Vehicle periphery display device

A vehicle periphery display device includes: an acquisition portion acquiring a captured image obtained by imaging a periphery of a vehicle with an imaging portion; and a display processing portion causing a display image that is a stereoscopic image of the vehicle and the periphery of the vehicle to be displayed on a display portion on the basis of the captured image. The display processing portion causes at least one of a contour guide line representing a contour of the vehicle, and a predicted course guide line that is a trajectory drawn by the contour guide line according to movement of the vehicle to be included in the display image, and changes a position of at least one of the contour guide and predicted course guide lines such that the contour guide and predicted course guide lines are present above a road surface when the vehicle is turned.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. § 119 to Japanese Patent Application 2019-131406, filed on Jul. 16, 2019, the entire content of which is incorporated herein by reference.

TECHNICAL FIELD

Embodiments of this disclosure relate to a vehicle periphery display device.

BACKGROUND DISCUSSION

A technique has been developed in which, when a stereoscopic image of a vehicle and the periphery thereof is displayed as a display image is displayed on a display portion on the basis of captured images obtained by imaging the vehicle and the periphery thereof with an imaging portion, the display image includes a contour guide line representing a contour of the vehicle, and a predicted course guide line that is a trajectory drawn by an end of the contour guide line according to movement of the vehicle.

However, in the above technique, since the contour guide line is displayed at a fixed position with respect to a position of an image of the vehicle in the display image, in a case where an image of an object (obstacle) floating from a road surface is included in the display image, there is a probability that an occupant who sees the display image may misunderstand a distance from the vehicle to the object, and thus the vehicle may collide with the object.

A need thus exists for a vehicle periphery display device which is not susceptible to the drawback mentioned above.

SUMMARY

A vehicle periphery display device according to an embodiment includes, as an example, an acquisition portion that acquires a captured image obtained by imaging a periphery of a vehicle with an imaging portion; and a display processing portion that causes a display image that is a stereoscopic image of the vehicle and the periphery of the vehicle to be displayed on a display portion on the basis of the captured image, in which the display processing portion causes at least one of a contour guide line representing a contour of the vehicle, and a predicted course guide line that is a trajectory drawn by the contour guide line according to movement of the vehicle to be included in the display image, and changes a position of at least one of the contour guide line and the predicted course guide line such that the contour guide line and the predicted course guide line are present above a road surface in a case where the vehicle is turned.

DETAILED DESCRIPTION

Hereinafter, exemplary embodiments disclosed here will be described. The configurations of the embodiments described below and the operations, results, and effects provided by the configurations are examples. The present disclosure can be realized by configurations other than those disclosed in the following embodiments, and can achieve at least one of various effects based on the fundamental configuration and derivative effects.

First Embodiment

FIG. 1is an exemplary and schematic diagram illustrating a configuration of a vehicle cabin of a vehicle according to a first embodiment.FIG. 2is an exemplary and schematic view illustrating an appearance of the vehicle according to the first embodiment, viewed from above.

First, an example of a hardware configuration of a vehicle to which a vehicle periphery display device according to the present embodiment is applied will be described with reference toFIGS. 1 and 2.

As illustrated inFIG. 1, a vehicle1according to the present embodiment has a vehicle cabin2ain which occupants including a driver as a user gets. In the vehicle cabin2a,a braking portion (braking operation portion)301a,an acceleration portion (acceleration operation portion)302a,a steering portion303a,a shift portion (shift operation portion)304a,and the like are provided to be operable by the user from a seat2b.

The braking portion301ais, for example, a brake pedal provided under the drivers foot. The acceleration portion302ais, for example, an accelerator pedal provided under the drivers foot. The steering portion303ais, for example, a steering wheel protruding from a dashboard (instrument panel). The steering portion303amay be a handle. The shift portion304ais, for example, a shift lever protruding from the center console.

A monitor device11having a display portion8capable of outputting various images and a sound output portion9capable of outputting various sounds is provided in the vehicle cabin2a.The monitor device11is provided, for example, in the central portion in the width direction (left-right direction) of the dashboard in the vehicle cabin2a.The display portion8is, for example, a liquid crystal display (LCD) or an organic electroluminescence display (OELD).

An operation input portion10is provided on a display screen as a region in which an image is displayed on the display portion8. The operation input portion10is, for example, a touch panel capable of detecting coordinates of a position where a pointer such as a finger or a stylus approaches (including contact). Consequently, the user (driver) can visually recognize an image displayed on the display screen of the display portion8and perform a touch (tap) operation or the like using the indicator on the operation input portion10, to execute various operation inputs.

In the present embodiment, the operation input portion10may be various physical interfaces such as switches, dials, joysticks, and push buttons. In the present embodiment, another sound output device may be provided at a position different from the position of the monitor device11in the vehicle cabin2a.In this case, various pieces of sound information may be output from both of the sound output portion9and another sound output device. In the present embodiment, the monitor device11may be configured to be able to display information regarding various systems such as a navigation system and an audio system.

As illustrated inFIGS. 1 and 2, the vehicle1according to the present embodiment is configured with a four-wheeled vehicle having two front vehicle wheels3F on the left and right and two rear vehicle wheels3R on the left and right. Hereinafter, for simplification, the front vehicle wheels3F and the rear vehicle wheels3R may be collectively referred to as vehicle wheels3. In the embodiment, sideslip angles of some or all of the four vehicle wheels are changed (turned) according to an operation on the steering portion303a.

The vehicle1is equipped with a plurality of (four in the example illustrated inFIGS. 1 and 2) in-vehicle cameras15ato15das imaging portions for monitoring the periphery. The in-vehicle camera15ais provided at a rear end2eof a vehicle body2(for example, below a rear trunk door2h), and images a rearward region of the vehicle1. The in-vehicle camera15bis provided on a side-view mirror2gat a right end2fof the vehicle body2, and images a rightward region of the vehicle1. The in-vehicle camera15cis provided at a front end2c(for example, a front bumper) of the vehicle body2, and images a frontward region of the vehicle1. The in-vehicle camera15dis provided on a side-view mirror2gat a left end2dof the vehicle body2, and images a leftward region of the vehicle1. Hereinafter, for simplification, the in-vehicle cameras15ato15dwill be collectively referred to as the in-vehicle camera15in some cases.

The in-vehicle camera15is a so-called digital camera having an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) image sensor. The in-vehicle camera15images the surroundings (periphery) of the vehicle1at a predetermined frame rate, and outputs image data of a captured image obtained through the imaging. The image data obtained by the in-vehicle camera15may form a moving image as a frame image.

FIG. 3is an exemplary and schematic block diagram illustrating the system configuration of the vehicle according to the first embodiment.

Next, with reference toFIG. 3, a system configuration provided for realizing various types of control in the vehicle1according to the embodiment will be described. The system configuration illustrated inFIG. 3is only an example, and may be variously set (changed).

As illustrated inFIG. 3, the vehicle1according to the present embodiment includes a braking system301, an acceleration system302, a steering system303, a shift system304, an obstacle sensor305, and a traveling state sensor306, the in-vehicle camera15, the monitor device11, a control device310, and an in-vehicle network350.

The braking system301controls deceleration of the vehicle1. The braking system301includes the braking portion301a,a braking control portion301b,and a braking portion sensor301c.

The braking portion301ais a device for decelerating the vehicle1, such as the above-described brake pedal.

The braking control portion301bis, for example, a microcomputer having a hardware processor such as a central processing unit (CPU). The braking control portion301bcontrols, for example, the extent of deceleration of the vehicle1by driving an actuator (not illustrated) and operating the braking portion301aon the basis of an instruction that is input via the in-vehicle network350.

The braking portion sensor301cis a sensing device that detects a state of the braking portion301a.For example, in a case where the braking portion301ais configured with a brake pedal, the braking portion sensor301cdetects a position of the brake pedal or the pressure acting on the brake pedal as a state of the braking portion301a.The braking portion sensor301coutputs the detected state of the braking portion301ato the in-vehicle network350.

The acceleration system302controls acceleration of the vehicle1. The acceleration system302has the acceleration portion302a,an acceleration control portion302b,and an acceleration portion sensor302c.

The acceleration portion302ais a device for accelerating the vehicle1, such as the accelerator pedal described above.

The acceleration control portion302bis configured with, for example, a microcomputer having a hardware processor such as a CPU. The acceleration control portion302bcontrols, for example, the extent of acceleration of the vehicle1by driving an actuator (not illustrated) and operating the acceleration portion302aon the basis of an instruction that is input via the in-vehicle network350.

The acceleration portion sensor302cis a sensing device that detects a state of the acceleration portion302a.For example, in a case where the acceleration portion302ais configured with an accelerator pedal, the acceleration portion sensor302cdetects a position of the accelerator pedal or the pressure acting on the accelerator pedal. The acceleration portion sensor302coutputs the detected state of the acceleration portion302ato the in-vehicle network350.

The steering system303controls an advancing direction of the vehicle1. The steering system303includes the steering portion303a,a steering control portion303b,and a steering portion sensor303c.

The steering portion303ais a device that turns the turning wheels of the vehicle1, such as the above-described steering wheel or handle.

The steering control portion303bis configured with, for example, a microcomputer having a hardware processor such as a CPU. The steering control portion303bcontrols, for example, an advancing direction of the vehicle1by driving an actuator (not illustrated) and operating the steering portion303aon the basis of an instruction that is input via the in-vehicle network350.

The steering portion sensor303cis a sensing device that detects a state of the steering portion303a,that is, a steering angle sensor that detects a steering angle of the steering portion303a.For example, in a case where the steering portion303ais configured with a steering wheel, the steering portion sensor303cdetects a position of the steering wheel or a rotation angle of the steering wheel. In a case where the steering portion303ais configured with a handle, the steering portion sensor303cmay detect a position of the handle or the pressure acting on the handle. The steering portion sensor303coutputs the detected state of the steering portion303ato the in-vehicle network350.

The shift system304controls a gear ratio of the vehicle1. The shift system304includes the shift portion304a,a shift control portion304b,and a shift portion sensor304c.

The shift portion304ais a device that changes a gear ratio of the vehicle1, such as the shift lever described above.

The shift control portion304bis configured with a computer having a hardware processor such as a CPU. The shift control portion304bcontrols, for example, a gear ratio of the vehicle1by driving an actuator (not illustrated) operating the shift portion304aon the basis of an instruction that is input via the in-vehicle network350.

The shift portion sensor304cis a sensing device that detects a state of the shift portion304a.For example, in a case where the shift portion304ais configured with a shift lever, the shift portion sensor304cdetects a position of the shift lever or the pressure acting on the shift lever. The shift portion sensor304coutputs the detected state of the shift portion304ato the in-vehicle network350.

The obstacle sensor305is a sensing device that detects information regarding an object (obstacle) that may be present around the vehicle1. The obstacle sensor305includes, for example, a range finding sensor that acquires a distance to an object present around the vehicle1. The range finding sensor may employ, for example, a sonar that transmits a sound wave and obtains a distance by receiving a sound wave reflected by an object present around the vehicle1, or a laser radar that transmits a radio wave such as light and acquires a distance by receiving a radio wave reflected by an object present around the vehicle1. The obstacle sensor305outputs the detected information to the in-vehicle network350.

The traveling state sensor306is a device that detects a traveling state of the vehicle1. The traveling state sensor306is, for example, a vehicle wheel sensor that detects a vehicle wheel speed of the vehicle1, an acceleration sensor that detects an acceleration of the vehicle1in a front-rear direction or a leftward-rightward direction, or a gyro sensor that detects a turning speed (angular speed) of the vehicle1. The traveling state sensor306outputs the detected traveling state to the in-vehicle network350.

The control device310is a device that integrally controls various systems provided in the vehicle1. As details will be described later, the control device310according to the present embodiment has a function of generating a display image that is a stereoscopic image of the vehicle1and the periphery thereof on the basis of image data (captured image) as a result of imaging in the in-vehicle camera15, and displaying the generated display image on the display portion8.

In the present embodiment, the display image is a stereoscopic image in which a three-dimensional space having a vehicle image that is a stereoscopic image of the vehicle1and a projection region that is located around the vehicle image and onto which a captured image is projected through projection conversion is viewed from a viewpoint located obliquely above the vehicle image. Alternatively, the display image may be a captured image obtained by imaging with the in-vehicle camera15.

The control device310is configured with an electronic control unit (ECU) including a central processing unit (CPU)310a,a read only memory (ROM)310b,a random access memory (RAM)310c,a solid state drive (SSD)310d,a display control section310e,and a sound control portion310f.

The CPU310ais a hardware processor that integrally controls the control device310. The CPU310areads various control programs (computer programs) stored in the ROM310bor the like, and realizes various functions according to instructions defined in the various control programs. Here, the various control programs include a display control program for realizing the display control process for displaying a display image as described above.

The ROM310bis a nonvolatile main storage device that stores parameters and the like necessary for executing the above-described various control programs.

The RAM310cis a volatile main storage device that provides a work area for the CPU310a.

The SSD310dis a rewritable nonvolatile auxiliary storage device. In the control device310according to the embodiment, a hard disk drive (HDD) may be provided as an auxiliary storage device instead of the SSD310d(or in addition to the SSD310d).

The display control section310emainly performs image processing on a captured image obtained from the in-vehicle camera15or generates image data to be output to the display portion8of the monitor device11among various processes that can be executed by the control device310.

The sound control portion310fmainly generates sound data to be output to the sound output portion9of the monitor device11among the various processes that can be executed by the control device310.

The in-vehicle network350communicably connects the braking system301, the acceleration system302, the steering system303, the shift system304, the obstacle sensor305, the traveling state sensor306, the operation input portion10of the monitor device11, and the control device310to each other.

Meanwhile, various techniques for notifying an occupant of situations of the vehicle1and the periphery thereof by using the display image have been examined. For example, a technique has been examined in which a line (hereinafter, referred to as a contour guide line) representing a contour of the vehicle1and a trajectory (hereinafter, a predicted course guide line Technology) drawn by an end of the contour guide line according to movement of the vehicle1is included in a display image. According to this technique, it is possible to notify an occupant of a positional relationship between the vehicle1and an object present around the vehicle1in a more understandable manner.

However, in the above technique, since the contour guide line is displayed at a fixed position with respect to a position of an image of the vehicle1in the display image, in a case where an image of an object (obstacle) floating from a road surface is included in the display image, there is a probability that an occupant who sees the display image may misunderstand a distance from the vehicle1to the object, and thus the vehicle1may collide with the object.

Therefore, in the embodiment, by realizing the vehicle periphery display device400having the following function illustrated inFIG. 4in the control device310, when the vehicle1is turned, in a case where an image of an object floating from a road surface is included in a display image, it is achieved to reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle1to the object, and thus the vehicle1may collide with the object.

FIG. 4is an exemplary and schematic block diagram of a functional configuration of the vehicle periphery display device of the vehicle according to the first embodiment.

Next, with reference toFIG. 4, a description will be made of an example of a functional configuration of the vehicle periphery display device400according to the present embodiment.

Functions illustrated inFIG. 4are realized in the control device310by software and hardware in cooperation. That is, the functions illustrated inFIG. 4are realized as a result of the CPU310aof the control device310reading and executing a predetermined control program stored in the ROM310bor the like.

In the present embodiment, the functions illustrated inFIG. 4are realized by the software and hardware in cooperation, but are not limited thereto, and at least one of the functions illustrated inFIG. 4may be realized by dedicated hardware (circuit).

The vehicle periphery display device400according to the present embodiment has an acquisition portion401and a display processing portion402, as illustrated inFIG. 4.

The acquisition portion401acquires image data of a captured image from the in-vehicle camera15. The acquisition portion401also acquires a steering angle detected by the steering portion sensor303c.The acquisition portion401acquires an object detection result from the obstacle sensor305.

The display processing portion402generates a display image that is a stereoscopic image of the vehicle1and the periphery thereof on the basis of a captured image acquired by the acquisition portion401. The display processing portion402causes the generated display image to be displayed on the display portion8.

In the present embodiment, the display image is a stereoscopic image in which a three-dimensional space having a vehicle image (for example, an image of the vehicle1formed of a polygonal shape) that is a stereoscopic image of the vehicle1and a projection region that is located around the vehicle image and onto which a captured image is projected through projection conversion is viewed from a predetermined viewpoint. Here, the predetermined viewpoint is a preset viewpoint located obliquely above the vehicle image. The display image may be a captured image obtained by imaging with the in-vehicle camera15, as described above. The display processing portion402may cause an image obtained by three-dimensionally restoring the vehicle1and the periphery thereof to be displayed as a display image on the display portion8. Specifically, the display processing portion402may three-dimensionally restore the vehicle1and the periphery thereof by using a captured image obtained through imaging in the in-vehicle camera15or a result of the obstacle sensor305(for example, a sonar or a radar) detecting an object around the vehicle1, and may cause an image represented by dots or lines to be displayed on the display portion8as a display image.

The display processing portion402causes the contour guide line and the predicted course guide line to be included in the display image. Here, the contour guide line is a line representing a contour of the vehicle1, that is, a contour line of the vehicle1. Specifically, the contour guide line is a line along the contour of the vehicle1in a vehicle width direction of the vehicle1and a direction parallel to an advancing direction of the vehicle1. The predicted course guide line is a trajectory drawn by the contour guide line according to movement of the vehicle1.

In the present embodiment, the display processing portion402causes the contour guide line and the predicted course guide line to be included in a three-dimensional space. The display processing portion402generates, as a display image, a stereoscopic image in which the three-dimensional space including the contour guide line and the predicted course guide line is viewed from a predetermined viewpoint.

In the present embodiment, the display processing portion402causes both the contour guide line and the predicted course guide line to be included in the three-dimensional space, but is not limited thereto as long as at least one of the contour guide line and the predicted course guide line is included in the three-dimensional space.

In a case where the vehicle1is turned, the display processing portion402changes positions of the contour guide line and the predicted course guide line to be present above a road surface (in the present embodiment, above positions of the contour guide line and the predicted course guide line in a case where the vehicle1advances straight). Consequently, in a case where the display image including the image of the object floating from the road surface is displayed on the display portion8, the contour guide line and the predicted course guide line can be displayed in the display image at a position of an image of the object floating from the road surface or a position close thereto. As a result, in a case where there is an object floating from the road surface, it becomes easier to understand a positional relationship between the object and the vehicle1, and it is possible to reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle1to an obstacle and thus the vehicle1may collide with the obstacle. That is, the vehicle1can pass through the object more safely.

In the present embodiment, the display processing portion402changes the positions of both the contour guide line and the predicted course guide line in a case where the vehicle1is turned, but is not limited thereto as long as at least one of positions of the contour guide line and the predicted course guide line is changed. In the present embodiment, the display processing portion402changes the positions of the contour guide line and the expected course guide line in a case where the vehicle1is turned, but may change the positions of the contour guide line and the predicted course guide line to be present above the road surface even in a case where the vehicle1advances straight.

FIG. 5is a diagram for describing an example of a process in which a captured image is projected onto a three-dimensional space by the vehicle periphery display device of the vehicle according to the first embodiment.FIG. 6is a diagram for describing an example of a process in which a contour guide line and a predicted course guide line are drawn in a three-dimensional space by the vehicle periphery display device of the vehicle according to the first embodiment.FIGS. 7A and 7Bare diagrams for describing an example of a process in which positions of the contour guide line and the predicted course guide line are changed by the vehicle periphery display device of the vehicle according to the first embodiment.

Next, with reference toFIGS. 5 to 7B, a description will be made of an example of process in which a display image is generated by the vehicle periphery display device400.

As illustrated inFIG. 5, the acquisition portion401acquires a captured image G1obtained by imaging the rearward of the vehicle1with the in-vehicle camera15a,a captured image G2obtained by imaging the rightward of the vehicle1with the in-vehicle camera15b,a captured image G3obtained by imaging the frontward of the vehicle1with the in-vehicle camera15c,and a captured image G4obtained by imaging the leftward of the vehicle1with the in-vehicle camera15d.

Next, the display processing portion402projects the captured images G1to G4onto the three-dimensional space VS through projection conversion. Here, as illustrated inFIG. 5, the three-dimensional space VS is a stereoscopic space including a vehicle image VG which is a stereoscopic image of the vehicle1and a projection region TR around the vehicle image VG. In the present embodiment, the projection region TR has a projection surface TR1(hereinafter, referred to as a plane projection region) that is horizontal to the vehicle image VG and a projection region TR2(hereinafter, referred to as a stereoscopic projection region) that rises above the plane projection region TR1.

Specifically, as illustrated inFIG. 5, the display processing portion402converts each coordinate in each of the captured images G1to G4into a coordinate in the projection region TR through projection conversion. Next, the display processing portion402projects an image at each coordinate in each of the captured images G1to G4to a position represented by the coordinate subjected to the projection conversion from each coordinate in the projection region TR. Consequently, the display processing portion402projects the captured images G1to G4onto the projection region TR.

As illustrated inFIG. 6, the display processing portion402causes a contour guide line L1and a predicted course guide line L2to be included in the three-dimensional space VS. In the present embodiment, the display processing portion402causes a line that represents a part (for example, a corner) of the contour of the vehicle1to be displayed as the contour guide line L1as illustrated inFIG. 6, but is not limited thereto, and may cause a line representing the entire contour of the vehicle1to be displayed as the contour guide line L1.

In the present embodiment, as illustrated inFIG. 6, the contour guide line L1has a margin in the vehicle width direction D1of a vehicle image (hereinafter, referred to as a vehicle width direction margin) and a margin in the advancing direction D2of the vehicle image (hereinafter, referred to as an advancing direction margin) with respect to a contour of the vehicle image. In the present embodiment, the contour guide line L1has the vehicle width direction margin and the advancing direction margin, but may not have the vehicle width direction margin and the advancing direction margin.

Meanwhile, as illustrated inFIG. 6, in a case where the captured images G1to G4including an image OG (hereinafter, referred to as an obstacle image; for example, a bumper of another vehicle) of an obstacle O (object) floating from the road surface are projected onto the projection region TR through projection conversion, as illustrated inFIG. 6, the obstacle image OG is projected on the three-dimensional space VS as if the obstacle image is located at a position farther from the vehicle image VG than a position P where the obstacle O in the real space RS is present.

As illustrated inFIG. 6, the obstacle image OG of the obstacle floating from the road surface is not continued with an image RG of the road surface at the position P where the obstacle O is present in the real space RS. Therefore, an occupant who sees the display image in which the three-dimensional space VS is viewed from a predetermined viewpoint may misunderstand that the obstacle O is present at a position farther from the vehicle1than the position at which the obstacle O is present in the real space RS.

Therefore, in a case where the vehicle1is turned, as illustrated inFIG. 7A, the display processing portion402changes positions of the contour guide line L1and the predicted course guide line L2upward by a predetermined height H in an upward-downward direction of the vehicle image VG in the three-dimensional space VS. Here, the predetermined height H corresponds to a height (for example, 60 to 70 cm) of an end (for example, a bumper) of the vehicle1in the advancing direction or a height of the obstacle O present around the vehicle1. Consequently, the contour guide line L1and the predicted course guide line L2can be displayed at a location that is likely to collide with the obstacle O in the contour of the vehicle1. As a result, the vehicle1can pass through the obstacle O more safely.

In the present embodiment, in a case where the vehicle1is turned, the display processing portion402changes positions of the contour guide line L1and the predicted course guide line L2by the predetermined height H upward regardless of a steering angle of the vehicle1, but may change the positions of the contour guide line L1and the predicted course guide line L2upward depending on the steering angle of the vehicle1. In the present embodiment, the display processing portion402changes the positions of the contour guide line L1and the predicted course guide line L2upward by the predetermined height H, but may change the positions of the contour guide line L1and the predicted course guide line L2upward, for example, by a height corresponding to a height of the highest portion of the vehicle1.

The display processing portion402causes a stereoscopic image in which the three-dimensional space VS whose positions of the contour guide line L1and the predicted course guide line L2have been changed upward is viewed from a predetermined viewpoint, to be displayed as a display image, on the display portion8. In other words, in a case where the vehicle1is turned, the display processing portion402draws the contour guide line L1and the predicted course guide line L2in a display image such that the contour guide line L1and the predicted course guide line L2are present above the road surface by the predetermined height H in the display image.

Consequently, in a case where the display image including the obstacle image OG floating from the road surface is displayed on the display portion8, the contour guide line L1and the predicted course guide line L2can be displayed at a position of being likely to come into contact with the vehicle1in the obstacle image OG included in the display image. As a result, in a case where there is the obstacle O floating from the road surface, a positional relationship between the obstacle O and the vehicle1can be easily understood, and thus it is possible to reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle1to the obstacle, and thus the vehicle1may collide with the obstacle. That is, the vehicle1can pass through the obstacle O more safely.

On the other hand, in a case where the vehicle1advances straight, the display processing portion402draws (projects) the contour guide line L1and the predicted course guide line L2in the projection region TR. Consequently, in a case where the vehicle1advances straight, the display processing portion402draws the contour guide line L1and the predicted course guide line L2in a display image such that the contour guide line L1and the predicted course guide line L2are present on the road surface.

In the present embodiment, in a case where the vehicle1advances straight, the display processing portion402draws the contour guide line L1and the predicted course guide line L2in a display image such that the contour guide line L1and the predicted course guide line L2are present on the road surface, but may draw the contour guide line L1and the predicted course guide line L2in the display image such that the contour guide line L1and the predicted course guide line L2are present above the road surface by the predetermined height H in the display image even in a case where the vehicle1advances straight.

In the present embodiment, the display processing portion402determines that the vehicle1is turned in a case where a steering angle acquired by the acquisition portion401is equal to or more than a predetermined steering angle, and draws the contour guide line L1and the predicted course guide line L2to be present above the road surface in a display image. Consequently, it is possible to prevent positions of the contour guide line L1and the predicted course guide line L2from being changed even though a steering angle of the vehicle1is small. Here, the predetermined steering angle is a preset steering angle, and is a steering angle from which the vehicle1is determined as being turned.

In the present embodiment, the display processing portion402gradually changes positions of the contour guide line L1and the predicted course guide line L2in a case where the vehicle1is turned. Consequently, when the positions of the contour guide line L1and the predicted course guide line L2are changed, it is possible to reduce that an occupant feels uncomfortable due to the positions of the contour guide line L1and the predicted course guide line L2abruptly being changed.

In this case, as the contour guide line L1and the predicted course guide line L2approach a target height (a predetermined height in the present embodiment), the display processing portion402may reduce a speed of changing the positions of the contour guide line L1and the predicted course guide line L2. Consequently, when the positions of the contour guide line L1and the predicted course guide line L2are changed, it is possible to further reduce that an occupant feels uncomfortable due to the positions of the contour guide line L1and the predicted course guide line L2abruptly being changed.

In the present embodiment, the display processing portion402may change positions of the contour guide line L1and the predicted course guide line L2according to a change in a steering angle of the vehicle1regardless of whether or not the steering angle of the vehicle1is equal to or more than a predetermined steering angle. Specifically, the display processing portion402increases a change amount of the positions of the contour guide line L1and the predicted course guide line L2as the steering angle (absolute value) of the vehicle1increases.

In the present embodiment, the display processing portion402causes both of the contour guide line L1and the predicted course guide line L2whose positions have not been changed (hereinafter, referred to as guide lines L1and L2before being changed) and the contour guide line L1and the predicted course guide line L2whose positions have been changed (hereinafter, referred to as guide lines L1and L2after being changed) to be included in a display image, but at least the guide lines L1and L2after being changed may be included in the display image.

In other words, the display processing portion402may leave the guide lines L1and L2before being changed in the display image in a case where the vehicle1is turned. Consequently, it is possible to easily recognize that the positions of the contour guide line L1and the predicted course guide line L2have been changed, and thus to prompt an occupant to drive the vehicle1along the guide lines L1and L2after being changed. As a result, the vehicle1can pass through the obstacle O more safely.

In a case where both the guide lines L1and L2before being changed and the guide lines L1and L2after being changed are included in a display image, the display processing portion402may make display modes of the two different from each other. For example, the display processing portion402causes the guide lines L1and L2before being changed gray and displays the guide lines L1and L2after being changed to be displayed in color.

Consequently, in a case where both the guide lines L1and L2before being changed and the guide lines L1and L2after being changed are included in the display image, it is possible to easily determine whether to operate the vehicle1along which ones of the contour guide lines L1and the predicted course guide lines L2. As a result, it is possible to further reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle1to an obstacle and thus the vehicle1may collide with the obstacle.

In the present embodiment, the display processing portion402uses different colors for the guide lines L1and L2before being changed and the guide lines L1and L2after being changed, but is not limited thereto as long as display modes of the guide lines L1and L2before being changed and the guide lines L1and L2after being changed are different from each other. For example, the display processing portion402causes the guide lines L1and L2after being changed to be displayed (drawn) with solid lines, and causes the guide lines L1and L2before being changed to be displayed (drawn) with dashed lines.

In the present embodiment, the display processing portion402may also make display modes of the contour guide line L1and the predicted course guide line L2whose positions have been changed different from each other. For example, the display processing portion402causes the contour guide line L1whose position has been changed to be displayed in blue, and causes the predicted course guide line L2whose position has been changed to be displayed in yellow.

In the present embodiment, the display processing portion402changes positions of the contour guide line L1and the predicted course guide line L2in the three-dimensional space VS regardless of whether or not the obstacle O is detected by the obstacle sensor305, but is not limited thereto.

Specifically, in a case where the obstacle O is detected by the obstacle sensor305, the display processing portion402changes positions of the contour guide line L1and the predicted course guide line L2upward in the three-dimensional space VS. On the other hand, in a case where the obstacle O is not detected by the obstacle sensor305, the display processing portion402does not change the positions of the contour guide line L1and the predicted course guide line L2upward in the three-dimensional space VS.

In other words, in a case where the obstacle O is detected by the obstacle sensor305, the display processing portion402changes the positions of the contour guide line L1and the predicted course guide line L2in the display image. Consequently, an occupant of the vehicle1can intuitively recognize that the obstacle O is present in a course of the vehicle1, and thus it is possible to further reduce a probability that the vehicle1may collide with the obstacle O.

In the present embodiment, the display processing portion402makes a display mode of the guide lines L1and L2after being changed different from a display mode of the guide lines L1and L2before being changed regardless of whether or not the obstacle O is detected by the obstacle sensor305, but is not limited thereto.

Specifically, in a case where the obstacle O is detected by the obstacle sensor305, the display processing portion402causes the guide lines L1and L2after being changed to be displayed in color (or blinking). On the other hand, in a case where the obstacle O is not detected by the obstacle sensor305, the display processing portion402causes the guide lines L1and L2after being changed to be displayed in gray.

In other words, the display processing portion402changes display modes of the contour guide line L1and the predicted course guide line L2in a display image according to whether or not the obstacle O is detected by the obstacle sensor305. Consequently, an occupant of the vehicle1can intuitively recognize that the obstacle O is present in a course of the vehicle1, and thus it is possible to further reduce a probability that the vehicle1may collide with the obstacle O.

Also in a case where a captured image (for example, a front view) obtained by imaging with the in-vehicle camera15(for example, the in-vehicle camera15c) is displayed on the display portion8as the display image G, the display processing portion402changes positions of the contour guide line L1and the predicted course guide line L2in the captured image (display image G) such that the contour guide line L1and the predicted course guide line L2are present above the road surface when the vehicle1is turned. Specifically, when the vehicle1is turned, as illustrated inFIG. 7B, the display processing portion402changes positions of the contour guide line L1and the predicted course guide line L2included in the captured image (display image G) upward by the predetermined height H.

As described above, according to the vehicle1of the first embodiment, in a case where a display image including an image of an object floating from a road surface is displayed on the display portion8, the contour guide line and the predicted course guide line can be displayed at or near a position of the image of the object floating from the road surface in the display image. As a result, in a case where there is an object floating from the road surface, it becomes easier to understand a positional relationship between the object and the vehicle1, and it is possible to reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle1to an obstacle and thus the vehicle1may collide with the obstacle. That is, the vehicle1can pass through the object more safely.

Second Embodiment

The present embodiment is an example in which a viewpoint of a display image is changed according to a turning direction of the vehicle1in a case where a stereoscopic image of a vehicle and the periphery thereof is displayed as the display image. In the following description, a description of the same configuration as that in the first embodiment will not be repeated.

In the present embodiment, in a case where the vehicle1advances straight, the display processing portion402moves a predetermined viewpoint to a reference viewpoint located behind a vehicle image and at the center of the vehicle image in the vehicle width direction, and generates, as a display image, a stereoscopic image in which a three-dimensional space is viewed from the predetermined viewpoint moved to the reference viewpoint. The display processing portion402displays the generated display image on the display portion8.

Consequently, in a case where the vehicle1advances straight, it is possible to display a display image in which a vehicle width of the vehicle1is easily recognized. As a result, in a case where the vehicle1advances straight, it is possible to easily understand a positional relationship with an object present on the sideward of the vehicle1.

In the present embodiment, in a case where the vehicle1is turned, the display processing portion402moves a predetermined viewpoint to a viewpoint (hereinafter, referred to as a target viewpoint) shifted toward an opposite side to a turning direction of the vehicle1with respect to a reference viewpoint. The display processing portion402generates, as a display image, a stereoscopic image in which a three-dimensional space is viewed from the predetermined viewpoint moved to the target viewpoint. The display processing portion402causes the generated display image to be displayed on the display portion8.

Consequently, in a case where the vehicle1is turned, it is possible to display a display image in which a location where an occupant is to be careful about contact with an object during turning of the vehicle1is seen. As a result, in a case where the vehicle1is turned, the vehicle1can travel more safely without contact with an object.

FIG. 8is a diagram for describing an example of a process in which a display image is displayed by the vehicle periphery display device of the vehicle according to the second embodiment.

Next, with reference toFIG. 8, a description will be made of an example of a process in which a display image is displayed by the vehicle periphery display device400.

In a case where the vehicle1advances straight (in a case where a steering angle of the vehicle1is 0 degrees), as illustrated inFIG. 8, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a reference viewpoint, to be displayed on the display portion8as the display image G.

In a case where the vehicle1is turned to the right, as illustrated inFIG. 8, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a left-shifted target viewpoint from a reference viewpoint to be displayed on the display portion8as the display image G.

In a case where the vehicle1is turned to the left, as illustrated inFIG. 8, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a right-shifted target viewpoint from a reference viewpoint to be displayed on the display portion8as the display image G.

In the present embodiment, in a case where a steering angle of the vehicle1is equal to or more than a predetermined steering angle, the display processing portion402moves a predetermined viewpoint to a target viewpoint shifted toward an opposite side to a turning direction of the vehicle1with respect to a reference viewpoint. In this case, the display processing portion402may gradually move the predetermined viewpoint toward the target viewpoint. When gradually moving the predetermined viewpoint toward the target viewpoint, the display processing portion402may reduce a speed at which the predetermined viewpoint is changed as the predetermined viewpoint comes closer to the target viewpoint.

In the present embodiment, the display processing portion402may obtain a target viewpoint according to a steering angle of the vehicle1and may cause a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint moved to the target viewpoint to be displayed on the display portion8as the display image G regardless of whether the steering angle of the vehicle1is equal to or more than a predetermined steering angle.

Specifically, the display processing portion402obtains a horizontal angle according to the following Equation (1).
Horizontal angle=steering angle of vehicle 1×conversion coefficient   (1)

Here, the horizontal angle is an angle by which a predetermined viewpoint is shifted in a horizontal direction from a reference viewpoint with respect to an advancing direction D2of the vehicle1. The conversion coefficient is a coefficient set in advance.

Next, the display processing portion402obtains, as the target viewpoint, a viewpoint shifted from the reference viewpoint in the horizontal direction by the obtained horizontal angle with respect to the advancing direction D2of the vehicle1. The display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to the target viewpoint, to be displayed on the display portion8as the display image G.

For example, in a case where a steering angle of the vehicle1becomes −300 degrees and the vehicle1is turned to the right, the display processing portion402obtains the horizontal angle=−40 degrees by using the above Equation (1). As illustrated inFIG. 8, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a target viewpoint shifted by −40 degrees in the horizontal direction from the reference viewpoint with respect to the advancing direction D2of the vehicle1to be displayed on the display portion8as the display image G.

For example, in a case where a steering angle of the vehicle1is +300 degrees and the vehicle1is turned to the left, the display processing portion402obtains the horizontal angle=+40 degrees by using the above Equation (1). As illustrated inFIG. 8, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a target viewpoint shifted by +40 degrees in the horizontal direction from the reference viewpoint with respect to the advancing direction D2of the vehicle1to be displayed on the display portion8as the display image G.

FIG. 9is a diagram for describing another example of a process in which a display image is displayed by the vehicle periphery display device of the vehicle according to the second embodiment.

Next, a description will be made of an example of a process in which the display image G is displayed by the vehicle periphery display device400when the vehicle1travels forward and backward with reference toFIG. 9.

In a case where the vehicle1advances straight, as illustrated inFIG. 9, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a reference viewpoint to be displayed on the display portion8as the display image G when the vehicle1travels both forward and backward.

Also in a case where the vehicle1is turned, as illustrated inFIG. 9, the display processing portion402causes a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint that is moved to a target viewpoint shifted toward an opposite side to a turning direction of the vehicle1with respect to a reference viewpoint to be displayed as the display image G when the vehicle1travels both forward and backward.

However, in a case where the vehicle1travels backward, as illustrated inFIG. 9, the display processing portion402may cause a stereoscopic image in which the three-dimensional space VS is viewed from a predetermined viewpoint further behind the vehicle image VG than in a case where the vehicle1advances straight, to be displayed on the display portion8as the display image G. Consequently, a rearward visual field of the vehicle image VG in the display image G can be widened. As a result, traveling safety can be improved when the vehicle1travels backward.

In the present embodiment, the display processing portion402moves a predetermined viewpoint regardless of whether or not an obstacle is detected by the obstacle sensor305, but may move a predetermined viewpoint only in a case where an obstacle is detected by the obstacle sensor305. Consequently, it is possible to easily understand whether or not there is an obstacle around the vehicle1depending on whether or not a predetermined viewpoint has been moved.

FIGS. 10A and 10Bare diagrams for describing an example of a process in which the contour guide line and the predicted course guide line are displayed by the vehicle periphery display device of the vehicle according to the second embodiment.

Next, with reference toFIGS. 10A and 10B, a description will be made of an example of a process of displaying the contour guide line L1and the predicted course guide line L2.

As illustrated inFIG. 10A, in a case where the vehicle1is turned (for example, in a case where the vehicle1is turned to the right), when a predetermined viewpoint is shifted toward an opposite side to a turning direction of the vehicle1with respect to a reference viewpoint, the predicted course guide line L2whose position has not been changed (hereinafter, referred to as a predicted course guide line L2before being changed) may be displayed outside the predicted course guide line L2whose position has been changed (hereinafter, referred to as a predicted course guide line L2after being changed).

In this case, when the vehicle1travels along the predicted course guide line L2after being changed, it seems that the vehicle1does not collide with an obstacle. However, in order to reduce a probability of collision between the vehicle1and an object, it is preferable to determine whether or not the vehicle1collides with an object according to the predicted course guide line L2located outside in a center direction of a circular arc drawn by the vehicle1(for example, the vehicle wheel of the vehicle1) when the vehicle1is turned.

Therefore, in the present embodiment, in a case where the vehicle1is turned, as illustrated inFIG. 10B, the display processing portion402moves a predetermined viewpoint to a target viewpoint at which the predicted course guide line L2after being changed is located further toward a rotation center side of the vehicle image VG than the predicted course guide line L2before being changed in the display image G. In other words, the display processing portion402moves the predetermined viewpoint to the target viewpoint at which the predicted course guide line L2after being changed is displayed outside the predicted course guide line L2before being changed in the center direction of the circular arc drawn by the vehicle1(for example, the vehicle wheels of the vehicle1).

For example, in a case where a steering angle of the vehicle1reaches a predetermined threshold value (for example, 15 degrees), the display processing portion402terminates the movement of the predetermined viewpoint, and does not move the predetermined viewpoint even though the steering angle of the vehicle1is increased. Here, the predetermined threshold value is a steering angle at which the predicted course guide line L2before being changed is displayed outside the predicted course guide line L2after being changed.

Consequently, it is possible to prevent the predicted course guide line L2after being changed from being displayed inside the predicted course guide line L2before being changed. As a result, in the process in which a steering angle of the vehicle1is being increased, it is possible to reduce a probability that the vehicle1may collide with an obstacle due to a misunderstanding that the vehicle1will not collide with the obstacle when the vehicle1travels along the predicted course guide line L2after being changed.

In the present embodiment, of the predicted course guide line L2after being changed and the predicted course guide line L2before being changed, the display processing portion402causes the predicted course guide line L2located outside in the center direction of the circular arc drawn by the vehicle1to be displayed in a highlighted manner. In other words, in a case where a steering angle of the vehicle1reaches the predetermined threshold value, the display processing portion402replaces a display mode of the predicted course guide line L2after being changed and a display mode of the predicted course guide line L2before being changed with each other.

Consequently, in the process in which a steering angle of the vehicle1is increased and a predetermined viewpoint is moved, even though a positional relationship between the predicted course guide line L2after being changed and the predicted course guide line L2before being changed in the center direction of the circular arc drawn by the vehicle1changes, it is possible to reduce a probability that the vehicle1may collide with an obstacle due to a misunderstanding that the vehicle1will not collide with the obstacle when the vehicle1travels along the predicted course guide line L2after being changed.

In the present embodiment, the display processing portion402causes the predicted course guide line L2after being changed to be included in the display image G even after a steering angle of the vehicle1reaches the predetermined threshold value (that is, even after the predicted course guide line L2after being changed is displayed inside the predicted course guide line L2before being changed in the center direction of the circular arc drawn by the vehicle1), but may delete the predicted course guide line L2after being changed from the display image G after the steering angle of the vehicle1reaches the predetermined threshold value. Consequently, in the process in which the steering angle of the vehicle1is increased and the predetermined viewpoint is moved, it is possible to reduce a probability that the vehicle1may collide with an obstacle due to a misunderstanding that the vehicle1will not collide with the obstacle when the vehicle1travels along the predicted course guide line L2after being changed.

In the present embodiment, the display processing portion402causes the predicted course guide line L2before being changed to be included in the display image G until a steering angle of the vehicle1reaches a predetermined threshold value (that is, while the predicted course guide line L2after being changed is displayed outside the predicted course guide line L2before being changed in the center direction of the circular arc drawn by the vehicle1), but may delete the predicted course guide line L2before being changed from the display image G until the steering angle of the vehicle1reaches the predetermined threshold value. In other words, the display processing portion402may cause only the predicted course guide line L2displayed outside in the center direction of the circular arc drawn by the vehicle1to be included in the display image G of the predicted course guide line L2before being changed and the predicted course guide line L2after being changed.

As described above, according to the vehicle1of the second embodiment, in a case where the vehicle1is turned, it is possible to display a display image in which a location where an occupant is to be careful about contact with an object during turning of the vehicle1is seen. As a result, in a case where the vehicle1is turned, the vehicle1can travel more safely without contact with an object.

A vehicle periphery display device according to an embodiment includes, as an example, an acquisition portion that acquires a captured image obtained by imaging a periphery of a vehicle with an imaging portion; and a display processing portion that causes a display image that is a stereoscopic image of the vehicle and the periphery of the vehicle to be displayed on a display portion on the basis of the captured image, in which the display processing portion causes at least one of a contour guide line representing a contour of the vehicle, and a predicted course guide line that is a trajectory drawn by the contour guide line according to movement of the vehicle to be included in the display image, and changes a position of at least one of the contour guide line and the predicted course guide line such that the contour guide line and the predicted course guide line are present above a road surface in a case where the vehicle is turned. Therefore, as an example, in a case where there is an object floating from the road surface, it becomes easier to understand a positional relationship between the object and the vehicle, and thus it is possible to further reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle to an obstacle and thus the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as an example, the display processing portion may cause a stereoscopic image in which a three-dimensional space having a vehicle image that is a stereoscopic image of the vehicle and a projection region that is located around the vehicle image and onto which the captured image is projected through projection conversion is viewed from a predetermined viewpoint located obliquely above the vehicle image, or an image obtained by three-dimensionally restoring the periphery of the vehicle, to be displayed on the display portion as the display image. Therefore, as an example, in a case where there is an object floating from the road surface, it becomes easier to understand a positional relationship between the object and the vehicle, and thus it is possible to further reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle to an obstacle and thus the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as an example, the display processing portion may draw at least one of the contour guide line and the predicted course guide line in the display image such that the contour guide line and the predicted course guide line are present on the road surface in a case where the vehicle advances straight, and draw at least one of the contour guide line and the predicted course guide line in the display image such that the contour guide line and the predicted course guide line are present above the road surface by a predetermined height in a case where the vehicle is turned. Therefore, as an example, in a case where there is an object floating from the road surface, it becomes easier to understand a positional relationship between the object and the vehicle, and thus it is possible to further reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle to an obstacle and thus the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as an example, the predetermined height may be a height corresponding to a height of an end of the vehicle in an advancing direction of the vehicle or a height of an object present around the vehicle. Therefore, as an example, the vehicle can pass through the obstacle more safely.

In the vehicle periphery display device of the embodiment, as an example, in a case where a steering angle of the vehicle is equal to or more than a predetermined steering angle, the display processing portion may determine that the vehicle is turned, and change the position of at least one of the contour guide line and the predicted course guide line. Therefore, as an example, it is possible to prevent positions of the contour guide line and the predicted course guide line from being changed even though a steering angle of the vehicle is small.

In the vehicle periphery display device of the embodiment, as an example, in a case where the vehicle is turned, the display processing portion may gradually change the position of at least one of the contour guide line and the predicted course guide line. Therefore, as an example, when positions of the contour guide line and the predicted course guide line are changed, it is possible to reduce that an occupant feels uncomfortable due to the positions of the contour guide line and the predicted course guide line abruptly being changed.

In the vehicle periphery display device of the embodiment, as an example, in a case where the vehicle is turned, the display processing portion may leave at least one of the contour guide line and the predicted course guide line whose position has not been changed in the display image. Therefore, as an example, it is possible to easily recognize that positions of the contour guide line and the predicted course guide line have been changed, and thus to prompt an occupant to drive the vehicle along the contour guide line and the predicted course guide line whose positions have been changed.

In the vehicle periphery display device of the embodiment, as an example, the display processing portion may make a display mode of at least one of the contour guide line and the predicted course guide line whose position has not been changed different from a display mode of at least one of the contour guide line and the predicted course guide line whose position has been changed. Therefore, as an example, it is possible to further reduce a probability that an occupant who sees the display image may misunderstand a distance from the vehicle to an obstacle and thus the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as an example, in a case where the vehicle is turned, the display processing portion may move the predetermined viewpoint to a viewpoint shifted toward an opposite side to a turning direction of the vehicle with respect to a reference viewpoint, the reference viewpoint being located behind the vehicle image and at a center of the vehicle image in a vehicle width direction of the vehicle image. Therefore, as an example, in a case where the vehicle is turned, the vehicle can travel more safely without contact with an object.

In the vehicle periphery display device of the embodiment, as an example, in a case where the vehicle is turned, when the predicted course guide line whose position has not been changed is left in the display image, the display processing portion may move the predetermined viewpoint to a viewpoint at which the predicted course guide line whose position has been changed is displayed outside the predicted course guide line whose position has not been changed. Therefore, as an example, in the process in which a steering angle of the vehicle is being increased, it is possible to reduce a probability that the vehicle may collide with an obstacle due to a misunderstanding that the vehicle will not collide with the obstacle when the vehicle travels along the predicted course guide line whose position has been changed.

In the vehicle periphery display device of the embodiment, as an example, in a case where an object present around the vehicle is detected by an obstacle sensor, the display processing portion may change the position of at least one of the contour guide line and the predicted course guide line. Therefore, as an example, an occupant of the vehicle can intuitively recognize that an obstacle is present in a course of the vehicle, and thus it is possible to further reduce a probability that the vehicle may collide with the obstacle.

In the vehicle periphery display device of the embodiment, as an example, in a case where an object present around the vehicle is detected by an obstacle sensor, the display processing portion may move the predetermined viewpoint. Therefore, as an example, it is possible to easily understand whether or not there is an obstacle around the vehicle depending on whether or not the predetermined viewpoint has been moved.

In the vehicle periphery display device according to the embodiment, as an example, the display processing portion may change a display mode of at least one of the contour guide line and the predicted course guide line according to whether or not an object present around the vehicle is detected by an obstacle sensor. Therefore, as an example, an occupant of the vehicle can intuitively recognize that an obstacle is present in a course of the vehicle, and thus it is possible to further reduce a probability that the vehicle may collide with the obstacle.