JP2010079454A - Driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide more useful information without increasing a burden on a driver when displaying a bird's-eye view image around a vehicle. <P>SOLUTION: An image generation part 30 generates the bird's-eye view image around the vehicle based on an image captured by at least one imaging device installed in the vehicle. A display device 14 displays the bird's-eye view image generated in the image generation part 30. The image generation part 30 changes composition of the bird's-eye view image displayed on the display device 14 according to a travel direction of the vehicle. The image generation part 30 can generate the bird's-eye view image wherein a picture of an area positioned in the travel direction of the vehicle is preferentially taken. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to driving support technology, and more particularly to a driving support device that supports driving based on an image captured by an imaging device installed in a vehicle.

A bird's-eye view image (hereinafter referred to as an all-round view as appropriate) that converts the images captured by a plurality of cameras installed around the vehicle into bird's-eye view images and combines the bird's-eye view images. A technique for generating a bird's eye view image) has been proposed. This all-around bird's-eye view image can provide useful information to the driver and can support driving. In particular, it is possible to provide useful information to the driver when the driver needs to pay more attention to the surroundings of the vehicle, such as when parking, traveling on narrow roads, or changing lanes.
JP 2007-288444 A JP 2005-186648 A

  In general, information on the front side of the vehicle is more important when the vehicle is moving forward, and information on the rear side of the vehicle is more important when the vehicle is moving backward. In general, during driving, the driver should focus on the steering wheel operation, the accelerator operation, and the brake operation, and other actions by the driver are preferably minimized.

  The present inventor has made the present invention by recognizing such a situation, and its purpose is to provide more useful information without increasing the burden on the driver when displaying a bird's eye view image around the vehicle. It is to provide technology that can.

  A driving support device according to an aspect of the present invention is generated by an image generation unit that generates a bird's-eye view image around a vehicle based on an image captured by at least one imaging device installed in the vehicle, and an image generation unit. And a display unit for displaying a bird's eye view image. The image generation unit changes the composition of the bird's eye view image displayed on the display unit according to the traveling direction of the vehicle.

  It should be noted that any combination of the above-described constituent elements and a conversion of the expression of the present invention between a method, an apparatus, a system, a recording medium, a computer program, etc. are also effective as an aspect of the present invention.

  ADVANTAGE OF THE INVENTION According to this invention, when displaying the bird's-eye view image around a vehicle, more useful information can be provided without increasing the burden on the driver.

  FIG. 1 shows a configuration of a vehicle 100 equipped with a driving support apparatus 10 according to an embodiment of the present invention. The vehicle 100 includes a driving support device 10, a first imaging device 12a, a second imaging device 12b, a third imaging device 12c, and a fourth imaging device 12d (hereinafter referred to as a first imaging device 12a, a second imaging device 12b, and a third imaging device). 12c and fourth imaging device 12d are collectively referred to as imaging device 12), and display device 14. The vehicle 100 includes various components such as an engine, a chassis, a steering wheel, a brake, and the like, but are omitted here. Further, the left side of the vehicle 100 shown in FIG. 1 corresponds to the front side.

  The imaging device 12 continuously captures images and outputs the captured images to the driving support device 10. In this specification, an image itself or image data is referred to as an “image” without distinction. The first imaging device 12 a and the second imaging device 12 b are installed in the front part of the vehicle 100, and the third imaging device 12 c and the fourth imaging device 12 d are installed in the rear part of the vehicle 100. Here, the first imaging device 12a to the fourth imaging device 12d form a stereo camera in an arbitrary combination. A stereo camera is a camera that can record information in the depth direction by simultaneously photographing an object from a plurality of different directions. The number of imaging devices 12 is not limited to “4”.

  The driving assistance device 10 receives images captured by the first imaging device 12a, the second imaging device 12b, the third imaging device 12c, and the fourth imaging device 12d. The driving support device 10 converts the input images into bird's-eye view images, and synthesizes the bird's-eye view images to generate a synthesized bird's-eye view image. The driving support device 10 outputs the synthesized bird's-eye view image to the display device 14. The display device 14 displays a composite bird's-eye view image input from the driving support device 10 (more specifically, generated by the image generation unit 30 described later). The display device 14 may be a dedicated terminal device, or a display device of a car navigation device. Further, the driving support device 10 and the display device 14 may be configured integrally.

  The driving support device 10 detects an obstacle around the vehicle. When the driving support device 10 detects an obstacle, the driving support device 10 outputs a warning to that effect to the driver.

  FIG. 2 shows a configuration of the driving support apparatus 10 according to the first embodiment. The driving support device 10 includes a first frame buffer 20a, a second frame buffer 20b, a third frame buffer 20c, a fourth frame buffer 20d (a first frame buffer 20a, a second frame buffer 20b, a third frame buffer 20c, and a fourth frame buffer 20c). The frame buffer 20d is collectively referred to as a frame buffer 20), a conversion table storage unit 24, an image generation unit 30, and a control unit 40.

  The configuration of the driving support device 10 can be realized in hardware by a CPU, memory, or other LSI of an arbitrary computer, and in software, it is realized by a program loaded in the memory. Describes functional blocks realized by collaboration. Accordingly, those skilled in the art will understand that these functional blocks can be realized in various forms by hardware only, software only, or a combination thereof.

  The first frame buffer 20a, the second frame buffer 20b, the third frame buffer 20c, and the fourth frame buffer 20d are provided by the first imaging device 12a, the second imaging device 12b, the third imaging device 12c, and the fourth imaging device 12d. Each captured image is input. The frame buffer 20 temporarily holds the image input from the imaging device 12 and outputs the image to the image generation unit 30.

  The conversion table storage unit 24 stores a conversion formula for converting an image captured by the imaging device 12 into a bird's eye view image. This conversion formula is for converting the viewpoint of the actually installed imaging device 12 into an image viewed from the viewpoint of the virtual imaging device (hereinafter referred to as a virtual viewpoint). The position of this virtual viewpoint can be arbitrarily set by the designer. The conversion table storage unit 24 may be constructed in the form of a bird's eye conversion mapping lookup table. In this case, the image conversion unit 32 converts the coordinates of the image input from the frame buffer 20 with reference to the lookup table.

  The image generation unit 30 captures an image captured by at least one imaging device (for example, the first imaging device 12a, the second imaging device 12b, the third imaging device 12c, and the fourth imaging device 12d) installed in the vehicle 100. Based on this, a bird's eye view image around the vehicle 100 is generated. This bird's-eye view image may be the all-around bird's-eye view image. In addition, the above-described bird's-eye view image around the vehicle 100 is preferably a composition including the entire vehicle, but the composition may not necessarily include the entire vehicle. That is, the composition may include a part of the vehicle or a composition that does not include the vehicle. Hereinafter, an example in which the image generation unit 30 generates the all-around bird's-eye view image will be described.

  The image generation unit 30 changes the composition of the all-around bird's-eye view image displayed on the display device 14 according to the traveling direction of the vehicle 100. For example, a bird's eye view image in which a region located in the traveling direction of the vehicle 100 is preferentially captured is generated. In this example, when the traveling direction of the vehicle 100 is backward, a bird's eye view image in which a region behind the vehicle 100 is preferentially captured is generated. The composition change can be performed according to an instruction from the control unit 40.

  When images are continuously input from the imaging device 12 to the driving support device 10, the image generation unit 30 continuously generates all-around bird's-eye view images. That is, the image generation unit 30 generates a moving image of the all-around bird's-eye view.

  The image generation unit 30 includes an image conversion unit 32 and an image synthesis unit 34. The image conversion unit 32 converts the respective images input from the first frame buffer 20a, the second frame buffer 20b, the third frame buffer 20c, and the fourth frame buffer 20d into conversion formulas held in the conversion table storage unit 24. And converted into a bird's-eye view image. For this conversion, a known technique, for example, a technique disclosed in Japanese Patent Laid-Open No. 2008-48345 can be used.

  The image synthesis unit 34 generates a full-circle bird's-eye view image by synthesizing the plurality of bird's-eye view images converted by the image conversion unit 32. A known technique, for example, a technique disclosed in Japanese Patent Application Laid-Open No. 2008-48345 can be used to generate the all-around bird's-eye view image.

  The control unit 40 controls the image generation unit 30. The control unit 40 controls the image generation unit 30 so that the composition of the all-around bird's-eye view image displayed on the display device 14 is changed according to the traveling direction of the vehicle 100. For example, the control unit 40 controls the image generation unit 30 such that an all-around bird's-eye view image in which a region located in the traveling direction of the vehicle 100 is preferentially captured is generated.

  The control unit 40 can specify the traveling direction of the vehicle 100 as follows. The control unit 40 can be specified by acquiring various signals from various sensors (not shown) such as a shift position sensor and a steering angle sensor, various devices, various instruments, and the like that are installed in the vehicle 100.

  For example, when the shift position sensor detects that the shift has moved backward, the shift information is notified to the control unit 40, and the control unit 40 can specify that the traveling direction of the vehicle 100 is backward. . When the steering angle sensor detects that the steering wheel is turned to the right by a predetermined reference angle or more, the steering angle information is notified to the control unit 40, and the control unit 40 indicates that the traveling direction of the vehicle 100 is the right Can be specified. Similarly, when the steering angle sensor detects that the steering wheel is turned to the left by a predetermined reference angle or more, the steering angle information is notified to the control unit 40, and the control unit 40 indicates the traveling direction of the vehicle 100. It can be specified that it is left. When neither of these pieces of information is notified, the control unit 40 can specify that the traveling direction of the vehicle 100 is the front. The reference angle can be set by a designer based on experiments and simulations.

  In addition, the control part 40 can also specify that the advancing direction of the vehicle 100 is right or left based on the direction instruction information from a direction indicator, without using the rudder angle information from a rudder angle sensor.

  Next, two methods for changing the composition of the all-around bird's-eye view image displayed on the display device 14 according to the traveling direction of the vehicle 100 will be described. The first method is a method of changing a range to be displayed on the display device 14 in the all-around bird's-eye view image generated by the image generation unit 30 according to the traveling direction of the vehicle.

  In this method, the image generation unit 30 generates an all-around bird's-eye view image larger than the display area of the display device 14. The control unit 40 adaptively determines an area to be actually displayed on the display device 14 in the all-around bird's-eye view image generated by the image generation unit 30 according to the traveling direction of the vehicle 100. For example, when the traveling direction of the vehicle 100 is behind, the lower part of the all-around bird's-eye view image generated by the image generation unit 30 is used as an area to be displayed on the display device 14, and the upper part is displayed on the display device. 14 is not adopted for the area to be displayed. As a result, the area behind the vehicle 100 is displayed widely on the display device 14.

  The second method is a method of moving a virtual viewpoint when an image captured by the imaging device 12 is converted into a bird's eye view image. In order to simplify the description, an example will be described in which the composition of the all-around bird's-eye view image displayed on the display device 14 includes five patterns: basic, forward-oriented, backward-oriented, right-oriented, and left-oriented. The conversion table storage unit 24 holds in advance conversion expressions corresponding to these five patterns. For example, a lookup table for coordinate conversion of five patterns is held. The control unit 40 instructs the image conversion unit 32 to use which conversion formula depending on the traveling direction of the vehicle 100. For example, when the traveling direction of the vehicle 100 is rearward, the control unit 40 uses a plurality of bird's-eye view images using respective conversion images in which the virtual viewpoint is set behind the reference position. Control to generate Note that the image conversion unit 32 may correct and use the reference conversion formula according to the movement of the virtual viewpoint.

  FIG. 3 shows an example of the all-around bird's-eye view image displayed on the display device 14 according to the first embodiment. The description of FIG. 3 corresponds to both the first method and the second method according to the first embodiment.

  FIG. 3A shows an example of an all-around bird's-eye view image displayed on the display device 14 when the vehicle 100 is stopped. The control unit 40 displays the vehicle 100 in the center of the display area 70 of the display device 14. This is the basic composition.

  FIG. 3B shows an example of an all-around bird's-eye view image displayed on the display device 14 in a state where the vehicle 100 is moving forward. The control unit 40 displays the vehicle 100 below the display area 70 of the display device 14 and displays a wide area in front of the vehicle 100. The driver can look down on the front area over a wider area.

  FIG. 3C shows an example of an all-around bird's-eye view image displayed on the display device 14 when the vehicle 100 is in the reverse state. The control unit 40 displays the vehicle 100 above the display area 70 of the display device 14 and displays a wide area behind the vehicle 100. The driver can look down on the rear area over a wider area.

  FIG. 3D shows an example of an all-around bird's-eye view image displayed on the display device 14 when the vehicle 100 is in a left turn state. The control unit 40 displays the vehicle 100 on the right side of the display area 70 of the display device 14 and widely displays the left area of the vehicle 100. The driver can have a broader view of the left area.

  FIG. 3E shows an example of an all-around bird's-eye view image displayed on the display device 14 when the vehicle 100 is turned to the right. The control unit 40 displays the vehicle 100 on the left side of the display area 70 of the display device 14 and widely displays the area on the right side of the vehicle 100. The driver can have a broader view of the area on the right.

  FIG. 4 shows the relationship between the all-around bird's-eye view image 72 generated by the image generation unit 30 and the all-around bird's-eye view image displayed in the display area 70 of the display device 14 according to the first embodiment. The description of FIG. 4 corresponds to the first method according to Embodiment 1, and does not correspond to the second method.

  FIG. 4A shows the relationship between the all-around bird's-eye view image 72 generated by the image generation unit 30 and the all-around bird's-eye view image displayed in the display area 70 of the display device 14 when the vehicle 100 is stopped. Show. The control unit 40 sets the display area 70 so that the center of the all-around bird's-eye view image 72 generated by the image generation unit 30 matches the center of the display area 70. This composition corresponds to FIG.

  FIG. 4B shows the relationship between the all-around bird's-eye view image 72 generated by the image generation unit 30 and the all-around bird's-eye view image displayed in the display area 70 of the display device 14 when the vehicle 100 is in the reverse state. Show. The control unit 40 sets the display area 70 so that the center of the display area 70 is positioned below the center of the all-around bird's-eye view image 72 generated by the image generation unit 30. This composition corresponds to FIG.

  As described above, according to the first embodiment, the composition of the bird's-eye view image displayed on display device 14 is automatically changed according to the traveling direction of vehicle 100 (for example, the region located in the traveling direction of vehicle 100). Can be provided so that more useful information can be provided to the driver without increasing the driver's burden. That is, the driver can perform a wider range of safety confirmation in the traveling direction of the vehicle 100. In addition, since the composition is automatically changed, the driver does not need to perform an operation such as pressing a button, and the convenience and safety are high.

  FIG. 5 shows a configuration of the driving support apparatus 10 according to the second embodiment. The driving support device 10 according to the second embodiment has a configuration in which a detection unit 50 and a warning unit 60 are added to the driving support device 10 according to the first embodiment. Hereinafter, the description overlapping with the first embodiment will be omitted as appropriate.

  The detection unit 50 detects an obstacle around the vehicle 100 based on the image captured by the imaging device 12. The detection unit 50 changes the range of the obstacle detection area according to the composition of the all-around bird's-eye view image displayed on the display device 14. The change of the detection area range can be performed in accordance with an instruction from the control unit 40.

  More specific description will be given below. The detection unit 50 includes a static body detection unit 52 and a moving body detection unit 54. An image captured by the imaging device 12 before conversion is input from the image conversion unit 32 to the still body detection unit 52. The still body detection unit 52 specifies the heights of the objects included in these images by using the planar projection stereo method for the plurality of input images. The planar projection stereo method is a method of projecting a plurality of images captured by a plurality of imaging devices having different viewpoints onto a single reference plane, and obtaining a region of an object having a height from the difference between the images.

  Since the planar projection stereo method is a known technique, a detailed description thereof is omitted here. The still body detection unit 52 determines that a still body has been detected when the height of the object is higher than the threshold value in the first detection range. The control unit 40 changes the range of the first detection area according to the composition of the bird's eye view image displayed on the display device 14. For example, the control unit 40 causes the first detection range to match or substantially match the region actually displayed on the display device 14 in the all-around bird's-eye view image generated by the image generation unit 30.

  Note that the size of the area does not necessarily match the size of the first detection range, and the control unit 40 interlocks with the movement of the area so that the area and the first detection range maintain a certain relationship. To move the first detection range. For example, the first detection range is moved so that the center of gravity of the region always matches the center of gravity of the first detection range.

  When the static body detection unit 52 detects a static body, it outputs a message to that effect to the warning unit 60. In addition, the position information of the still body may be output to the display device 14 so that the still body to be captured in the all-around bird's-eye view image displayed on the display device 14 is highlighted. Note that the still body detection process by the still body detection unit 52 is automatically terminated when the collision avoidance with the still body detected within the first detection range is exceeded, considering the possibility of collision avoidance. It may be set to be.

  Respective bird's eye view images after conversion are continuously input from the image conversion unit 32 to the moving body detection unit 54. The moving object detection unit 54 detects the presence of a moving object in the second detection range based on each bird's eye view image input continuously. Optical flow is used to detect moving objects. Optical flow is one of the methods for analyzing moving objects, and is a technique for analyzing the motion from the luminance information in the all-around bird's-eye view image and expressing the motion of the moving object by the velocity vector. Since detection of such an optical flow is a known technique, a detailed description thereof is omitted here. The control unit 40 changes the range of the second detection area according to the composition of the bird's eye view image displayed on the display device 14. For example, the control unit 40 matches or substantially matches the region actually displayed on the display device 14 and the second detection range in the all-around bird's-eye view image generated by the image generation unit 30.

  Note that the size of the area does not necessarily need to match the size of the second detection range, and the control unit 40 interlocks with the movement of the area so that the area and the second detection range maintain a certain relationship. To move the second detection range. The size of the first detection range and the size of the second detection range may be different. For example, the latter may be set more widely so that the jumping out of a child can be detected in a wider range.

  When the moving object detection unit 54 detects a moving object, the moving object detection unit 54 outputs the fact to the warning unit 60. Further, the position information of the moving object may be output to the display device 14 so that the moving object to be displayed in the all-around bird's-eye view image displayed on the display device 14 is highlighted. Note that the moving object detection process by the moving object detection unit 54 is also automatically terminated when the collision avoidance with the moving object detected within the second detection range is exceeded in consideration of the possibility of collision avoidance. May be set.

  When the still body is detected by the still body detection unit 52 or when the moving body detection unit 54 detects a moving body, the warning unit 60 outputs a voice message or a warning sound to that effect to the outside.

  FIG. 6 shows a relationship between the all-around bird's-eye view image 72 generated by the image generation unit 30 and the second detection range 80 according to the second embodiment. FIG. 6A shows a relationship between the all-around bird's-eye view image 72 generated by the image generation unit 30 and the second detection range 80 when the vehicle 100 is in a stopped state. Here, the control unit 40 matches the display area 70 actually displayed on the display device 14 and the second detection range 80 in the all-around bird's-eye view image 72 generated by the image generation unit 30. When the vehicle 100 is in a stopped state, the control unit 40 sets the second detection range 80 so that the center of the all-around bird's-eye view image 72 and the center of the second detection range 80 coincide. In FIG. 6A, since the second moving body (soccer ball) 84 is in the second detection range 80, it is detected by the moving body detection unit 54, but the first moving body (soccer ball) 82 is detected in the second detection range 80. Since it is outside, it is not detected by the moving body detection unit 54.

  FIG. 6B shows a relationship between the all-around bird's-eye view image 72 generated by the image generation unit 30 and the second detection range 80 when the vehicle 100 is in the reverse state. When the vehicle 100 is in the reverse state, the control unit 40 sets the second detection range 80 so that the center of the second detection range 80 is located below the center of the all-around bird's-eye view image 72. In FIG. 6B, the first moving body 82 is also within the second detection range 80, and thus is detected by the moving body detection unit 54.

  As described above, according to the second embodiment, the obstacle detection range is changed in accordance with the traveling direction of the vehicle 100, thereby reducing the amount of calculation required for the obstacle detection process and more beneficial. Obstacle detection information can be provided to the driver. That is, the obstacle present in the traveling direction of the vehicle 100 has a higher possibility of collision than the obstacle present in the other direction. Therefore, priority is given to finding the obstacle present in the traveling direction of the vehicle 100. The obstacle detection process can be made more efficient.

  In the above, this invention was demonstrated based on the Example. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to the combination of each component and each processing process, and such modifications are also within the scope of the present invention. .

  FIG. 7 shows a modification of the driving support apparatus 10 according to the first embodiment. The driving support device 10 according to the modification has a configuration in which a motion detection unit 42 is added to the driving support device 10 according to the first embodiment. The motion detection unit 42 acquires the bird's eye view image from the image conversion unit 32 and detects the movement of the vehicle 100 in the bird's eye view image. For example, the motion detection unit 42 detects a traveling direction of the vehicle 100 by setting a plurality of feature points on the vehicle 100 in the bird's eye view image and detecting an optical flow of the feature points. The motion detector 42 outputs the detected motion of the vehicle 100 to the controller 40 as motion information.

  In the first embodiment, the control unit 40 specifies the traveling direction of the vehicle 100 by acquiring shift information from the shift position sensor and snake angle information from the snake angle sensor. In the modified example, the control unit 40 acquires the traveling direction of the vehicle 100 from the motion detection unit 42 as motion information. According to this modification, it is not necessary to connect the driving support device 10 to various sensors, various devices, various instruments, and the like in the vehicle 100, and the driving support device 10 can be easily installed in the vehicle 100. Moreover, the increase in the wiring in the vehicle 100 can be suppressed.

  In the first embodiment, according to the traveling direction of the vehicle 100, the example of switching between the five patterns of the basic, forward-oriented, backward-oriented, right-oriented, and left-oriented importance has been described. In this regard, in addition to these, it is also possible to switch between nine patterns of composition in which front right direction emphasis, front left direction emphasis, rear right direction emphasis and rear left direction emphasis are added. Furthermore, you may switch between the composition of more patterns.

  The driving support methods according to the first and second embodiments may be implemented individually or in combination.

It is a figure which shows the structure of the vehicle carrying the driving assistance device which concerns on embodiment of this invention. It is a figure which shows the structure of the driving assistance device which concerns on Embodiment 1. FIG. 6 is a diagram illustrating an example of an all-around bird's-eye view image displayed on the display device according to Embodiment 1. FIG. FIG. 3A shows an example of the all-around bird's-eye view image displayed on the display device when the vehicle is stopped. FIG. 3B shows an example of the all-around bird's-eye view image displayed on the display device while the vehicle is moving forward. FIG. 3C shows an example of the all-around bird's-eye view image displayed on the display device when the vehicle is in the reverse state. FIG. 3D shows an example of the all-around bird's-eye view image displayed on the display device when the vehicle is turning left. FIG. 3E shows an example of an all-around bird's-eye view image displayed on the display device when the vehicle is turning right. It is a figure which shows the relationship between the all-around bird's-eye view image produced | generated by the image generation part based on Embodiment 1, and the all-around bird's-eye view image displayed on the display area of a display apparatus. FIG. 4A shows the relationship between the all-around bird's-eye view image generated by the image generation unit and the all-around bird's-eye view image displayed in the display area of the display device when the vehicle is stopped. FIG. 4B shows the relationship between the all-around bird's-eye view image generated by the image generation unit and the all-around bird's-eye view image displayed in the display area of the display device when the vehicle is in the reverse state. It is a figure which shows the structure of the driving assistance device which concerns on Embodiment 2. FIG. It is a figure which shows the relationship between the all-around bird's-eye view image produced | generated by the image generation part based on Embodiment 2, and the 2nd detection range. FIG. 6A shows the relationship between the all-around bird's-eye view image generated by the image generation unit and the second detection range when the vehicle is stopped. FIG. 6B shows a relationship between the all-around bird's-eye view image generated by the image generation unit and the second detection range when the vehicle is in the reverse state. It is a figure which shows the modification of the driving assistance device which concerns on Embodiment 1. FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 Driving assistance apparatus, 12 Imaging device, 14 Display apparatus, 20 Frame buffer, 24 Conversion table memory | storage part, 30 Image generation part, 32 Image conversion part, 34 Image composition part, 40 Control part, 42 Motion detection part, 50 Detection part , 52 still body detection unit, 54 moving body detection unit, 60 warning unit, 100 vehicle.

Claims (5)

An image generation unit that generates a bird's-eye view image around the vehicle based on an image captured by at least one imaging device installed in the vehicle;
A display unit for displaying the bird's eye view image generated in the image generation unit,
The driving support apparatus, wherein the image generation unit changes a composition of a bird's eye view image displayed on the display unit according to a traveling direction of a vehicle.   The driving support apparatus according to claim 1, wherein the image generation unit generates a bird's eye view image in which a region located in the traveling direction of the vehicle is preferentially reflected.   The driving support device according to claim 2, wherein the image generation unit generates a bird's eye view image in which a region behind the vehicle is preferentially reflected when the traveling direction of the vehicle is backward. A control unit for controlling the image generation unit;
The image generation unit generates a bird's eye view image larger than the display area of the display unit,
The driving support device according to any one of claims 1 to 3, wherein the control unit changes a range to be displayed on the display unit in the bird's eye view image according to a traveling direction of the vehicle. Based on the image captured by the imaging device, further comprising a detection unit for detecting obstacles around the vehicle,
5. The driving support device according to claim 1, wherein the detection unit changes a range of a detection area of the obstacle according to a composition of a bird's eye view image displayed on the display unit. .

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