portion may be a portion of the outer surface of vehicle 11 that moves with the largest radius of curvature in the longitudinal direction of vehicle 11 behind a minimum movement portion, which will be described later, when turning right or left. The maximum movement portion may be a portion of the outer surface of vehicle 11 that moves with the largest radius of curvature in the longitudinal direction of vehicle 11 behind the driver's seat of vehicle 11 when turning right or left. For example, in a configuration in which vehicle 11 is a truck, the maximum movement portion is a portion that has the largest width in the height direction at the rear end of the side of the loading platform in the longitudinal direction. Furthermore, for example, in a configuration in which the side of the loading platform is flat and perpendicular to the width direction, the maximum movement portion is a portion that is at the same position as the rear end of the loading platform and at any position in the vertical direction.

[0020] The minimum movement portion is a portion of the outer surface of the vehicle 11 that moves with the smallest radius of curvature when turning right or left. Specifically, as shown in Fig. 1, the minimum movement portion is a portion that has the greatest width in the height direction at the same position as the rearmost wheel 22 in the fore-and-aft direction of the vehicle 11. For example, in a configuration in which the vehicle 11 is a truck and the side of the loading platform is flat and perpendicular to the width direction, the minimum movement portion is a portion that is at the same position as the rearmost wheel 22 and at any position in the vertical direction.

[0021] The storage unit 21 further stores a transformation formula or transformation table for coordinate transformation that converts a surrounding image acquired from the input / output interface 19 into a composite image in a configuration in which the support image described below includes a composite image based on the surrounding image acquired from the input / output interface 19.

[0022] The control unit 20 includes one or more processors and memories. The processor may include a general-purpose processor that loads a specific program to execute a specific function, and a dedicated processor specialized for a specific process. The dedicated processor may include an application-specific integrated circuit (ASIC). The processor may include a programmable logic device (PLD). The PLD may include a field-programmable gate array (FPGA). The control unit 20 may be either a system-on-a-chip (SoC) or a system in a package (SiP) in which one or more processors work together.

[0023] The control unit 20 generates a support image using an image of the surroundings acquired by the input / output interface 19. The support image is an image in which a first partial image is superimposed on a second partial image. The support image may further include an image in which a third partial image is superimposed on the second partial image. The first partial image is an image including a mark indicating the position of the maximum movement portion or a position further extended by a predetermined distance in the width direction of the vehicle 11 from that position. The predetermined distance is a length considered as a margin to prevent contact with an obstacle on the side of the vehicle 11, and is, for example, but not limited to, 10 cm. The predetermined distance may be arbitrarily determined by a user. Alternatively, the control unit 20 may determine the predetermined distance based on the traveling speed of the vehicle 11. The control unit 20 may acquire the traveling speed of the vehicle 11 and determine the predetermined distance so that it is larger when the traveling speed is faster than when the traveling speed is slower. Alternatively, when the vehicle 11 is a truck with a loading platform, the control unit 20 may determine the predetermined distance based on the weight of the luggage loaded on the loading platform. The control unit 20 may acquire the weight of the luggage from a weight sensor attached to the loading platform, and determine the predetermined interval so that the heavier the luggage is, the larger the predetermined interval is compared to when the luggage is lighter. Alternatively, the control unit 20 may determine the predetermined interval based on the overall length of the vehicle 11, in other words, the length in the front-to-rear direction. The control unit 20 may calculate the overall length of the vehicle 11 from images captured by the third camera 17 or the fourth camera 18, and determine the predetermined interval so that the longer the overall length of the vehicle 11 is, the larger the predetermined interval is compared to when the overall length of the vehicle 11 is shorter. The second partial image is an image of the vehicle 11 equipped with the information processing device 10, which is included in the surrounding image. The second partial image may include an image of at least a part of the vehicle 11. The third partial image is an image including a mark indicating the position of the minimum movement portion or a position further widened by a predetermined interval in the width direction of the vehicle 11 from that position.

[0024] The support image may be an image of the vehicle 11 viewed from a specific viewpoint relative to the vehicle 11. The support image may be a single image or may include multiple images. The support image may include, for example, a side view image and a top view image. The side view image is an image that includes the side of the vehicle 11 as a second partial image. The top view image is an image that includes the top of the vehicle 11 as a partial image, such as an image of the vehicle 11 viewed from above. For example, an image viewed from a viewpoint above the rear or front side of the vehicle 11 may include a side view image and a top view image. The type of image, such as a side view image, to be included in the support image may be determined in advance or may be selected later.

[0025] The support image may be generated by superimposing visual information on an image of the surroundings acquired by the input / output interface 19. For example, as shown in FIG. 5, the side display image included in the support image may include a left original image lri generated by capturing an image by the third camera 17 and a right original image rri generated by capturing an image by the fourth camera 18. As described above, in each of the left original image lri and the right original image rri, a first partial image pi1 that is an image of a landmark indicating a maximum movement portion and a third partial image pi3 that is an image of a landmark indicating a minimum movement portion are superimposed on a second partial image pi2 that is an image of the vehicle 11. In a configuration in which the maximum movement portion and the minimum movement portion are continuous lines, the landmark indicating the portion may be linear, but may also be any single point included in the line or multiple discrete points.

[0026] Alternatively, the support image may be generated by superimposing visual information onto an image that is processed based on the surrounding images. The image that is processed based on the surrounding images may be generated by performing coordinate transformation on a single surrounding image, or by combining multiple surrounding images and performing coordinate transformations as needed.

[0027] Furthermore, the support image generated by the control unit 20 may have a viewpoint at a position away from the vehicle 11.

[0028] For example, the control unit 20 may generate the side display image by processing at least one of the surrounding image generated by the third camera 17 or the fourth camera 18 and the image captured by the external camera, or by combining both. As shown in FIG. 6, the side display image generated by the control unit 20 may be a processed side image psi, which is a transformed image viewed vertically above the vehicle 11. In the processed side image psi, a first partial image pi1, which is an image of a landmark indicating a maximum movement portion, and a third partial image pi3, which is an image of a landmark indicating a minimum movement portion, are superimposed on a second partial image pi2, which is an image of the vehicle 11. In a configuration in which the maximum movement portion and the minimum movement portion are continuous lines, the landmark indicating the portion may be linear, or may be any single point included in the line, or multiple discrete points. Furthermore, as shown in FIG. 7, the top display image generated by the control unit 20 may be a processed top image pti, which is a transformed image viewed vertically above the vehicle 11. In the processed top surface image pti as well, the first partial image pi1 and the third partial image pi3 are superimposed on the second partial image pi2.

[0029] The support image may be an image from a viewpoint that includes a partial image spi of a curbstone located near the vehicle 11. The control unit 20 may determine the position of the viewpoint so that the partial image spi of the curbstone is included in the support image. For example, the viewpoint and angle of view are set in the left original image lri, right original image rri, processed side image psi, and processed top image pti described above so that the partial image spi of the curbstone is included.

[0030] In the support image, the first partial image pi1 may include a trajectory of future movement of the above landmarks as the vehicle 11 travels.

[0031] For example, when the vehicle 11 is traveling straight, in a configuration in which the support images are the left original image lri and the right original image rri, the first partial image pi1 showing the trajectory of the landmark is planar, as shown in Fig. 8. Also, when the vehicle 11 is traveling straight, in a configuration in which the support image is the processed side image psi, the first partial image pi1 showing the trajectory of the landmark is planar, as shown in Fig. 9. Also, when the vehicle 11 is traveling straight, in a configuration in which the support image is the processed top image pti, the first partial image pi1 showing the trajectory of the landmark is linear, as shown in Fig. 10.

[0032] For example, when the vehicle 11 turns right, in a configuration in which the support image is a left original image lri and a right original image rri, the first partial image pi1 and the third partial image pi3 showing the trajectory of the landmark are curved surfaces, as shown in Fig. 11. When the vehicle 11 turns right, in a configuration in which the support image is a processed side image psi, the first partial image pi1 and the third partial image pi3 showing the trajectory of the landmark are curved surfaces, as shown in Fig. 12. When the vehicle 11 turns right, in a configuration in which the support image is a processed top view image pti, the first partial image pi1 and the third partial image pi3 showing the trajectory of the landmark are curved surfaces, as shown in Fig. 13.

[0033] The control unit 20 may superimpose the third partial image pi3 on the second partial image pi2 in preference to the first partial image pi1 on the turning direction side of the vehicle 11 in the left-right direction. For example, the control unit 20 may superimpose only the third partial image pi3 on the turning direction side of the vehicle 11 in the left-right direction. Furthermore, the control unit 20 may superimpose the first partial image pi1 on the second partial image pi2 in preference to the third partial image pi3 on the opposite side of the turning direction of the vehicle 11 in the left-right direction. For example, the control unit 20 may superimpose only the first partial image pi1 on the opposite side of the turning direction of the vehicle 11 in the left-right direction.

[0034] When the vehicle 11 turns right or left, the control unit 20 may calculate the trajectory of the landmark based on the steering angle, speed, etc. of the vehicle 11, and create the first partial image pi1 and the third partial image pi3. If there is a possibility that the vehicle body will tilt when the vehicle 11 turns right or left, the control unit 20 may calculate the trajectory of the tilted landmark and create the first partial image pi1 and the third partial image pi3. The trajectory of the landmark may be the entire trajectory expected from the start to the end of the vehicle 11 turning right or left, or may be a partial trajectory. Depending on the progress of the vehicle 11 turning right or left, the trajectory that has already been passed may be erased or may remain displayed. If the steering angle or speed of the vehicle 11 changes, the control unit 20 may recalculate the trajectory of the landmark and create a new first partial image pi1 and a new third partial image pi3.

[0035] When an obstacle is located to the side of the vehicle 11 in the traveling direction, the control unit 20 may determine whether the obstacle intersects with the trajectory of the landmark. The support image may be created as an image from a viewpoint that includes a partial image of the obstacle. Examples of obstacles include pedestrians, other vehicles, signs, convex mirrors, and road signs around the vehicle 11. The intersection of the obstacle and the trajectory of the landmark causes the position corresponding to the landmark and the position of the obstacle to overlap in real space. In other words, when the position of the landmark is part of the body of the vehicle 11, the intersection of the obstacle and the trajectory of the landmark may cause the vehicle 11 to collide with the obstacle during a right or left turn. When the obstacle intersects with the trajectory of the landmark, the control unit 20 may include a warning display or the like in the support image. The warning display may include a change in the display form of the partial image of the obstacle or the trajectory of the landmark. The change in the display form may include a change in the display color, flashing, or the like. The display form of the trajectory of the mark may be different between the portion intersecting with the obstacle and the other portion. The control unit 20 may emit a warning sound from a speaker instead of or simultaneously with a warning display. The control unit 20 may highlight all or part of the outer edge of a partial image of the obstacle included in the support image, or may display an image indicating the position of the obstacle. When turning right or left, the control unit 20 may determine whether or not an obstacle is present to the side of the vehicle 11 in the traveling direction from the surrounding image acquired by the input / output interface 19, and may display the trajectory of the mark on the display 14 only if an obstacle is present.

[0036] The control unit 20 may provide the support image generated as described above to the display 14 and cause it to be displayed.

[0037] Next, the support image generation process executed by the control unit 20 of the information processing device 10 in this embodiment will be described with reference to the flowchart in Fig. 14. The support image generation process starts periodically, for example, in accordance with the cycle of acquiring surrounding images from the camera 12 and an external camera.

[0038] In step S100, the control unit 20 determines whether the support image includes an image of a type that requires processing based on the surrounding images. If so, the process proceeds to step S101. If not, the process proceeds to step S102.

[0039] In step S101, the control unit 20 processes the surrounding image to generate an image for superimposing the first partial image pi1. After generation, the process proceeds to step S102.

[0040] In step S102, the control unit 20 recognizes the latest steering state based on steering information recently acquired from the vehicle 11. After the recognition, the process proceeds to step S103.

[0041] In step S103, the control unit 20 calculates the trajectory of the movement of the landmark in the image coordinate system for each type of image included in the support image, based on the specific position stored in the storage unit 21 and the operation state recognized in step S102. After the calculation, the process proceeds to step S104.

[0042] In step S104, if there is an obstacle to the side of the vehicle 11 in the traveling direction, the control unit 20 determines whether or not the obstacle intersects with the trajectory of the movement of the landmark calculated in step S103. After the determination, the process proceeds to step S105.

[0043] In step S105, the control unit 20 generates a support image by superimposing the first partial image pi1 and the third partial image pi3, which are the trajectory calculated in step S103, on the image for superimposing the first partial image pi1. Furthermore, the control unit 20 applies image effects, such as blinking, to the support image to clearly indicate obstacles determined to intersect with the trajectory in step S104. Furthermore, the control unit 20 applies the generated support image to the display 14 to display it. After the support image is generated, the support image generation process ends.

[0044] The information processing device 10 of this embodiment configured as described above uses a surrounding image to generate a support image in which a first partial image pi1 including a mark indicating the position of a maximum movement portion that moves with the maximum radius of curvature behind a minimum movement portion that moves with the minimum radius of curvature when turning right or left on the outer surface of the vehicle 11 is superimposed on a second partial image pi2 of the vehicle 11. With this configuration, the information processing device 10 can make the driver visually recognize the maximum movement portion that moves with the maximum radius of curvature behind the minimum movement portion when turning, thereby reducing the possibility of a collision.

[0045] Alternatively, the information processing device 10 of this embodiment uses a surrounding image to generate a support image in which a first partial image pi1 including a mark indicating a position on the outer surface of the vehicle 11 that is further expanded by a predetermined distance in the width direction of the vehicle than the position of an extremely maximum movement portion that moves with the largest radius of curvature and is behind the minimum movement portion that moves with the smallest radius of curvature when turning right or left, is superimposed on a second partial image pi2 of the vehicle 11. With this configuration, the information processing device 10 can make the driver visually recognize the extremely maximum movement portion that moves with the largest radius of curvature and is behind the minimum movement portion when turning, thereby reducing the possibility of a collision.

[0046] Alternatively, the information processing device 10 of this embodiment uses a surrounding image to generate a support image in which a first partial image pi1 including a mark indicating a position on the outer surface of the vehicle 11 behind the driver's seat that is wider by a predetermined distance in the width direction of the vehicle than the position of the maximum movement portion that moves with the largest radius of curvature when turning right or left, or a position wider by a predetermined distance in the width direction of the vehicle than the position, is superimposed on a second partial image pi2 of the vehicle 11. With this configuration, the information processing device 10 can allow the driver to visually recognize the maximum movement portion that moves with the largest radius of curvature behind the driver's seat when turning, thereby reducing the possibility of a collision.

[0047] Furthermore, in the information processing device 10 of this embodiment, the first partial image pi1 includes a trajectory of future movement of the landmark as the vehicle 11 travels. With this configuration, the information processing device 10 can more easily visually recognize a portion of the path behind the driver's seat that is wider than the trajectory along which the driver will pass, which is difficult to grasp when turning. Therefore, the information processing device 10 can further reduce the possibility of a collision.

[0048] Furthermore, when an obstacle is located to the side of the vehicle 11 in the traveling direction, the information processing device 10 of this embodiment determines whether the landmark will intersect with the obstacle on the assumption that the vehicle 11 is turning right or left. With this configuration, the information processing device 10 can clearly make the driver aware of the possibility of a collision between the vehicle 11 and the obstacle.

[0049] Furthermore, in the information processing device 10 of this embodiment, the support image has a side display image that includes the side of the vehicle 11 as a second partial image. In a vehicle 11 that is relatively long, when turning right or left, the side of the vehicle 11 may pass through a position that is more protruding than the portion passed by the front wheels, which may result in a collision with an object located to the side of the vehicle 11. In such an event, the information processing device 10 having the above configuration can allow the driver to visually recognize the side of the vehicle 11, thereby further reducing the possibility of a collision.

[0050] Furthermore, in the information processing device 10 of this embodiment, the support image includes a partial image spi of a curb located near the vehicle 11. With this configuration, the information processing device 10 can reduce the possibility of running over or colliding with a curb when turning right or left.

[0051] Furthermore, in the information processing device 10 of this embodiment, the predetermined interval is determined based on the traveling speed of the vehicle 11 or the length of the vehicle 11 in the longitudinal direction. When the traveling speed of the vehicle 11 is high, there is a high possibility that the vehicle body will tilt significantly when turning right or left. For example, when the traveling speed is high, the predetermined interval may be made larger than when the traveling speed is low. Furthermore, when the body of the vehicle 11 is long in the longitudinal direction, it is more difficult for the vehicle 11 to turn right or left. For example, when the length of the body is long, the predetermined interval may be made larger than when the body is short. With this configuration, the information processing device 10 can avoid contact between the body of the vehicle 11 and an obstacle.

[0052] Furthermore, the information processing device 10 of this embodiment determines the predetermined interval based on the weight of the luggage loaded on the bed. When the luggage loaded on the bed of the vehicle 11 is heavy, there is a high possibility that the vehicle body will tilt significantly when turning right or left. For example, when the luggage is heavy, the predetermined interval may be set larger than when the luggage is light. With this configuration, the information processing device 10 can avoid contact between the vehicle body of the vehicle 11 and an obstacle.

[0053] In one embodiment, (1) an information processing device includes: an acquisition unit that acquires an image of the surroundings of the vehicle from at least one camera; The device is equipped with a control unit that uses the surrounding image to generate an assistance image in which a first partial image including a mark indicating the position of a maximum movement portion on the outer surface of the vehicle that moves with a maximum radius of curvature behind a minimum movement portion that moves with a minimum radius of curvature when turning right or left is superimposed on a second partial image including an image of at least a portion of the vehicle.

[0054] In another embodiment, (2) the information processing device an acquisition unit that acquires an image of the surroundings of the vehicle from at least one camera; The device is equipped with a control unit that uses the surrounding image to generate an assistance image in which a first partial image including a mark indicating a position on the outer surface of the vehicle that is wider in the width direction of the vehicle by a predetermined interval than the position of the maximum movement portion that moves with the largest radius of curvature and behind the minimum movement portion that moves with the smallest radius of curvature when turning right or left, is superimposed on a second partial image that includes an image of at least a portion of the vehicle.

[0055] In another embodiment, (3) the information processing device an acquisition unit that acquires an image of the surroundings of a vehicle having a driver's seat from at least one camera; and a control unit that uses the surrounding image to generate an assistance image in which a first partial image including a mark indicating the position of the maximum movement part of the outer surface of the vehicle that moves with the largest radius of curvature when turning right or left, which is behind the driver's seat, or a position further widened by a predetermined interval in the width direction of the vehicle than that position, is superimposed on a second partial image including an image of at least a part of the vehicle.

[0056] (4) In any of the information processing devices (1) to (3), The first partial image includes a trajectory of future movement of the landmark as the vehicle travels.

[0057] (5) In any of the information processing devices described in (1) to (4), When an obstacle is located to the side of the vehicle in the traveling direction, the control unit determines whether the landmark intersects with the obstacle during a right or left turn of the vehicle.

[0058] (6) In any of the information processing devices described in (1) to (5), the vehicle is a truck having a bed, the minimum movement portion is a portion having a maximum width at the same position as the rearmost wheel of the vehicle, The maximum movement portion is a portion of the side surface of the loading platform that has the greatest width at the rear end in the front-rear direction.

[0059] (7) In any of the information processing devices described in (1) to (6), The support image includes a side view image including a side of the vehicle as the second partial image.

[0060] (8) In the information processing device of (7) above, The side display image is an image viewed from a point vertically above the vehicle.

[0061] (9) In any of the information processing devices described in (1) to (8), The support image includes a partial image of a curb located near the vehicle.

[0062] (10) In any of the information processing devices described in (1) to (9), The support image includes a top view image of the vehicle.

[0063] (11) In the information processing device of (2) above, The control unit determines the predetermined interval based on the traveling speed of the vehicle or the length of the vehicle in the front-to-rear direction.

[0064] (12) In the information processing device of (2) above, the vehicle is a truck having a bed, The control unit determines the predetermined interval based on the weight of the luggage loaded on the loading platform.

[0065] The above has described an embodiment of the information processing device 10, but the embodiment of the present disclosure can also be implemented as a method or program for implementing the device, as well as a storage medium on which a program is recorded (for example, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a CD-RW, a magnetic tape, a hard disk, or a memory card, etc.).

[0066] Furthermore, the implementation form of the program is not limited to application programs such as object code compiled by a compiler or program code executed by an interpreter, but may also be in the form of a program module incorporated into an operating system. Furthermore, the program may or may not be configured so that all processing is performed solely by the CPU on the control board. The program may also be configured so that part or all of it is executed by another processing unit mounted on an expansion board or expansion unit added to the board as needed.

[0067] The drawings illustrating the embodiments of the present disclosure are schematic, and the dimensional ratios and the like in the drawings do not necessarily correspond to the actual ones.

[0068] Although the embodiments of the present disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art could make various modifications or alterations based on the present disclosure. Therefore, it should be noted that these modifications or alterations are included in the scope of the present disclosure. For example, the functions included in each component can be rearranged so as not to cause logical inconsistencies, and multiple components can be combined or divided into one.

[0069] In an embodiment according to the present disclosure, a support image is generated for the landmark included in the first partial image pi1, indicating the position of the maximum movement portion of the vehicle 11. However, this is not limited to this. For example, a support image may be generated for the landmark included in the first partial image pi1, indicating any position on the outer edge of the vehicle 11 designated by the user.

[0070] All of the features described in this disclosure and / or all steps of all of the disclosed methods or processes may be combined in any combination except combinations in which these features are mutually exclusive. Furthermore, each feature described in this disclosure may be replaced by an alternative feature serving the same, equivalent, or similar purpose, unless expressly denied. Thus, unless expressly denied, each disclosed feature is only one example of a generic series of identical or equivalent features.

[0071] Furthermore, embodiments of the present disclosure are not limited to the specific configurations of any of the above-described embodiments, but rather extend to any novel feature or combination thereof described herein, or any novel method or process step or combination thereof described herein.

[0072] In this disclosure, descriptions such as "first" and "second" are identifiers for distinguishing the configuration. In this disclosure, the configurations distinguished by descriptions such as "first" and "second" can have their numbers exchanged. For example, a first camera can exchange the identifiers "first" and "second" with a second camera. The exchange of identifiers is performed simultaneously. The configurations remain distinguished even after the identifier exchange. Identifiers may be deleted. A configuration from which an identifier has been deleted is distinguished by a symbol. The descriptions of identifiers such as "first" and "second" in this disclosure should not be used solely to interpret the order of the configurations or to justify the existence of an identifier with a smaller number. [Explanation of symbols]

[0073] 10. Information processing equipment 11 vehicles 12 Camera 13. Communications equipment 14 Display 15 First Camera 16 Second Camera 17 The Third Camera 18 The Fourth Camera 19 Input / output interface (acquisition section) 20 Control Unit 21 Memory section 22 Rearmost Wheel lri left original image pi1 First subimage pi2 Second subimage pi3 Third subimage PSI processed side image PTI processing top image rri right original image spi Partial image of curb

Claims

1. a control unit that issues a warning when, when the vehicle turns right or left, a locus of a position obtained by moving a position that is spaced a predetermined distance from a first position on an outer surface of the vehicle in a width direction of the vehicle as the vehicle turns right or left intersects with an obstacle on the side of the vehicle in a traveling direction; The control unit is an information processing device that determines the predetermined distance based on the length of the vehicle in the front-to-rear direction.

2. The information processing device according to claim 1 , wherein the first position is a position of a maximum movement portion where the vehicle moves with a maximum radius of curvature when turning right or left.

3. The information processing device according to claim 1 , wherein the control unit determines the predetermined interval based on a traveling speed of the vehicle.

4. The information processing device according to claim 1 , wherein the control unit determines the predetermined interval based on a weight of luggage carried on the vehicle.

5. an interface for acquiring an image of the surroundings including the side of the vehicle; The information processing device according to claim 1 , wherein the control unit calculates a longitudinal length of the vehicle based on the image.

6. an interface for acquiring an image of the surroundings including the side of the vehicle; The information processing device described in claim 1, wherein the control unit generates an assistance image using the surrounding image, in which a first partial image showing a trajectory of positions spread apart by a predetermined interval in the width direction of the vehicle from the first position is superimposed on a second partial image including an image of at least a portion of the vehicle.

7. The information processing device according to claim 1 , wherein the control unit outputs a warning sound from a speaker as the warning.

Images