Periphery monitoring device
A periphery monitoring device includes: an acquisition section acquiring a steering angle of a vehicle; an image acquisition section acquiring a captured image from an image capturing section that captures an image of a periphery of the vehicle; a detection section acquiring detection information of an object around the vehicle; and a control section causing a display section to display a synthesized image including a vehicle image showing the vehicle and a periphery image showing the periphery of the vehicle based on the captured image. When the object is detected on a course of the vehicle traveling at the steering angle by a predetermined distance, the control section causes a virtual vehicle image to be displayed in the synthesized image to be superimposed on a course to the object with a position of the vehicle as a reference.
1. A periphery monitoring device comprising:
at least one processor configured to implement:
an acquisition section that acquires a current steering angle of a vehicle;
an image acquisition section that acquires a captured image from an image capturing section that captures an image of a periphery of the vehicle;
a detection section that acquires detection information of an object around the vehicle; and
a control section that causes a display to display a synthesized image including a vehicle image showing the vehicle and a periphery image showing the periphery of the vehicle based on the captured image, wherein
when the object is detected on a course when the vehicle travels at the current steering angle by a predetermined distance, the control section causes a virtual vehicle image virtually showing a shape of the vehicle to be displayed in the synthesized image so as to be superimposed on a course to the object with a position of the vehicle, which is shown by the vehicle image, as a reference,
wherein when the detection section detects the object, the control section causes the synthesized image to be displayed in an enlarged manner than in a display state before the object is detected, and
wherein when the synthesized image is displayed in the enlarged manner, the control section performs a shift display in which a display position of the vehicle image is shifted in a direction opposite to a turning direction based on the current steering angle.
2. The periphery monitoring device according to claim 1 , wherein
the virtual vehicle image is movable from the position of the vehicle toward a position of the object.
3. The periphery monitoring device according to claim 2 , wherein
a display form of a partial image in contact with the object in the virtual vehicle image is changed, and
moving of the virtual vehicle image is stopped in the synthesized image at a position where the vehicle travels to a position at which the vehicle comes into contact with the object or to a position immediately before the vehicle is in contact with the object.
4. The periphery monitoring device according to claim 2 , wherein
the control section stops moving of the virtual vehicle image at a position where the vehicle travels to a position at which the vehicle comes into contact with the object or to a position immediately before the vehicle is in contact with the object, and then, when the steering angle is changed from the current steering angle, and the vehicle comes not to be in contact with the object, enables moving of the virtual vehicle image to be started again in a direction according to the changed steering angle.
5. The periphery monitoring device according to claim 3 , wherein
the virtual vehicle image shows the shape of the vehicle formed by polygons, and
the partial image is the polygon being in contact with the object among the polygons forming the virtual vehicle image.
6. The periphery monitoring device according to claim 3 , wherein
the control section changes the display form of the partial image in accordance with a distance between the position of the object and the position of the vehicle shown by the virtual vehicle image.
7. The periphery monitoring device according to claim 6 , wherein
the control section changes the display form of the partial image to a first display form implying the contact when the distance is equal to or smaller than a predetermined value, and changes the display form from the first display form to a second display form implying contact avoidance when the distance is changed from a state of being equal to or smaller than the predetermined value to exceed the predetermined value.
8. The periphery monitoring device according to claim 1 , wherein
the vehicle image is a bird's-eye view image of the vehicle.
9. The periphery monitoring device according to claim 1 , wherein
the virtual vehicle image is an image showing a three-dimensional shape of the vehicle.
10. The periphery monitoring device according to claim 1 , wherein
the virtual vehicle image is a semi-transmissive image showing the shape of the vehicle.
11. The periphery monitoring device according to claim 1 , wherein
the virtual vehicle image is an image in which a contour of the vehicle is displayed in a highlighted manner.
12. The periphery monitoring device according to claim 1 , wherein
the virtual vehicle image is an image having transmittance which increases from a contour of the vehicle to an inside.
13. The periphery monitoring device according to claim 1 , wherein
when the control section performs the enlarged display, the control section reduces a degree of the enlarged display when the vehicle is in a state of being movable backward, in comparison to a case other than the state of being movable backward.
14. The periphery monitoring device according to claim 1 , wherein
when the vehicle is in a state of being movable backward, the control section does not perform the shift display.
15. The periphery monitoring device according to claim 1 , wherein
when the control section sets the virtual vehicle image not to be displayed, the control section brings the synthesized image back to a display state before the object is detected.
16. The periphery monitoring device according to claim 1 , wherein
the control section temporarily causes the virtual vehicle image to be a non-display state, and
the control section cancels the non-display state when a predetermined condition is satisfied.
17. The periphery monitoring device according to claim 16 , wherein
when the control section temporarily causes the virtual vehicle image to be the non-display state, the control section enables redisplay only during a non-display period.
18. The periphery monitoring device according to claim 1 , further comprising:
an operation switch enabling switching of whether or not the virtual vehicle image is displayed on the display, wherein
when the object is not detected on the course when the vehicle travels at the current steering angle by the predetermined distance, and the virtual vehicle image is allowed to be displayed on the display by an operation of the operation switch, the control section changes a display form of the vehicle image.