JP6744744B2 - Display device - Google Patents

Description

The present invention relates to a display device for displaying a situation around a vehicle such as an automobile, and more particularly to a display device capable of easily grasping a situation of approaching another vehicle from behind.

2. Description of the Related Art In vehicles such as automobiles, various display devices have been proposed for recognizing the situation in front of the own vehicle by various peripheral recognition means and displaying information on lane shapes, obstacles, etc. as an image.
By using such a display device, it is possible to obtain more information than the occupant can obtain visually, and as driving assistance when the occupant drives as a driver, or in a vehicle that performs automatic driving, It is also useful for monitoring the adequacy of automatic driving control.
Further, it has been proposed to monitor another vehicle or the like approaching from the rear side of the own vehicle using such a display device.

As a conventional technique related to such a display device, for example, in Patent Document 1, in a traveling support device that notifies a driver of a traveling vehicle on a second road when the vehicle joins a first road to a second road, It is described that a plan view of a road shape at a confluence and a distribution of other vehicles are displayed based on an image obtained by capturing the rear side of the own vehicle.
In Patent Document 2, in a vehicle surrounding situation monitoring device, even if a vehicle approaching from the rear side enters a blind spot of a following vehicle, the driver can instantly understand the situation behind the vehicle. It is described that an image captured by a side camera is subjected to a predetermined process such as cropping or left-right reversal.

JP 2006-164197 A JP, 2009-206747, A

In recent years, the sophistication of driving assistance technology and automatic driving technology has advanced, and there are increasing opportunities for users (drivers during manual driving) to drive while entrusting driving operations and various judgments to the vehicle.
In a vehicle that performs automatic driving, the user is required to monitor the surroundings of the vehicle during automatic driving, and switch to manual driving if necessary.
A display device that displays the environment around the host vehicle is considered to be useful for reducing the monitoring burden on the user.
However, even when such a display device is used, monitoring the front of the own vehicle is relatively easy to recognize the change point and react to it, but intuitively seeing another vehicle approaching from behind. It is difficult to recognize when the user's consciousness is away from driving due to automatic driving or the like.
In view of the above-mentioned problems, an object of the present invention is to provide a display device that can easily grasp the approaching situation of another vehicle from behind.

The present invention solves the above-mentioned problems by the following solving means.
The invention according to claim 1 is environment recognition means for recognizing the environment around the own vehicle, image generation means for generating an image for displaying the environment around the own vehicle based on the recognition result of the environment recognition means, and the image. A display device including an image display unit for displaying, wherein the image is a bird's-eye view showing a state viewed from a virtual viewpoint set on the upper side and the rear side of the host vehicle, wherein the image generation unit is when said environment recognition means detects another vehicle approaching from behind the vehicle, the line connecting the said virtual viewpoint between the vehicle increases the virtual viewpoint looking up angle is an angle formed with respect to a horizontal plane Rutotomoni, the virtual In the display device, the position of the host vehicle in the image is displaced to the front side when the point-of-view look-up angle is increased .
According to this, by changing the angle of looking down at the own vehicle in the image, the user can intuitively recognize that there is a change point behind the own vehicle, and the other vehicle approach situation from behind can be recognized. It can be easily grasped.

Further, another vehicle approaching from the rear in the image can be displayed earlier so that the user can recognize it.

According to a second aspect of the present invention, environment recognition means for recognizing the environment around the own vehicle, image generation means for generating an image for displaying the environment around the own vehicle based on the recognition result of the environment recognition means, and the image A display device including an image display unit for displaying, wherein the image is a bird's-eye view showing a state viewed from a virtual viewpoint set on the upper side and the rear side of the host vehicle, wherein the image generation unit is When the environment recognition means detects another vehicle approaching from the rear of the own vehicle, the virtual viewpoint looking-up angle, which is an angle formed by a straight line connecting the own vehicle and the virtual viewpoint with respect to the horizontal plane, is gradually changed and increased. The display device is characterized in that the rate of increase of the virtual viewpoint looking-up angle per unit time is increased in accordance with an increase in the approach speed of the other vehicle.
According to this, the angle of the bird's-eye view in the image gradually changes, so that the user can intuitively recognize that some change has occurred.

Further, when the approaching speed of the other vehicle is fast and there is not enough time to approach the own vehicle, the change of the bird's-eye view can be ended early and the other vehicle can be displayed reliably.

The invention according to claim 3 is environment recognition means for recognizing the environment around the own vehicle, image generation means for generating an image for displaying the environment around the own vehicle based on the recognition result of the environment recognition means, and the image. A display device including an image display unit for displaying, wherein the image is a bird's-eye view showing a state viewed from a virtual viewpoint set on the upper side and the rear side of the host vehicle, wherein the image generation unit is When the environment recognition unit detects another vehicle approaching from the rear of the own vehicle, the virtual viewpoint look-up angle that is an angle formed by a straight line connecting the own vehicle and the virtual viewpoint with respect to a horizontal plane is increased, and the other vehicle is When the vehicle travels in a lane different from the driving lane of the host vehicle, the display position of the image is displaced in the lane width direction so that the lane in which the other vehicle travels approaches the center of the image in accordance with the increase in the virtual viewpoint looking-up angle. a Viewing device you characterized thereby.
According to this, when the other vehicle overtakes the own vehicle, the other vehicle is displayed in the center portion of the image that easily draws the user's attention, so that the user can be alerted to a higher level.

As described above, according to the present invention, it is possible to provide a display device capable of easily grasping the approaching state of another vehicle from behind.

It is a block diagram which shows typically the structure of the vehicle in which the Example of the display device to which this invention is applied is provided. It is a schematic diagram which shows arrangement|positioning of the sensors which recognize the vehicle periphery in the vehicle of an Example. It is a flow chart which shows operation of the display of an example. It is a figure which shows the virtual viewpoint look-up angle in the display apparatus of an Example. It is a figure which shows typically an example of the screen display at the time of the normal in the display apparatus of an Example. It is a figure which shows typically an example of the screen display at the time of another vehicle approaching in the display apparatus of an Example. It is a figure which shows typically the other example of the screen display at the time of another vehicle approaching in the display apparatus of an Example.

An object of the present invention is to provide a display device capable of easily grasping the approaching state of another vehicle from the rear, and to increase the look-up angle of a virtual viewpoint in a bird's-eye view in accordance with the approaching of another vehicle from the rear side, and rearward The problem was solved by increasing the ratio of the area in the image.

Examples of the display device to which the present invention is applied will be described below.
FIG. 1 is a block diagram schematically showing the configuration of a vehicle provided with an embodiment of a display device to which the present invention is applied.
The display device of the embodiment is provided, for example, in a vehicle 1 which is an automobile such as a passenger car having an automatic driving function, and informs a user such as a user (for example, a driver during manual driving) of a risk around the own vehicle. Etc. are displayed as an image.
Based on the information presented by the display device, the user can monitor the lane shape and obstacles in front of the host vehicle and verify the validity of the automatic driving control when executing the automatic driving control.
Further, as will be described later, the display device has a function of causing a user to recognize when another vehicle approaches from behind the own vehicle.

As shown in FIG. 1, a vehicle 1 includes an engine control unit 10, a transmission control unit 20, a behavior control unit 30, an electric power steering (EPS) control unit 40, an automatic driving control unit 50, an environment recognition unit 60, and a stereo camera control. A unit 70, a laser scanner control unit 80, a rear side radar control unit 90, a navigation device 100, a road-vehicle communication device 110, a vehicle-vehicle communication device 120, an image generation unit 200, a display 210 and the like are provided.
Each unit described above is configured as a unit including, for example, an information processing unit such as a CPU, a storage unit such as a RAM or a ROM, an input/output interface, and a bus connecting these. Each of these units can communicate with each other via an in-vehicle LAN system such as a CAN communication system.

The engine control unit 10 centrally controls an engine, which is a power source for driving the vehicle 1, and its accessories.
As the engine, for example, a 4-stroke gasoline engine is used.
The engine control unit (ECU) 10 can control the output torque of the engine by controlling the throttle valve opening of the engine, the fuel injection amount and the injection timing, the ignition timing, and the like.
In a state in which the vehicle 1 is driven according to the driving operation of the driver, the engine control unit 10 sets the engine torque so that the actual torque of the engine approaches the driver request torque set based on the operation amount of the accelerator pedal and the like. Control output.
Further, when the vehicle 1 performs automatic driving, the engine control unit 10 controls the output of the engine according to a command from the automatic driving control unit 50.

The transmission control unit (TCU) 20 shifts the rotational output of the engine, and controls the transmission and auxiliary devices (not shown) that switch between forward and backward movements of the vehicle.
When the vehicle 1 performs automatic driving, the transmission control unit 20 performs range switching such as forward and backward movement and setting of a gear ratio according to a command from the automatic driving control unit 50.
As the transmission, for example, a chain type, a belt type, a toroidal type CVT, or various automatic transmissions such as step AT, DCT, and AMT having a plurality of planetary gear sets can be used.
In addition to a transmission mechanism such as a variator, the transmission includes a starting device such as a torque converter, a dry clutch, a wet clutch, and a forward/reverse switching mechanism that switches between a forward traveling range and a reverse traveling range. There is.

A forward/reverse switching actuator 21, a range detection sensor 22 and the like are connected to the transmission control unit 20.
The forward-reverse switching actuator 21 drives a forward-reverse switching valve that switches an oil passage that supplies hydraulic pressure to the forward-reverse switching mechanism to switch between forward and backward traveling of the vehicle.
The forward/reverse switching actuator 21 is, for example, an electric actuator such as a solenoid.
The range detection sensor 22 is a sensor (switch) that determines whether the range currently selected in the transmission is for forward travel or for reverse travel.

The behavior control unit 30 individually controls the wheel cylinder hydraulic pressures of the hydraulic service brakes provided on the left and right front wheels to suppress vehicle behavior such as understeer and oversteer, and the wheel lock during braking. The anti-lock brake control for recovering
A hydraulic control unit (HCU) 31, a vehicle speed sensor 32, and the like are connected to the behavior control unit 30.

The HCU 31 has an electric pump that pressurizes the brake fluid that is the working fluid of the hydraulic service brake, and a valve that individually adjusts the hydraulic pressure supplied to the wheel cylinders of each wheel.
When the vehicle 1 performs automatic driving, the HCU 31 causes the wheel cylinder of each wheel to generate a braking force in response to a braking command from the automatic driving control unit 50.
The vehicle speed sensor 32 is provided on the hub portion of each wheel and generates a vehicle speed pulse signal having a frequency proportional to the rotational speed of the wheel.
It is possible to calculate the traveling speed (vehicle speed) of the vehicle by detecting the frequency of the vehicle speed pulse signal and performing a predetermined calculation process.

The electric power steering (EPS) control unit 40 integrally controls an electric power steering device that assists a steering operation by a driver with an electric motor, and its accessories.
A motor 41, a steering angle sensor 42, etc. are connected to the EPS control unit 40.

The motor 41 is an electric actuator that applies an assist force to the steering system of the vehicle to assist the steering operation by the driver, or changes the steering angle during automatic driving.
When the vehicle 1 performs automatic driving, the motor 41 applies torque to the steering system so that the steering angle of the steering system approaches a predetermined target steering angle in response to a steering command from the automatic driving control unit 50. To steer.
The steering angle sensor 42 detects the current steering angle in the steering system of the vehicle.
The steering angle sensor 42 includes, for example, a position encoder that detects the angular position of the steering shaft.

When the automatic driving mode is selected, the automatic driving control unit 50 outputs a control command to the engine control unit 10, the transmission control unit 20, the behavior control unit 30, the EPS control unit 40, etc., to automatically drive the vehicle. The automatic driving control for driving the vehicle is executed.

When the automatic driving mode is selected, the automatic driving control unit 50 advances the own vehicle according to information about the situation around the own vehicle provided from the environment recognition unit 60, a command from a driver (not shown), and the like. Set the target travel path, and automatically perform vehicle acceleration (starting), deceleration (stop), forward/reverse switching, steering, etc. to automatically drive the vehicle to a preset destination. Execute.
In addition, the automatic operation mode is stopped in response to a predetermined release operation from the user when the user desires manual operation or when it is difficult to continue automatic operation, and the manual operation is performed by the driver. It is possible to return to the operation mode.

An input/output device 51 is connected to the automatic driving control unit 50.
The input/output device 51 outputs information such as warnings and various messages to the user from the automatic driving control unit 50, and receives input of various operations from the user.
The input/output device 51 is configured to include, for example, an image display device such as an LCD, a voice output device such as a speaker, an operation input device such as a touch panel, and the like.

The environment recognition unit 60 is for recognizing information around the vehicle.
The environment recognition unit 60 is based on information provided from the stereo camera control unit 70, the laser scanner control unit 80, the rear side radar control unit 90, the navigation device 100, the road-vehicle communication device 110, the inter-vehicle communication device 120, and the like. It recognizes obstacles such as parked vehicles, traveling vehicles, buildings, terrain, pedestrians and cyclists around the own vehicle, and lane shapes of the road on which the own vehicle travels.

The stereo camera control unit 70 controls a plurality of stereo cameras 71 provided around the vehicle and performs image processing on the image transmitted from the stereo camera 71.
Each stereo camera 71 is configured by arranging, for example, a pair of camera units including, for example, an imaging optical system such as a lens, a solid-state imaging device such as CMOS, a drive circuit, and a signal processing device in parallel. ..
The stereo camera control unit 70 recognizes the shape of the subject imaged by the stereo camera 71 and the relative position with respect to the host vehicle, based on the image processing result using a known stereo image processing technique.
The stereo camera control unit 70 can detect the lane shape by detecting white lines at both ends of the lane ahead of the own vehicle, for example.
The laser scanner control unit 80 controls the laser scanner 81 and recognizes various objects such as vehicles and obstacles around the vehicle as 3D point cloud data based on the output of the laser scanner 81.

The rear side radar control unit 90 controls rear side radars 91 provided on the left and right side portions of the vehicle, and detects an object existing behind the own vehicle based on the output of the rear side radar 91. It is a thing.
The rear side radar 91 can detect, for example, another vehicle approaching from the rear side of the own vehicle.
As the rear side radar 91, for example, a radar such as a laser radar or a millimeter wave radar is used.

FIG. 2 is a schematic diagram showing the arrangement of sensors for recognizing the vehicle surroundings in the vehicle of the embodiment.
The stereo cameras 71 are provided on the front, rear, and left and right sides of the vehicle 1, respectively.
A plurality of laser scanners 81 are provided so as to be distributed around the vehicle 1 so that a blind spot is not substantially generated. The rear side radars 91 are arranged, for example, on the left and right sides of the vehicle body of the vehicle 1 and have a detection range of the vehicle 1. It is arranged rearward and outward in the vehicle width direction.

The navigation device 100 includes, for example, a vehicle position-measuring unit such as a GPS receiver, a data storage unit that stores map data prepared in advance, a gyro sensor that detects the front-back direction of the vehicle, and the like.
The map data has road information such as roads, intersections, and interchanges at the lane level.
The road information includes, in addition to three-dimensional lane shape data, information such as whether or not each lane (lane) can be turned to the right or left, information on driving conditions such as a temporary stop position, a speed limit, and the like.
The navigation device 100 has a display 101 incorporated in an instrument panel.
The display 101 is an image display device on which various information output by the navigation device 100 to the driver is displayed.
The display 101 has a touch panel, and also functions as an input unit for inputting various operations from the driver.

The road-to-vehicle communication device 110 communicates with a ground station (not shown) by a communication system complying with a predetermined standard, and provides information about traffic congestion information, traffic signal lighting state, road construction, accident site, lane regulation, weather, road surface condition, etc. Is what you get.

The vehicle-to-vehicle communication device 120 communicates with another vehicle (not shown) by a communication system complying with a predetermined standard, and information about the vehicle state such as position, azimuth, acceleration, speed, etc. of the other vehicle, vehicle type, vehicle size, etc. The information about the vehicle attribute is acquired.

The image generation unit 200 is configured to generate an image (environment image) including information related to the environment around the vehicle displayed by the display 210, based on the environment recognition result transmitted from the environment recognition unit 60.

The display 210 is an image display device arranged so as to face an occupant of the vehicle.
The display 210 has, for example, an LCD incorporated in an interior member such as an instrument panel.

Next, an operation at the time of displaying an image on the display device of the embodiment and an example of screen display will be described.
FIG. 3 is a flowchart showing the operation of the display device of the embodiment.
Hereinafter, each step of FIG. 3 will be described step by step.

<Step S01: Recognition of Surrounding Environment of Own Vehicle>
The environment recognition unit 60 performs environment recognition processing for acquiring information about the road shape, lane shape, obstacles such as other vehicles around the own vehicle.
The information about the other vehicle includes, for example, information about the relative position and the relative speed with respect to the own vehicle.
Then, it progresses to step S02.

<Step S02: Judgment of approaching vehicle behind>
The environment recognition unit 60 determines whether or not there is another vehicle behind the host vehicle whose relative distance to the host vehicle is equal to or less than a predetermined threshold and which has a relative speed approaching the host vehicle.
When such another vehicle is detected, the process proceeds to step S04, and otherwise, the process proceeds to step S03.

<Step S03: Virtual View Point Up Angle θ=θ1>
The image generation unit 200 generates a bird's-eye view of the host vehicle 1 from the virtual viewpoint P set on the upper side and the rear side, and is a virtual viewpoint that is an angle at which the virtual viewpoint P is looked up from the own vehicle 1. The look-up angle θ is set to θ1 which is a preset predetermined value.
FIG. 4 is a diagram showing a virtual viewpoint looking-up angle in the display device of the embodiment.
The virtual viewpoint look-up angle θ (θ1, θ2 in FIG. 4) is an angle formed by a straight line connecting the host vehicle 1 and the virtual viewpoint P with respect to a horizontal plane (a road surface when traveling on a flat road).
Here, as the reference point on the host vehicle 1 side, for example, a reference point arbitrarily provided on any part of the vehicle body can be used. For example, the reference point can be set at the center of gravity of the vehicle 1, the central portion of the vehicle size, or the like.
Then, it progresses to step S05.

<Step S04: Virtual View Point Look-Up Angle θ=θ2>
The image generation unit 200 sets the virtual viewpoint look-up angle θ to θ2 which is a preset predetermined value and is larger than θ1.
Then, it progresses to step S05.

<Step S05: Overhead image generation>
The image generation unit 200 simplifies and schematicizes a bird's-eye view of the vehicle, roads, other vehicles, etc., from the virtual viewpoint P having the look-up angle set in step S03 or S04, omitting details, for example. Generated by rendered computer graphics.
The image generation unit 200 has a rendering means capable of such processing.
Then, it progresses to step S06.

<Step S06: Image display output>
The image generation unit 200 outputs the generated image data, displays it as a display image 211 on the display 210, and presents it to the user.
Then, a series of processing is ended (return).

Hereinafter, a display example on the display device of the embodiment will be described.
FIG. 5 is a diagram schematically showing an example of a screen display in a normal state on the display device of the embodiment.
In the example shown in FIG. 5, the host vehicle 1 has the first traveling provided at the center on a straight road with three lanes on one side including the overtaking lane LP, the first traveling lane L1, and the second traveling lane L2 from the right side. Driving in lane L1. (Same in FIGS. 6 and 7)
In the normal state shown in FIG. 5 (when no other vehicle approaching from the rear is detected), the virtual viewpoint looking-up angle θ is set to be relatively small, and as a result, the display image 211 can be seen to a relatively far side of the road. However, the field of view behind the host vehicle 1 is limited.

FIG. 6 is a diagram schematically illustrating an example of a screen display when another vehicle approaches the display device of the embodiment.
In the example shown in FIG. 6, the virtual viewpoint look-up angle θ is increased and the position occupied by the host vehicle 1 in the display image 211 is set to the upper side, thereby enlarging the visual field (display area) behind the host vehicle 1. ing.
In the example shown in FIG. 6, another vehicle V1 traveling in the overtaking lane LP immediately before passing the host vehicle 1 is shown.
When increasing the virtual viewpoint look-up angle θ from θ1 to θ2, for example, the distance from the host vehicle 1 to the virtual viewpoint P is increased or the viewing angle is widened so that the field of view behind the host vehicle 1 is changed. It may be enlarged.

Further, the image generation unit 200, when changing the virtual viewpoint looking-up angle θ from θ1 to θ2, changes the virtual viewpoint looking-up angle θ.
Furthermore, the increase rate (increasing speed) per unit time when increasing the virtual viewpoint looking-up angle θ is set to increase in accordance with the increase in the detected relative speed of the other vehicle approaching the own vehicle.
That is, when the relative speed is high and the urgency is high, the movement of the virtual viewpoint P is completed early.

FIG. 7 is a diagram schematically showing another example of the screen display when another vehicle approaches the display device of the embodiment.
In FIG. 7, as compared with FIG. 6, the display content is offset as a whole so that the overtaking lane LP on which the other vehicle V1 travels is closer to the central portion in the left-right direction of the display image 211.
Such a display is preferable because it can call the user's higher level of attention when the other vehicle V1 is expected to pass the own vehicle 1.

According to the embodiment described above, the following effects can be obtained.
(1) When the other vehicle V1 approaching from the rear of the own vehicle 1 is detected, the virtual viewpoint looking-up angle θ, which is the angle overlooking the own vehicle 1 in the display image 211, is increased, so that It is possible to intuitively recognize that a change point has occurred behind the vehicle 1 and easily grasp the approach situation of the other vehicle V1 from the rear.
(2) By changing the position occupied by the host vehicle 1 in the display image 211 to the upper side (front side) with the increase of the virtual viewpoint looking-up angle θ, the other vehicle V1 approaching from the rear in the display image 211 is further improved. It can be displayed early so that the user can recognize it.
(3) By gradually changing the virtual viewpoint looking-up angle θ and gradually changing the bird's-eye view angle in the display image 211, the user can intuitively recognize that some change has occurred.
(4) By increasing the changing speed when the virtual viewpoint looking-up angle θ is changed according to the increase in the relative speed of the other vehicle V1, the approaching speed of the other vehicle V1 is fast and the time until the vehicle approaches the own vehicle 1 is increased. When there is not enough room, it is possible to end the change of the overhead angle early and display the other vehicle V1 without fail.
(5) When the other vehicle V1 overtakes the own vehicle 1, by displaying the other vehicle V1 in the central portion of the display image 211, which easily attracts the user's attention, it is possible to call the user a higher level of attention.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes can be made, which are also within the technical scope of the present invention.
(1) The configuration of the display device and the configuration of the vehicle are not limited to the above-described embodiments, and can be changed as appropriate. Although the vehicle is a passenger vehicle in the embodiments, the present invention can be applied to commercial vehicles such as freight vehicles, trucks, buses, motorcycles, and other various special vehicles.
(2) In the embodiment, the vehicle uses the engine as the driving power source, but the present invention is not limited to this, and an electric motor or a hybrid system combining the engine and the electric motor is used as the driving power source. It is also possible to use
(3) The type and arrangement of the sensor for recognizing the environment around the own vehicle are not limited to those in the above-described embodiments, and can be changed as appropriate. For example, various sensors such as a millimeter wave laser, a laser radar, a monocular camera, and an ultrasonic sonar can be used in combination with or instead of the sensors in the embodiments.
In addition, the environment recognition is performed by using information obtained by road-to-vehicle communication or vehicle-to-vehicle communication, or map data included in positioning means such as GPS and navigation device, in combination with or in place of sensors installed in the vehicle itself. You may go.

1 Vehicle 10 Engine Control Unit 20 Transmission Control Unit 21 Forward/Reverse Switching Actuator 22 Range Detection Sensor 30 Behavior Control Unit 31 Hydraulic Control Unit (HCU)
32 vehicle speed sensor 40 electric power steering (EPS) control unit 41 motor 42 steering angle sensor 50 automatic operation control unit 51 input/output device 60 environment recognition unit 70 camera control unit 71 stereo camera 80 laser scanner control unit 81 laser scanner 90 rear side Radar control unit 91 Rear side radar 100 Navigation device 101 Display 110 Road-to-vehicle communication device 120 Inter-vehicle communication device 200 Image generation unit 210 Display 211 Display image LP Overtaking lane L1 1st lane L2 2nd lane V1 Other vehicle P Virtual viewpoint θ1 Normal look-up angle θ2 Look-up angle when a following vehicle approaches

Claims (3)

Environment recognition means for recognizing the environment around the vehicle,
Image generation means for generating an image displaying the environment around the vehicle based on the recognition result of the environment recognition means;
A display device comprising an image display means for displaying the image,
The image is a bird's-eye view showing a state viewed from a virtual viewpoint set above and behind the own vehicle,
When the environment recognition unit detects another vehicle approaching from behind the own vehicle, the image generation unit increases a virtual viewpoint look-up angle which is an angle formed by a straight line connecting the own vehicle and the virtual viewpoint with respect to a horizontal plane. It is allowed Rutotomoni, wherein in increasing the virtual viewpoint looking up angle, the display device characterized by displacing the position in the image of the vehicle to the front side. Environment recognition means for recognizing the environment around the vehicle,
Image generation means for generating an image displaying the environment around the vehicle based on the recognition result of the environment recognition means;
Image display means for displaying the image;
A display device comprising:
The image is a bird's-eye view showing a state viewed from a virtual viewpoint set above and behind the own vehicle,
When the environment recognition unit detects another vehicle approaching from the rear of the own vehicle, the image generation unit excludes a virtual viewpoint looking-up angle which is an angle formed by a straight line connecting the own vehicle and the virtual viewpoint with respect to a horizontal plane. And increasing the rate of increase of the virtual viewpoint look-up angle per unit time in accordance with the approach speed of the other vehicle.
A display device characterized by. Environment recognition means for recognizing the environment around the vehicle,
Image generation means for generating an image displaying the environment around the vehicle based on the recognition result of the environment recognition means;
Image display means for displaying the image;
A display device comprising:
The image is a bird's-eye view showing a state viewed from a virtual viewpoint set above and behind the own vehicle,
When the environment recognition unit detects another vehicle approaching from behind the own vehicle, the image generation unit increases a virtual viewpoint look-up angle which is an angle formed by a straight line connecting the own vehicle and the virtual viewpoint with respect to a horizontal plane. In addition , when the other vehicle travels in a lane different from the traveling lane of the own vehicle, the display position of the image so that the lane in which the other vehicle travels approaches the center of the image in accordance with the increase in the virtual viewpoint looking-up angle. Viewing device characterized by displacing the lane width direction.

Images