Patent ID: 7365653

Claim:
A driving support system which generates a bird's eye view image to display the bird's eye view image on a display device based on an image taken by an image pickup device mounted on a vehicle, the image pickup device taking the image around the vehicle, the driving support system comprising: a rotation amount setting means for setting a previously-set inclination angle of the image pickup device with respect to a horizontal plane at a rotation angle during coordinate transformation for the image within a range in which a distance from the vehicle is not more than a predetermined threshold in the taken image, the rotation amount setting means which computes and sets the rotation angle during the coordinate transformation based on the previously-set inclination angle of the image pickup device with respect to the horizontal plane and the distance from the vehicle for the image within a range in which the distance from the vehicle is more than the predetermined threshold in the taken image; a bird's eye view image generating means for generating an extension bird's eye view image by transforming a coordinate of the taken image into a coordinate of a bird's eye view using the rotation angle to the image corresponding to the coordinate, the rotation angle being set by the rotation amount setting means; and a means for displaying the extension bird's eye view image on the display device, the extension bird's eye view image being obtained by the bird's eye view image generating means.