Image processing device for vehicle
An image processing device for a vehicle includes: an acquisition unit acquiring a captured image of a periphery of a vehicle, which is captured by an imaging unit provided in the vehicle; a bird's eye view image generating unit generating a bird's eye view image in which the captured image is projected to a 3D virtual projection plane provided at a side opposite to the vehicle with reference to a ground and separated from the ground with distance from the vehicle; a guide line generating unit generating a guide line indicating a predicted course of the vehicle; a conversion unit converting the guide line into a virtual guide line indicating the predicted course on the virtual projection plane; and a superimposing unit superimposing the virtual guide line on the bird's eye view image.
1. An image processing device for a vehicle, comprising:
an electronic control unit configured to
acquire a captured image of a periphery of a vehicle;
generate a bird's eye view image in which the captured image is projected to a 3D virtual projection plane, the vehicle and the 3D virtual projection plane being provided at opposite sides of a ground with which a tire of the vehicle is in contact, and the 3D virtual projection plane extends under the ground away from the vehicle;
generate a guide line that indicates a predicted course of the vehicle;
convert the guide line into a virtual guide line indicating the predicted course of the vehicle on the virtual projection plane; and
superimpose the virtual guide line on the bird's eye view image.
2. The image processing device for a vehicle according to claim 1 , wherein the electronic control unit is configured to generate a bird's eye view image of a virtual lens shape in which the captured image is projected to the virtual projection plane through a virtual plane corresponding to the ground.
3. The image processing device for a vehicle according to claim 1 , wherein electronic control unit is configured to generate a bird's eye view image of a virtual lens type based on any one of a plurality of conversion techniques depending on a kind of a virtual lens.
4. An image processing method for a vehicle, comprising:
acquiring a captured image of a periphery of a vehicle;
generating a bird's eye view image in which the captured image is projected to a 3D virtual projection plane, the vehicle and the 3D virtual projection plane being provided at opposite sides of a ground with which a tire of the vehicle in contact, and the 3D virtual projection plane extends under the ground away from the vehicle;
generating a guide line that indicates a predicted course of the vehicle;
converting the guide line into a virtual guide line indicating the predicted course of the vehicle on the virtual projection plane; and
superimposing the virtual guide line on the bird's eye view image.
5. The image processing method for a vehicle according to claim 4 , wherein a bird's eye view image of a virtual lens shape, in which the captured image is projected to the virtual projection plane through a virtual plane corresponding to the ground, is generated.
6. The image processing method for a vehicle according to claim 4 , wherein a bird's eye view image of a virtual lens type, based on any one of a plurality of conversion techniques depending on a kind of a virtual lens, is generated.