Display processing device, display processing method, and recording medium
A display processing device is installed in a vehicle. The display processing device includes a hardware processor coupled to a memory. The processor acquires an image obtained by capturing a periphery of the vehicle and generates a bird's-eye view image of the periphery of the vehicle. The processor estimates a movement amount of the vehicle and generates past images whose capturing times are past time points. The past images are generated on the basis of the movement amount of the vehicle and a past bird's-eye view image. The processor generates a display image to be displayed on a display device in the vehicle by combining the past images and the bird's-eye view image. When occurrence of a skid phenomenon of the wheel is detected, the processor generates the display image by performing, on the past images, processing indicating that the skid phenomenon has occurred.
1. A display processing device installed in a vehicle, the display processing device comprising:
a hardware processor coupled to a memory and configured to:
acquire an image obtained by capturing a periphery of the vehicle;
generate a bird's-eye view image of the periphery of the vehicle on the basis of the image;
estimate a movement amount of the vehicle on the basis of a rotation amount of a wheel detected by the vehicle;
generate one or more past images whose capturing times are past time points, the one or more past images being generated on the basis of the movement amount of the vehicle and a past bird's-eye view image being the bird's-eye image stored at a past time point; and
generate a display image to be displayed on a display device in the vehicle, the display image being generated by combining the one or more past images and the bird's-eye view image,
wherein, when occurrence of a skid phenomenon of the wheel is detected, the hardware processor generates the display image by performing, on the one or more past images, processing indicating that the skid phenomenon has occurred.
2. The display processing device according to claim 1 , wherein the hardware processor is configured to
perform the processing indicating that the skid phenomenon has occurred, only on the one or more past images whose capturing times are before the occurrence of the skid phenomenon, and
generate, even when the skid phenomenon is detected, the display image in combination with the bird's-eye view image without performing the processing indicating that the skid phenomenon has occurred on one or more past images whose capturing times are after the occurrence of the skid phenomenon.
3. The display processing device according to claim 1 , wherein the hardware processor is configured to detect the skid phenomenon on the basis of the rotation amount of the wheel or an acceleration detected by the vehicle.
4. The display processing device according to claim 1 , wherein the hardware processor is configured to
estimate a skid period, a skid speed, or a skid width in the skid phenomenon, and
generate the display image without performing the processing indicating that the skid phenomenon has occurred, the display image being generated in a case where the skid period, the skid speed, or the skid width is less than a predetermined threshold value.
5. The display processing device according to claim 4 , wherein
the hardware processor is configured to perform, on the one or more past images, the processing indicating that the skid phenomenon has occurred, the processing being performed in a case where the skid period, the skid speed, or the skid width is equal to or greater than the predetermined threshold value, and
the processing indicating that the skid phenomenon has occurred is processing of hiding the one or more past images or processing of adding an indication indicating that the skid phenomenon has occurred.
6. The display processing device according to claim 5 , wherein the hardware processor is configured to
perform the processing of adding the indication indicating that the skid phenomenon has occurred to the one or more past images as the processing indicating that the skid phenomenon has occurred, the processing being performed in a case where the skid period, the skid speed, or the skid width is equal to or greater than a first threshold value and less than a second threshold value, the second threshold value being greater than the first threshold value, and
perform the processing of hiding the one or more past images as the processing indicating that the skid phenomenon has occurred, the processing being performed in a case where the skid period, the skid speed, or the skid width is equal to or greater than the second threshold value.
7. The display processing device according to claim 1 , wherein the hardware processor is configured to perform processing of adding an indication indicating the number of times of occurrence of the skid phenomenon to the one or more past images as the processing indicating that the skid phenomenon has occurred.
8. The display processing device according to claim 1 , wherein the hardware processor is configured to
estimate a skid direction in the skid phenomenon, and
perform processing of adding an indication indicating the skid direction to the one or more past images as the processing indicating that the skid phenomenon has occurred.
9. The display processing device according to claim 1 , wherein the hardware processor is configured to performs the processing indicating that the skid phenomenon has occurred on all the past images to be displayed in combination with the bird's-eye view image, the processing being performed in a case where the skid phenomenon is detected continuously or intermittently.
10. The display processing device according to claim 1 , wherein the hardware processor is configured to cancel or change at least part of the processing performed on the one or more past images, the cancelation or change being performed in a case where a speed of the vehicle is less than a predetermined value or in a case where an operation is performed by an occupant of the vehicle.
11. The display processing device according to claim 10 , wherein the hardware processor is configured not to cancel the cancelation or change of the processing even if the speed of the vehicle exceeds the predetermined value after the operation by the occupant of the vehicle is performed when the speed of the vehicle is less than the predetermined value.
12. The display processing device according to claim 1 , wherein the hardware processor is configured to
detect a touch operation on the display device, and
perform processing of moving display positions of the one or more past images in the display image in response to the touch operation by an occupant of the vehicle.
13. The display processing device according to claim 10 , wherein the hardware processor is configured not to accept the operation by the occupant of the vehicle and the touch operation by the occupant of the vehicle in a case where the operation by the occupant of the vehicle or the touch operation by the occupant of the vehicle is performed and the speed of the vehicle is equal to or greater than the predetermined value.
14. A display processing method comprising:
acquiring an image obtained by capturing a periphery of the vehicle;
generating a bird's-eye view image of the periphery of the vehicle on the basis of the image;
estimating a movement amount of the vehicle on the basis of a rotation amount of a wheel detected by the vehicle;
generating one or more past images whose capturing times are past time points, the one or more past images being generated on the basis of the movement amount of the vehicle and a past bird's-eye view image being the bird's-eye image stored at a past time point; and
generating a display image to be displayed on a display device in the vehicle, the display image being generated by combining the one or more past images and the bird's-eye view image,
wherein, when occurrence of a skid phenomenon of the wheel is detected, the generating of the display image is performed by performing, on the one or more past images, processing indicating that the skid phenomenon has occurred.
15. A non-transitory computer-readable recording medium on which programmed instructions are recorded, the instructions causing a computer to:
acquire an image obtained by capturing a periphery of the vehicle;
generate a bird's-eye view image of the periphery of the vehicle on the basis of the image;
estimate a movement amount of the vehicle on the basis of a rotation amount of a wheel detected by the vehicle;
generate one or more past images whose capturing times are past time points, the one or more past images being generated on the basis of the movement amount of the vehicle and a past bird's-eye view image being the bird's-eye image stored at a past time point;
generate a display image to be displayed on a display device in the vehicle, the display image being generated by combining the one or more past images and the bird's-eye view image; and,
when occurrence of a skid phenomenon of the wheel is detected, generate the display image by performing, on the one or more past images, processing indicating that the skid phenomenon has occurred.