In-vehicle display device, in-vehicle display device control method, and computer readable storage medium
An in-vehicle display device includes an image acquiring unit, a position predicting unit, and an image converting unit. The image acquiring unit acquires an image obtained by capturing an object existing around a host vehicle by a camera mounted on the host vehicle. The position predicting unit calculates a first positional relationship between the object and the host vehicle at timing T 1 and calculates a second positional relationship between the host vehicle and the object at timing T 2 after timing T 1 based on the image acquired by the image acquiring unit and a capture timing. Furthermore, the position predicting unit predicts a third positional relationship between the host vehicle and the object at timing T 3 after timing T 2 based on the first positional relationship and the second positional relationship. The image converting unit converts the image acquired by the image acquiring unit such that the positional relationship between the host vehicle and the object becomes the third positional relationship predicted by the position predicting unit.
1. An in-vehicle display device comprising:
an image acquirer configured to acquire an image obtained by capturing a following vehicle following a host vehicle by a camera mounted on the host vehicle;
a position predictor configured to calculate a first positional relationship between the host vehicle and the following vehicle at timing T 1 , based on a first image acquired by the image acquirer, and further configured to calculate a second positional relationship between the host vehicle and the following vehicle at timing T 2 after the timing T 1 , based on a second image acquired by the image acquirer, and additionally configured to predict a third positional relationship between the host vehicle and the following vehicle at timing T 3 after the timing T 2 , based on the first positional relationship and the second positional relationship; and
an image converter configured to convert the second image to a third image based on the third positional relationship so as to produce a predictive image at the timing T 3 , and further configured to output the third image to a display.
2. The in-vehicle display device according to claim 1 , wherein the position predictor predicts the third positional relationship, based on a relative speed between the host vehicle and the following vehicle and the second positional relationship, the relative speed being obtained based on the first positional relationship and the second positional relationship.
3. The in-vehicle display device according to claim 1 , wherein the position predictor calculates a fourth positional relationship between the host vehicle and the following vehicle at timing T 0 before the timing T 1 , based on a fourth image acquired by the image acquirer, and predicts the third positional relationship based on:
a relative acceleration obtained based on a first relative speed between the host vehicle and the following vehicle, obtained based on the fourth positional relationship and the first positional relationship, and a second relative speed between the host vehicle and the following vehicle, obtained based on the first positional relationship and the second positional relationship;
a relative speed between the host vehicle and the following vehicle, obtained based on the first positional relationship and the second positional relationship; and
the second positional relationship.
4. A method for controlling an in-vehicle display device for processing an image captured by a camera mounted on a host vehicle so as to display the image on a display, the method comprising:
calculating a first positional relationship at timing T 1 between the host vehicle and a following vehicle following the host vehicle, based on a first image captured by the camera;
calculating a second positional relationship between the host vehicle and the following vehicle at timing T 2 after the timing T 1 , based on a second image captured by the camera;
predicting a third positional relationship between the host vehicle and the following vehicle at timing T 3 after the timing T 2 based on the first positional relationship and the second positional relationship;
converting the second image to a third image based on the third positional relationship so as to produce a predictive image at the timing T 3 ; and
outputting the third image to the display.
5. A non-transitory computer readable storage medium on which is stored a program for causing a computer in connection with an in-vehicle display device for processing an image captured by a camera mounted on a host vehicle so as to display the image on a display, to execute:
calculating a first positional relationship at timing T 1 between the host vehicle and a following vehicle following the host vehicle, based on a first image captured by the camera;
calculating a second positional relationship between the host vehicle and the following vehicle at timing T 2 after the timing T 1 , based on a second image captured by the camera;
predicting a third positional relationship between the host vehicle and the following vehicle at timing T 3 after the timing T 2 based on the first positional relationship and the second positional relationship;
converting the second image to a third image based on the third positional relationship so as to produce a predictive image at the timing T 3 ; and
outputting the third image to the display.
6. The in-vehicle display device according to claim 1 , wherein the display is a rear-view display.
7. The method according to claim 4 , wherein the display is a rear-view display.